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refactoring Point, added point normal as member

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This commit is contained in:
Christian Forster
2014-04-03 10:08:18 +02:00
parent 0b0a9a51b0
commit a1e014c77c
8 changed files with 27 additions and 24 deletions
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svo/test/test_pose_optimizer.cpp
+1 -1
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@@ -69,7 +69,7 @@ class PoseOptimizerTest {
if(it->score > Config::triangMinCornerScore())
{
Feature* ftr(new Feature(frame_.get(), Vector2d(it->x, it->y), it->level));
Point* point(new Point(frame_->f2w(ftr->f*depthmap_.at<float>(it->y, it->x)), Point::DEPTH));
Point* point(new Point(frame_->f2w(ftr->f*depthmap_.at<float>(it->y, it->x))));
ftr->point = point;
ftr->frame = frame_.get();
frame_->addFeature(ftr);
svo/test/test_sparse_img_align.cpp
+1 -1
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@@ -104,7 +104,7 @@ void SparseImgAlignTest::testSequence(
svo::Feature* ftr = new svo::Feature(frame_ref_.get(), Eigen::Vector2d(corner->x, corner->y), corner->level);
Eigen::Vector3d pt_pos_cur = ftr->f*depthmap.at<float>(corner->y, corner->x);
Eigen::Vector3d pt_pos_w = frame_ref_->T_f_w_.inverse()*pt_pos_cur;
svo::Point* pt = new svo::Point(pt_pos_w, svo::Point::DEPTH);
svo::Point* pt = new svo::Point(pt_pos_w);
ftr->point = pt;
frame_ref_->addFeature(ftr);
}