refactoring Point, added point normal as member

2014-04-03 10:08:18 +02:00
parent 0b0a9a51b0
commit a1e014c77c
8 changed files with 27 additions and 24 deletions
@@ -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);
      }