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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_ros/src/benchmark_node.cpp
+1 -1
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@@ -202,7 +202,7 @@ void BenchmarkNode::runBlenderBenchmark(const std::string& dataset_dir)
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_world = frame_ref->T_f_w_.inverse()*pt_pos_cur;
svo::Point* point = new svo::Point(pt_pos_world, svo::Point::DEPTH);
svo::Point* point = new svo::Point(pt_pos_world);
ftr->point = point;
ftr->point->addFrameRef(ftr);
frame_ref->addFeature(ftr);