Restauring previous disparity filtering

Author: nils-hamel

src/framework-feature.cpp

@@ -86,7 +86,7 @@ void Feature::setRadius(double newRadius, double newDisparity){
     radius=newRadius;
 
     // Compute and assign normalised disparity
-    disparity=newDisparity;
+    disparity=newDisparity/newRadius;
 
 }
 

src/framework-structure.cpp

@@ -292,9 +292,7 @@ void Structure::computeRadius(unsigned int lowViewpoint){
         if(feature->getViewpoint()->getIndex()>=lowViewpoint){
             vector=position-(*feature->getViewpoint()->getPosition());
             radius=(*feature->getModel()).dot(vector);
-            vector/=vector.norm();
-            feature->setRadius(radius,acos(vector.dot(*feature->getModel())));
-
+            feature->setRadius(radius,(vector-(*feature->getModel())*radius).norm());
         }
     }