The reason this likely was missed is simple. From the PU's point of view, it make have looked like it clipped the glove between when it left the bat and when it hit the catchers thigh. If it had hit the catchers glove, then the thigh and was subsequently controlled without touching the ground, it is a foul tip and thus strike 3 on the batter.
Looking at the play in slow motion, it looks like it might just clip the glove of the catcher going back. It certainly isn't a significant contact, but it might just graze the glove as it goes back, which satisfies the rule.
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