From e69e3c4fa5e5ba255537412d4b559e32ff8f1914 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Thu, 6 Apr 2017 02:09:25 +0200
Subject: logic/tracker: call IFilter::center()

Issue: #540
---
 filter-ewma2/ftnoir_filter_ewma2.h | 3 ++-
 filter-kalman/kalman.h             | 3 ++-
 logic/tracker.cpp                  | 3 +++
 3 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/filter-ewma2/ftnoir_filter_ewma2.h b/filter-ewma2/ftnoir_filter_ewma2.h
index e6a46739..8babc540 100644
--- a/filter-ewma2/ftnoir_filter_ewma2.h
+++ b/filter-ewma2/ftnoir_filter_ewma2.h
@@ -24,7 +24,8 @@ class ewma : public IFilter
 {
 public:
     ewma();
-    void filter(const double *input, double *output);
+    void filter(const double *input, double *output) override;
+    void center() override { first_run = true; }
 private:
     // Deltas are smoothed over the last 1/60sec.
     const double delta_RC = 1./60;
diff --git a/filter-kalman/kalman.h b/filter-kalman/kalman.h
index a788cab9..607580dd 100644
--- a/filter-kalman/kalman.h
+++ b/filter-kalman/kalman.h
@@ -139,7 +139,8 @@ class kalman : public IFilter
 public:
     kalman();
     void reset();
-    void filter(const double *input, double *output);
+    void filter(const double *input, double *output) override;
+    void center() override { reset(); }
     PoseVector last_input;
     Timer timer;
     bool first_run;
diff --git a/logic/tracker.cpp b/logic/tracker.cpp
index ab526a86..4eba230c 100644
--- a/logic/tracker.cpp
+++ b/logic/tracker.cpp
@@ -195,6 +195,9 @@ void Tracker::logic()
 
     if (center_ordered)
     {
+        if (libs.pFilter)
+            libs.pFilter->center();
+
         if (own_center_logic)
         {
             scaled_rotation.rotation = scaled_rotation.camera.t();
-- 
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