tracker/pt: reset dynamic pose on center

1 files changed, 7 insertions, 1 deletions

diff --git a/tracker-pt/point_tracker.cpp b/tracker-pt/point_tracker.cpp
index ed57235d..139e282d 100644
--- a/tracker-pt/point_tracker.cpp
+++ b/tracker-pt/point_tracker.cpp
@@ -84,7 +84,7 @@ void PointModel::get_d_order(const vec2* points, unsigned* d_order, const vec2&
 }
 
 
-PointTracker::PointTracker() : init_phase(true), prev_order_valid(false)
+PointTracker::PointTracker()
 {
 }
 
@@ -407,3 +407,9 @@ vec2 PointTracker::project(const vec3& v_M, f focal_length, const Affine& X_CM)
     return vec2(focal_length*v_C[0]/v_C[2], focal_length*v_C[1]/v_C[2]);
 }
 
+void PointTracker::reset_state()
+{
+    prev_order_valid = false;
+    init_phase = true;
+}
+