tracker/pt: don't return zero pose on failure

Issue: #644

2 files changed, 0 insertions, 3 deletions

diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp
index f4e60bba..938acc1c 100644
--- a/tracker-pt/ftnoir_tracker_pt.cpp
+++ b/tracker-pt/ftnoir_tracker_pt.cpp
@@ -92,8 +92,6 @@ void Tracker_PT::run()
                                     s.dynamic_pose ? s.init_phase_timeout : 0);
                 ever_success = true;
             }
-            else
-                point_tracker.invalidate_pose();
 
             {
                 Affine X_CM;
diff --git a/tracker-pt/point_tracker.h b/tracker-pt/point_tracker.h
index b867cea4..a25c1458 100644
--- a/tracker-pt/point_tracker.h
+++ b/tracker-pt/point_tracker.h
@@ -62,7 +62,6 @@ public:
     Affine pose() { return X_CM; }
     vec2 project(const vec3& v_M, f focal_length);
     vec2 project(const vec3& v_M, f focal_length, const Affine& X_CM);
-    void invalidate_pose() { X_CM = Affine(); }
 
 private:
     // the points in model order