tracker/pt: reset dynamic pose on center

4 files changed, 17 insertions, 2 deletions

diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp
index 5975f701..1fbd4373 100644
--- a/tracker-pt/ftnoir_tracker_pt.cpp
+++ b/tracker-pt/ftnoir_tracker_pt.cpp
@@ -223,6 +223,12 @@ void Tracker_PT::data(double *data)
     }
 }
 
+bool Tracker_PT::center()
+{
+    point_tracker.reset_state();
+    return false;
+}
+
 Affine Tracker_PT::pose()
 {
     QMutexLocker l(&data_mtx);
diff --git a/tracker-pt/ftnoir_tracker_pt.h b/tracker-pt/ftnoir_tracker_pt.h
index 78bab215..35da957b 100644
--- a/tracker-pt/ftnoir_tracker_pt.h
+++ b/tracker-pt/ftnoir_tracker_pt.h
@@ -43,11 +43,13 @@ class Tracker_PT : public QThread, public ITracker
 
     friend class camera_dialog;
     friend class ::TrackerDialog_PT;
+
 public:
     Tracker_PT();
     ~Tracker_PT() override;
     module_status start_tracker(QFrame* parent_window) override;
     void data(double* data) override;
+    bool center() override;
 
     Affine pose();
     int  get_n_points();
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;
+}
+
diff --git a/tracker-pt/point_tracker.h b/tracker-pt/point_tracker.h
index 2b142632..3c94535f 100644
--- a/tracker-pt/point_tracker.h
+++ b/tracker-pt/point_tracker.h
@@ -62,6 +62,7 @@ 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 reset_state();
 
 private:
     // the points in model order
@@ -77,7 +78,7 @@ private:
     Affine X_CM; // transform from model to camera
 
     Timer t;
-    bool init_phase, prev_order_valid;
+    bool init_phase = true, prev_order_valid = false;
 };
 
 } // ns types