4 files changed, 2 insertions, 18 deletions
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index 6248b225..3afb7fa7 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -109,7 +109,6 @@ void Tracker::apply_inner()
     settings* tmp = new_settings.exchange(nullptr);
     if (tmp == nullptr)
         return;
-    reset();
     auto& s = *tmp;
     qDebug()<<"Tracker:: Applying settings";
 
@@ -130,12 +129,6 @@ void Tracker::apply_inner()
     qDebug()<<"Tracker::apply ends";
 }
 
-void Tracker::reset()
-{
-    QMutexLocker lock(&mutex);
-    point_tracker.reset();
-}
-
 void Tracker::start_tracker(QFrame *parent_window)
 {
     this->video_frame = parent_window;
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.h b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
index f7520c45..4161bd48 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
@@ -43,7 +43,6 @@ public:
 
     void apply(settings& s);
     void apply_inner();
-    void reset();	// reset the trackers internal state variables
 
     void pose(FrameTrafo* X_CM) { QMutexLocker lock(&mutex); *X_CM = point_tracker.pose(); }
     int  get_n_points() { QMutexLocker lock(&mutex); return point_extractor.get_points().size(); }
diff --git a/ftnoir_tracker_pt/point_tracker.cpp b/ftnoir_tracker_pt/point_tracker.cpp
index 4780136d..125064bf 100644
--- a/ftnoir_tracker_pt/point_tracker.cpp
+++ b/ftnoir_tracker_pt/point_tracker.cpp
@@ -95,12 +95,6 @@ PointTracker::PointTracker()
 	X_CM.t[2] = 1000;	// default position: 1 m away from cam;
 }
 
-void PointTracker::reset()
-{
-	// enter init phase
-	X_CM = FrameTrafo();
-}
-
 void PointTracker::track(const vector<Vec2f>& points, const PointModel& model)
 {
     const PointOrder& order = find_correspondences(points, model);
@@ -134,8 +128,8 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_)
 	
 	// initial pose = last (predicted) pose
 	Vec3f k;
-    get_row(R_expected, 2, k);
-    float Z0 = std::abs(X_CM.t[2]) < 1e-3 ? 1e3 : X_CM.t[2];
+        get_row(R_expected, 2, k);
+        float Z0 = 1000.f;
 
 	float old_epsilon_1 = 0;
 	float old_epsilon_2 = 0;
diff --git a/ftnoir_tracker_pt/point_tracker.h b/ftnoir_tracker_pt/point_tracker.h
index 9489659e..be9e83ad 100644
--- a/ftnoir_tracker_pt/point_tracker.h
+++ b/ftnoir_tracker_pt/point_tracker.h
@@ -88,8 +88,6 @@ public:
     // dt : time since last call
     void track(const std::vector<cv::Vec2f>& projected_points, const PointModel& model);
     FrameTrafo pose() const { return X_CM; }
-    void reset();
-
 private:
     // the points in model order
     typedef struct { cv::Vec2f points[PointModel::N_POINTS]; } PointOrder;