From cb2afb510c98f168e312007cbb92f70b7b4ffa4b Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Sat, 11 Jan 2014 16:41:55 +0100
Subject: reset levmarq internal state on reset (duh)

---
 FTNoIR_Tracker_PT/point_tracker.cpp | 2 ++
 1 file changed, 2 insertions(+)

(limited to 'FTNoIR_Tracker_PT')

diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp
index 2dd89aed..69d46645 100644
--- a/FTNoIR_Tracker_PT/point_tracker.cpp
+++ b/FTNoIR_Tracker_PT/point_tracker.cpp
@@ -104,6 +104,8 @@ void PointTracker::reset()
     // assume identity rotation again
     X_CM.R = cv::Matx33f::eye();
     X_CM.t = cv::Vec3f(0, 0, 1);
+    rvec = Mat();
+    tvec = Mat();
 }
 
 void PointTracker::reset_velocities()
-- 
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