/// <summary>
/// Reset reconstruction object to initial state
/// </summary>
public void ResetReconstruction(FusionVolume vol, Matrix4 startingWorldToCameraTx)
{
// Reset tracking error counter
vol.Engine.CameraTracker.ResetTracking();
// Set the world-view transform to identity, so the world origin is the initial camera location.
vol.WorldToCameraTransform = startingWorldToCameraTx;
// Reset volume
if (null != vol.Reconstruction)
{
try
{
// Translate the reconstruction volume location away from the world origin by an amount equal
// to the minimum depth threshold. This ensures that some depth signal falls inside the volume.
// If set false, the default world origin is set to the center of the front face of the
// volume, which has the effect of locating the volume directly in front of the initial camera
// position with the +Z axis into the volume along the initial camera direction of view.
if (TranslateResetPoseByMinDepthThreshold)
{
Matrix4 worldToVolumeTransform = vol.DefaultWorldToVolumeTransform;
// Translate the volume in the Z axis by the minDepthClip distance
float minDist = (vol.MinDepthClip < vol.MaxDepthClip) ? vol.MinDepthClip : vol.MaxDepthClip;
worldToVolumeTransform.M43 -= minDist * FusionVolume.VoxelsPerMeter;
vol.Reconstruction.ResetReconstruction(vol.WorldToCameraTransform, worldToVolumeTransform);
}
else
{
var tx = GetRealWorldVolumeCoordinates(vol);
vol.Reconstruction.ResetReconstruction(vol.WorldToCameraTransform, tx);
}
vol.Engine.CameraTracker.ResetTracking();
vol.OnVolumeReset(EventArgs.Empty);
}
catch (InvalidOperationException)
{
logger.Log(LogLevel.Info, "Reset failed");
}
}
// Update manual reset information to status bar
logger.Log(LogLevel.Info, "Volume reset");
}
