def reset(self):
        self.storeTargetPose()

        targetToWorld = transformUtils.copyFrame(self.targetFrame.transform)
        cameraToWorld = self.getCameraTransform()

        cameraToTarget = transformUtils.concatenateTransforms([cameraToWorld, targetToWorld.GetLinearInverse()])

        self.boomTransform = cameraToTarget
        self.focalDistance = np.linalg.norm(np.array(self.camera.GetFocalPoint()) - np.array(self.camera.GetPosition()))
dataset/ETHPy150Open RobotLocomotion/director/src/python/director/cameracontrol.py/PositionOrientationTracker.reset/original