docs: public void reset() {
  		featsLeft0.reset();
  		featsLeft1.reset();
  		featsRight0.reset();
  		featsRight1.reset();
  		for( SetMatches m : setMatches )
  			m.reset();
  		newToOld.reset();
  		leftCamToWorld.reset();
  		first = true;
  	}