private static void flipAround(SceneStructureMetric structure, SceneObservations observations) {
		// The first view will be identity
		for (int i = 1; i < structure.views.length; i++) {
			Se3_F64 w2v = structure.views[i].worldToView;
			w2v.set(w2v.invert(null));
		}
		triangulatePoints(structure,observations);
	}
private static void flipAround ( SceneStructureMetric structure , SceneObservations observations ) { for ( int i = 1 ; i < structure . views . length ; i ++ ) { Se3_F64 w2v = structure . views [ i ] . worldToView ; w2v . set ( w2v . invert ( null ) ) ; } triangulatePoints ( structure , observations ) ; }
Flip the camera pose around. This seems to help it converge to a valid solution if it got it backwards
even if it's not technically something which can be inverted this way