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 ) ; }
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