docs: @Override
  	public void configure(SceneStructureMetric structure ,
  						  SceneObservations observations )
  	{
  		this.structure = structure;
  		this.observations = observations;
  
  		numObservations = observations.getObservationCount();
  		numParameters = structure.getParameterCount();
  		structure.assignIDsToRigidPoints();
  	}