docs: public void undoScale( SceneStructureMetric structure ,
  						   SceneObservations observations ) {
  
  		if( structure.homogenous )
  			return;
  
  		double scale = desiredDistancePoint / medianDistancePoint;
  
  		undoNormPoints3D(structure, scale);
  
  		Point3D_F64 c = new Point3D_F64();
  		for (int i = 0; i < structure.views.length; i++) {
  			SceneStructureMetric.View view = structure.views[i];
  
  			// X_w = R'*(X_c - T) let X_c = 0 then X_w = -R'*T is center of camera in world
  			GeometryMath_F64.multTran(view.worldToView.R,view.worldToView.T,c);
  
  			// Apply transform
  			c.x = (-c.x/scale + medianPoint.x);
  			c.y = (-c.y/scale + medianPoint.y);
  			c.z = (-c.z/scale + medianPoint.z);
  
  			// -R*T
  			GeometryMath_F64.mult(view.worldToView.R,c,view.worldToView.T);
  			view.worldToView.T.scale(-1);
  		}
  	}