code: 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);
  	}
docs: 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