Estimate slopes of feature points, for use with rotation estimation.
calibration/cg_measure_optical_flow_slopes dataset_parameters.json image_correspondences.json intrinsics.json out_slopes.json
In the image corresponcences, takes for each feature, the feature points horizontally and vertically around the reference view, and uses line fitting to estimate the slope of the lines that they form. Assumes the camera centers were aligned (approximately) on a orthogonal grid.
The intrinsics will be used to first undistort the image corresponcences, if required.
The output slopes can then be used to estimate the camera rotation, using calibration/cg_rotation_from_fslopes. They can also visualized with calibration/cg_slopes_viewer.