Estimate relative camera positions
calibration/cg_rcpos_from_cors dataset_parameters.json cors.json intr.json R.json straight_depths.json out_rcpos.json [out_sample_positions.txt] [out_final_positions.txt]
Given the image correspondences (possibly merged with different reference views), the intrinsics, the estimates camera rotation, and the estimated straight depths, estimate relative camera positions.
Optionally outputs all the camera position samples c_f,v, as well as the final camera positions c_v.
Parameters can be adjusted in the cg_rcpos_from_cors.cc source code, such as whether to find and remove bad features (because of bad straight depth) first.