Estimate camera rotation using feature point depths in image correspondences.
calibration/cg_rotation_from_depths cors.json intrinsics.json out_rotation.json
Feature point depth must have been read into the image correspondences, using calibration/read_feature_depths.
It estimates the yaw and pitch rotation by with plane fitting for each feature. Then it tries to estimate the roll rotation such that the feature points become horizontally/vertically aligned.