calibration/cg_straight_depths_from_depths

Estimate feature straight depths from aggregated feature point depth.

calibration/cg_straight_depths_from_depths image_correspondences.json intrinsics.json R.json out_straight_depths.json

Feature point depths must have been put into the image correspondences first using calibration/read_feature_depths. Rotation and intrinsics must be given. For each feature: calculates the straight depth for each view, and then averages them (filtering out outliers).

Reports average variance as an error metric.