Added area weighting to the weighted direction structures.
Modified existing routines to handle weighted directions.
TODO: Find way to do RANSAC on ortho plane choices (each ortho plane leads to one choice
of rotation. How to optimize without knowing tranlation? By analyzing plane lists from from
both cameras and identifying at least one or two corresponding planes via aspect ratio, distance
from camera, area. Use the fact that cameras are at the same height so that corresponding
planes are at the same height. Once a corresponding plane is found, one can match normals,
and (maybe) principal directions (less reliable) since the camera might only capture part of a
plane. .