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if you pass grayscale (CV_8U) images to estimateRigidTransform(), it will use optical flow based on grid points, see src code

if you pass grayscale (CV_8U) images to estimateRigidTransform(), it will use sparse optical flow based on grid points, see src code

if you pass grayscale (CV_8U) images to estimateRigidTransform(), it will use sparse optical flow based on simple grid points, see src code