List of Questions for Fastdepth

1. TrackPoint_Imu.py

def track_intensities(frames, ps, pattern):
# what is ps and pattern?

def assess_gradients(frame, p, pattern, method=GradMethod_central):

def get_approx_warp(seq, delay=0.01):
# what kind of warp does it estimate? 

def estimate_warp(p0, p1):
# What kid of warp does it estimate?

def solve2_update(G, bx, by, update, eps2):
# what is it solving for?

def initialize_track(frame, x, y, pattern):

def update_track(
        I0, frame, G, dI,
        x, y, delta, photo, pattern, I,
        its, eps, border):
# What is update? warp parameters?

def point_jitter(ps, valid):
# what is jitter?

def update_local_motions(deltas, neighbor_inds, neighbor_weights, valid):

def track_frame(
        f, vid,
        ps0, I0s, Gs, dIs, R, pattern, levels, photo,
        intensities, deltas, valid, bad_count, bad_sequential,
        its, max_bad, max_bad_seq, border,
        vis, visualize):
# Is R: Estimated warp assumed to be affine, projective, etc?

def klt_imu_track(
        vid, ps0, pattern_type=Pattern.checker,
        its=30,
        max_bad=-1, max_bad_seq=10,
        max_frames=-1, max_jitter=10,
        verbose=False, visualize=True):
# what is the difference from track_frame?

• Disable jit for debugging
• iPython
• ipdb; ipdb.set_trace() to debug in terminal
• iPython debugger