From 69f17fd722a529b13ad55b89ffd63deebf30c5f7 Mon Sep 17 00:00:00 2001
From: Kevin <kevinliu@andrew.cmu.edu>
Date: Tue, 3 May 2022 03:44:15 -0400
Subject: [PATCH] Added comments guiding next steps in testMotionDistortion.py

---
 testMotionDistortion.py | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/testMotionDistortion.py b/testMotionDistortion.py
index c36a5c8..5840d2d 100644
--- a/testMotionDistortion.py
+++ b/testMotionDistortion.py
@@ -53,7 +53,7 @@
     '''
     Applying Motion Distortion Solving
     '''
-    # Prior Transform
+    # Prior frame's pose
     T_wj0 = np.eye(3)
     # Point world positions
     p_w = groundTruth
@@ -92,5 +92,9 @@
                      title_append="", alpha=0.5, clear=False, show=True, 
                      plotDisplace = True)
 
-    
+    #TODO: In main loop: for each iteration, track the previous frame's points.
+    # If we need to generate new points, create a new keyframe and add its points
+    # to the global map, using the undistort's velocity and transform to determine
+    # true position. We need to be able to associate local points to global points
+    # in each keyframe, and associate global points to those
     
\ No newline at end of file