Get Sparse Depth map

[Jeanmilapipe1]

Hello, there is something about the GetSparseDepthMap function that I don't understand. The following line appears unclear to me: depth_map[int(coord[1]), int(coord[0])] = depth with depth_map = np.zeros((camera.height, camera.width), dtype=np.float32)

This means that every 2D points that have an index superior to the camera image size (here 1080 and 1920) cause an error? Or they are actually not considered by the algorithm?

By the way, in my data, I have like 31000 points, so every points that have index below 31000 cause an error?

Please explain me how the algorithm read the images.txt file, and espacially the line with the 2D points.