got to turn in test 0001. good state
fixed depth estimation motion model problem for test 0002, working on 0000
add 2000 keypoints to init, increased wigglescale to 1.0m
Added scalefactor to graphics (still needs better cam initialization). Fixed keyframe init bug due to not resetting timer
added better cam initialization, add follow functionality if 'f' keypress
Merge branch 'develop'