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Yes you are right about all your findings: most of the code is legacy and not commented and that is why we do not support that stack fully. We are refactoring a lot of that to get a cleaner API/structure and interoperability with other pipelines. That should be done by the end of August.

The version which also gets a depth image as an input does not do step 3. We empirically figured out it does not bring much with 3d data.