1. A method for creating an inertial sensor aided depth map of a scene, comprising: capturing at least a first image and a second image during movement of a device caused by a user while framing or recording the scene; compensating for rotation between the first image and the second image; calculating an amount of translation of the device between the first image and the second image; calculating a pixel shift of a plurality of key points of the first image and the second image; and estimating a depth to one or more of the plurality of key points of the first image and the second image.