How would one go about using the IMU Tracker (ie. how to calibrate the IMU measurements)?
I've tried the iOS example, where the CMMotionManager is used to get the rotation matrix representing device attitude and saved depth and rotation matrix data, but I had no success with reconstruction (the scene gets reconstructed just fine without using the IMU data though).
The first few frames of reconstruction seem to be OK, but after a second, the tracker fails and after vigorous movement the scene goes dark.
Could the problem be the non-corresponding coordinate systems of IMU and camera (as in the image), or it doesn't really matter since both IMU and camera coordinate systems are right-handed?
Could you please describe the pitfalls of using IMU Tracker and calibrating the rotation data (also, is the position offset between camera and IMU sensor negligible)?
How would one go about using the IMU Tracker (ie. how to calibrate the IMU measurements)?
I've tried the iOS example, where the
CMMotionManageris used to get the rotation matrix representing device attitude and saved depth and rotation matrix data, but I had no success with reconstruction (the scene gets reconstructed just fine without using the IMU data though).The first few frames of reconstruction seem to be OK, but after a second, the tracker fails and after vigorous movement the scene goes dark.
Could the problem be the non-corresponding coordinate systems of IMU and camera (as in the image), or it doesn't really matter since both IMU and camera coordinate systems are right-handed?
Could you please describe the pitfalls of using IMU Tracker and calibrating the rotation data (also, is the position offset between camera and IMU sensor negligible)?
Thank you for any kind of help!