I would like to perform visual-inertial odometry using ARKit raw data on an iPhone 12 Pro. I have two main questions regarding the data.
Extrinsic parameters of IMU and camera
I am unsure which class or function in Swift contains the extrinsic matrix information. I am curious if any documentation provides the extrinsic matrix, or if using Kalibr is the only way to obtain it.
Noise in gyro and accel data
I would like to know if the accelerometer and gyroscope data from ARKit are filtered values or if they include bias and noise.
MPIL
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