During testing we grabbed these values from three difference devices:
iPhone XR*
(ARKit)
Intrinsic Matrix (AVDepthData.cameraCalibrationData?.intrinsicMatrix): Optional(simdfloat3x3([[2897.0186, 0.0, 0.0], [0.0, 2897.0186, 0.0], [1617.3761, 1220.1245, 1.0]]))
Intrinsic Matrix Reference Dimensions (AVDepthData.cameraCalibrationData?.intrinsicMatrixReferenceDimensions): Optional((3248.0, 2436.0))
(AV system)
Intrinsic Matrix (AVDepthData.cameraCalibrationData?.intrinsicMatrix): Optional(simdfloat3x3([[2897.0186, 0.0, 0.0], [0.0, 2897.0186, 0.0], [1530.7522, 1151.7511, 1.0]]))
Intrinsic Matrix Reference Dimensions (AVDepthData.cameraCalibrationData?.intrinsicMatrixReferenceDimensions): Optional ((3088.0, 2316.0))
iPhone 11 Pro
(ARKit)
(AVDepthData.cameraCalibrationData?.intrinsicMatrix): Optional(simdfloat3x3([[2737.6152, 0.0, 0.0], [0.0, 2737.6152, 0.0], [2014.8547, 1509.0757, 1.0]]))
Intrinsic Matrix Reference Dimensions (AVDepthData.cameraCalibrationData?.intrinsicMatrixReferenceDimensions): Optional((4032.0, 3024.0))
(AV system)
Intrinsic Matrix (AVDepthData.cameraCalibrationData?.intrinsicMatrix): Optional(simdfloat3x3([[2737.6152, 0.0, 0.0], [0.0, 2737.6152, 0.0], [2013.7095, 1517.8486, 1.0]]))
Intrinsic Matrix Reference Dimensions (AVDepthData.cameraCalibrationData?.intrinsicMatrixReferenceDimensions): Optional((4032.0, 3024.0))
iPhone X
(ARKit)
Intrinsic Matrix (AVDepthData.cameraCalibrationData?.intrinsicMatrix): Optional(simdfloat3x3([[2878.297, 0.0, 0.0], [0.0, 2878.297, 0.0], [1918.1182, 1085.2241, 1.0]]))
Intrinsic Matrix Reference Dimensions (AVDepthData.cameraCalibrationData?.intrinsicMatrixReferenceDimensions): Optional((3840.0, 2160.0))
(AV system)
Intrinsic Matrix (AVDepthData.cameraCalibrationData?.intrinsicMatrix): Optional(simdfloat3x3([[2878.297, 0.0, 0.0], [0.0, 2878.297, 0.0], [1542.1182, 1154.2759, 1.0]]))
Intrinsic Matrix Reference Dimensions (AVDepthData.cameraCalibrationData?.intrinsicMatrixReferenceDimensions): Optional((3088.0, 2316.0))
The reference image sizes change on AR kit, for the XR, but not on the 11. On X there change aspect ratio too, but the X has 360x640 and 480x640 depth images so it is a little clear how to compare the changes in the X.
Using the AV system's reference image size in ARKit would 'correct' our issue when creating 3D points from the depth data.
peter_m-j
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