Is it possible to acccess all feature points of a session, across all frames? This ARkit presentation (https://developer.apple.com/videos/play/wwdc2017/602/) shows that it is possible to aggregate feature points generated during a session, making sure to ignore previously detected feature points. Is this data easily accessible? If not, any suggestions for custom implementation?
This is something I've been struggling with as well. The larger problem is that the features aren't persistent. Even in subsequent frame. According to Apple's documentation:
"ARKit does not guarantee that the number and arrangement of raw feature points will remain stable between software releases, or even between subsequent frames in the same session. Regardless, the point cloud can sometimes prove useful when debugging your app's placement of virtual objects into the real-world scene."
Is there something specific you are trying to do with the points? We've found some workarounds.