Comments (8)
that is awesome, thank you!
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I'm not sure if it's possible to have 640x480 px TrueDepth camera stream running via AVCaptureSession (which is what Record3D does now) and also having an ARKit ARWorldTrackingConfiguration session running at the same time.
Got it. I did not know this. Thanks a lot for the information.
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The next version of Record3D (1.7.2) will stream the ARKit world pose (quaternion + world position). It should be released by the end of the next week.
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Please update Record3D to version 1.7.2, update the record3d
to version 1.3.1; camera pose data for LiDAR are available.
For Python, see (read the comment)
Line 53 in d712f40
And for C++, see
Line 120 in d712f40
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Hi @marek-simonik
I am running this on an iPhone 12 mini, which doesn't have LiDAR. So, it does report xyz to always be 0, 0, 0.
I am wondering why the requirement for LiDAR -- actually if you do LiDAR based, it will be more inferior than setting a WorldTracking session which does sensor fusion among camera, lidar and intertial sensors.
Wouldn't it be better and more widely supported (on the non-Pro models too) if you created a ARWorldTrackingConfiguration()
session and then get the current ARFrame
's frame.camera.transform
?
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Record3D currently uses ARKit for access to LiDAR data (hence the availability of estimated pose data), but FaceID streaming does not use ARKit; the last time I checked, the ARKit API did not provide 640x480 px resolution option for FaceID depth maps.
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I agree that streaming of phone's 6dof odometry is completely independent of FaceID depth maps.
Record3D currently uses ARKit for access to LiDAR data (hence the availability of estimated pose data)
What I am saying is, the estimated 6dof pose is available in ARKit even when there is no LiDAR. It fuses information from the back-camera in low-fps and the IMU sensor. That estimated 6dof pose wont correspond to the FaceID depth maps exactly, but we can compute a fixed transform from the ARKit's ARWorldTrackingConfiguration
's frame.camera.transform
and the FaceID depth transform.
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I'm not sure if it's possible to have 640x480 px TrueDepth camera stream running via AVCaptureSession
(which is what Record3D does now) and also having an ARKit ARWorldTrackingConfiguration
session running at the same time.
If I'm not mistaken, then ARKit does internally use the AVCaptureSession
too and since iOS doesn't allow more than 1 AVCaptureSession
running at the same time, the TrueDepth camera's AVCaptureSession
would automatically stop as soon as I would start an ARKit session.
I currently cannot think of a way how to get 640x480 px TrueDepth depth map stream and ARKit's pose estimate (estimated using the rear cameras with IMU sensor fusion, as you say) on all devices with the TrueDepth camera — am I missing something obvious?
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Related Issues (20)
- Exporting/reading saved sequences HOT 2
- is there any script to export pose from the matedata? HOT 15
- Outdoor Environment Camera Pose HOT 3
- How to set max depth with usb streaming, or why is max depth 1m? HOT 3
- Are there known record3d format to COLMAP or NSVF export scripts? HOT 1
- decompose the recordings into RGB folder and depth folder HOT 11
- demo-main.py - ModuleNotFoundError: No module named 'cv2' HOT 2
- building for m1 HOT 6
- Decode depth value from RGBD video HOT 2
- Question with ios16.6 and Ubuntu 22.04 when USB streaming mode. HOT 1
- Occasional lag in USB streaming HOT 1
- How can I save the video streaming HOT 1
- Camera position from frontal camera HOT 1
- How to obtain the absolute shoot time HOT 1
- Doubts about the generation of the 3D point cloud, intrinsic matrix and alignment between rgb and depth frames. HOT 5
- export crash then cannot export again HOT 1
- True Depth Camera Artifact at Top of Image and Edge of Object HOT 2
- iTunes in Mac OS Sonoma HOT 1
- issue with generating the .conf format HOT 8
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