ARKit 3d point cloud - House walk through

Logging the raw tracking points captured by walking through a house. Camera path in green

[gogimkd]

Hey, I would like to work with point clouds too, but it seems that the stitched cloud we are both getting is very "streaky" for a lack of better word. Did you by any chance find out what causes this and how to get rid of ti?

[stefceretti]

What is the code for this ? It’s really interesting.