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Hi, I met the same problem too. The timeoffset is too large (around 7.33 seconds for my oneplus 9). I guess there are some initialization issues of the videoimucapture apk....

Even though the temporal offset exists, I calibrate the extrinsic parameters successfully with kalibr, and I think the result is pretty good. The image and imu streams are synchronized actually,...

> If the camera device reports UNKNOWN, and the sensors are using REALTIME (which I believe is the case), then the difference can be very large since one doesn't increment...

I tried the release app of v.0.10.apk, and it worked pretty well (but there are still 20ms delay hhh, it's ok for the test).

> Thank you for your excellent work. I have obtained a good mesh and would like to know how to view the rendered scene. Could you please help me with...