world coordinate system

[chenleexyz]

I'm confused about the world coordinate system of the ground truth data. Also, the ARKit support 3 types of coordinate settings (https://developer.apple.com/documentation/arkit/arconfiguration/worldalignment), which one are ADVIO using? Could you please add some detailed explanation?

[chenleexyz]

Could you paste several code snippets to show the ARKit setup and how do you get the pose from ARKit?