[FEATURE]435i internal Gyro Usage

[Calsa512]

Is your feature request related to a problem? Please describe.

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Describe the solution you'd like

The Realsense 435i has an internal IMU / accell + gyro. Although the phone's gyro AVR system may work ok, it would be nice to take full advantage of this functionality as sometimes your phone can be slightly skewed from the sensor mount throwing off data accuracy. Though I admit most of the 4xx cameras do not have this ability, so this is likely a low priority feature for such an early in development app.

Describe alternatives you've considered

Currently through AVR the phone does get position data.

Additional context

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[state-of-the-art]

Hi @Calsa512 ,

You're right - we need such a feature. Unfortunately librealsense still not supporting internal IMU for Android (IntelRealSense/librealsense#4384)... So we need to wait when they will prepare it.

From our side - hopefully by the end of the week we will introduce the ARCore positioning in v0.5.0 (#14) and this will help with rough positioning of the camera to simplify the future PCL pointclouds registration (#13).

[state-of-the-art]

Looks like the guys from realsense added IMU support for version 2.26.0 (at least the logic I added to remove IMU init on adnroid was changed: IntelRealSense/librealsense@f0141ceed#diff-76788c4833e724cad4a926d3a6e6de14L851 ).

Need to check on practice - but right now the main blocker for using version > 2.20.0 is IntelRealSense/librealsense#4215 - bulk transfer is not working well.