Yeah, you can do live simultaneous calibrations and reconstructions and localizations. Its a difficult problem, and a slightly different one for each phone, but

Yeah, you can do live simultaneous calibrations and reconstructions and localizations. Its a difficult problem, and a slightly different one for each phone, but there are plenty of variants which work for single phone models. The imu is key to making it possible though. What makes it harder is that older phones have insufficient processing power, whereas newer phones have too many cameras. The phones also do post processing in undocumented ways that are impossible to disable. There is also rolling shutter. This in turn can be simplified down again by just subsampling the images to 480p and estimating camera parameters per image.