Using the front Truedepth camera of a fixed-positioned iphone13, I capture the depth map of a static scene through AR Kit and then rectify (undistorted) them using the inverseLensDistortionLookupTable. Without changing the position of camera and the scene, every time that I launch the session, the rendered depth maps are randomly different. Given that I roughly know the ground truth, depending on the launched session, the depth maps are sometimes reasonably accurate and sometimes severely distorted non-linearly (up to 10cm bias), i.e. one side of the depth frame is still accurate other side is off. Is there any solution? or if there is any metadata to correct or rectify the depth maps later on?

# Crashlytics - Stack trace # Application: com.myApp.app.myApp-Stand # Platform: apple # Version: 1.2.7 (16) # Issue: d1b5d9397b4f360fb91f448d4689268b # Session: c534ffb969254616b131ac0c6b4fb781_DNE_0_v2 # Date: Tue May 16 2023 05:19:09 GMT+1000 (Australian Eastern Standard Time) com.apple.main-thread 0 libsystem_kernel.dylib 0xb48 mach_msg2_trap + 8 1 libsystem_kernel.dylib 0x13008 mach_msg2_internal + 80 2 libsystem_kernel.dylib 0x13248 mach_msg_overwrite + 388 3 libsystem_kernel.dylib 0x108c mach_msg + 24 4 CoreFoundation 0x7aaf0 __CFRunLoopServiceMachPort + 160 5 CoreFoundation 0x7bd34 __CFRunLoopRun + 1232 6 CoreFoundation 0x80ed4 CFRunLoopRunSpecific + 612 7 GraphicsServices 0x1368 GSEventRunModal + 164 8 UIKitCore 0x3a23d0 -[UIApplication _run] + 888 9 UIKitCore 0x3a2034 UIApplicationMain + 340 10 libswiftUIKit.dylib 0x35308 UIApplicationMain(_:_:_:_:) + 104 11 Bodymapp Stand 0x10cd4 main + 4364078292 (LoginVC.swift:4364078292) 12 ??? 0x1bfde4960 (Missing) com.apple.uikit.eventfetch-thread 0 libsystem_kernel.dylib 0xb48 mach_msg2_trap + 8 1 libsystem_kernel.dylib 0x13008 mach_msg2_internal + 80 2 libsystem_kernel.dylib 0x13248 mach_msg_overwrite + 388 3 libsystem_kernel.dylib 0x108c mach_msg + 24 4 CoreFoundation 0x7aaf0 __CFRunLoopServiceMachPort + 160 5 CoreFoundation 0x7bd34 __CFRunLoopRun + 1232 6 CoreFoundation 0x80ed4 CFRunLoopRunSpecific + 612 7 Foundation 0x42334 -[NSRunLoop(NSRunLoop) runMode:beforeDate:] + 212 8 Foundation 0x4221c -[NSRunLoop(NSRunLoop) runUntilDate:] + 64 9 UIKitCore 0x4d733c -[UIEventFetcher threadMain] + 436 10 Foundation 0x5b808 __NSThread__start__ + 716 11 libsystem_pthread.dylib 0x16cc _pthread_start + 148 12 libsystem_pthread.dylib 0xba4 thread_start + 8 com.google.firebase.crashlytics.MachExceptionServer 0 FirebaseCrashlytics 0x1eea8 FIRCLSProcessRecordAllThreads + 184 1 FirebaseCrashlytics 0x1f288 FIRCLSProcessRecordAllThreads + 1176 2 FirebaseCrashlytics 0x164d4 FIRCLSHandler + 48 3 FirebaseCrashlytics 0x18c94 FIRCLSMachExceptionServer + 688 4 libsystem_pthread.dylib 0x16cc _pthread_start + 148 5 libsystem_pthread.dylib 0xba4 thread_start + 8 com.apple.NSURLConnectionLoader 0 libsystem_kernel.dylib 0xb48 mach_msg2_trap + 8 1 libsystem_kernel.dylib 0x13008 mach_msg2_internal + 80 2 libsystem_kernel.dylib 0x13248 mach_msg_overwrite + 388 3 libsystem_kernel.dylib 0x108c mach_msg + 24 4 CoreFoundation 0x7aaf0 __CFRunLoopServiceMachPort + 160 5 CoreFoundation 0x7bd34 __CFRunLoopRun + 1232 6 CoreFoundation 0x80ed4 CFRunLoopRunSpecific + 612 7 CFNetwork 0x2565a8 _CFURLStorageSessionDisableCache + 61088 8 Foundation 0x5b808 __NSThread__start__ + 716 9 libsystem_pthread.dylib 0x16cc _pthread_start + 148 10 libsystem_pthread.dylib 0xba4 thread_start + 8 com.apple.CoreMotion.MotionThread 0 libsystem_kernel.dylib 0xb48 mach_msg2_trap + 8 1 libsystem_kernel.dylib 0x13008 mach_msg2_internal + 80 2 libsystem_kernel.dylib 0x13248 mach_msg_overwrite + 388 3 libsystem_kernel.dylib 0x108c mach_msg + 24 4 CoreFoundation 0x7aaf0 __CFRunLoopServiceMachPort + 160 5 CoreFoundation 0x7bd34 __CFRunLoopRun + 1232 6 CoreFoundation 0x80ed4 CFRunLoopRunSpecific + 612 7 CoreFoundation 0xc4d04 CFRunLoopRun + 64 8 CoreMotion 0x13ec0 CLMotionActivity::isTypeInVehicle(CLMotionActivity::Type) + 22820 9 libsystem_pthread.dylib 0x16cc _pthread_start + 148 10 libsystem_pthread.dylib 0xba4 thread_start + 8 com.apple.coreaudio.AQClient 0 libsystem_kernel.dylib 0xb48 mach_msg2_trap + 8 1 libsystem_kernel.dylib 0x13008 mach_msg2_internal + 80 2 libsystem_kernel.dylib 0x13248 mach_msg_overwrite + 388 3 libsystem_kernel.dylib 0x108c mach_msg + 24 4 CoreFoundation 0x7aaf0 __CFRunLoopServiceMachPort + 160 5 CoreFoundation 0x7bd34 __CFRunLoopRun + 1232 6 CoreFoundation 0x80ed4 CFRunLoopRunSpecific + 612 7 AudioToolbox 0x1d6240 <redacted> + 164 8 libAudioToolboxUtility.dylib 0x14354 CADeprecated::CAPThread::Entry(CADeprecated::CAPThread*) + 92 9 libsystem_pthread.dylib 0x16cc _pthread_start + 148 10 libsystem_pthread.dylib 0xba4 thread_start + 8 Thread 0 libsystem_kernel.dylib 0x1050 __workq_kernreturn + 8 1 libsystem_pthread.dylib 0xe44 _pthread_wqthread + 364 2 libsystem_pthread.dylib 0xb98 start_wqthread + 8 Thread 0 libsystem_kernel.dylib 0x1050 __workq_kernreturn + 8 1 libsystem_pthread.dylib 0xe44 _pthread_wqthread + 364 2 libsystem_pthread.dylib 0xb98 start_wqthread + 8 Thread 0 libsystem_pthread.dylib 0xb90 start_wqthread + 254 Crashed: com.apple.network.connections 0 libsystem_kernel.dylib 0x14380 mach_vm_reclaim_mark_used + 268 1 libsystem_malloc.dylib 0x13fbc mvm_reclaim_mark_used + 176 2 libsystem_malloc.dylib 0x6190 free_large + 596 3 libsystem_malloc.dylib 0x118bc _szone_free + 516 4 libboringssl.dylib 0x12ce8 __nw_protocol_boringssl_write_frames_block_invoke + 464 5 Network 0x688150 nw_frame_array_foreach + 60 6 libboringssl.dylib 0x129a4 nw_protocol_boringssl_write_frames + 236 7 libboringssl.dylib 0xf260 nw_protocol_boringssl_output_available + 136 8 libusrtcp.dylib 0x1dd10 __nw_protocol_tcp_wake_send_block_invoke 9 libdispatch.dylib 0x24b4 _dispatch_call_block_and_release + 32 10 libdispatch.dylib 0x3fdc _dispatch_client_callout + 20 11 libdispatch.dylib 0xd620 _dispatch_workloop_invoke + 2076 12 libdispatch.dylib 0x16e10 _dispatch_workloop_worker_thread + 652 13 libsystem_pthread.dylib 0xdf8 _pthread_wqthread + 288 14 libsystem_pthread.dylib 0xb98 start_wqthread + 8

User case : I am using swiftui with UIHostingController on my app. My entire view is messed up when the keyboard is presented for a text field. This problem happens if - Keyboard is presented in another controller with UIKit text field and then came to this (SwiftUI) screen and the Keyboard is presented for the swiftUI textfield.