It does not seem to matter what I do - I cannot get a scan that has the walls and doors in the correct relationship to each other.
I am using an I-pad Air. I have turned off all other other apps. I rotate slowly, standing in the same place, and do not roll the the ipad in an up and down direction.
Occipital - would it be possible for you to publish a video of correct use?
Or incorporate j_c_verlinden suggestion "we should test adapting the line 592 of ViewController.m of the room capture example -> updateCameraPoseWithMotion ."