Integrating with IMU data

[iFieldSmart-Tech]

Is there any way of feeding the imu data gathered from a phone to the slam process? would that help with making the scale from the slam output consistent with respect to real world? where do i start? is there any built-in way to do this or would i have to process the imu data separately and then try to fuse it with the slam output (keyframe_trajectory.txt)?