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iOS App Features

Complete feature list for the ARVOS iOS app.

Sensor Streaming

Camera

  • Resolution: 1920x1080 @ 30 FPS
  • Format: JPEG compressed
  • Intrinsics: Camera calibration parameters
  • Synchronization: Nanosecond timestamps

LiDAR/Depth

  • Rate: 5 FPS point clouds
  • Format: PLY point cloud format
  • Confidence: Per-point confidence maps
  • Range: Up to 5 meters (iPhone 12 Pro+)

IMU

  • Rate: 100-200 Hz
  • Sensors: Accelerometer, gyroscope, magnetometer
  • Gravity: Gravity vector reference
  • Attitude: Roll, pitch, yaw angles

ARKit Pose

  • Rate: 30-60 Hz
  • Tracking: 6DOF camera pose
  • Quality: Tracking state flags
  • Transform: 4x4 transformation matrix

GPS

  • Rate: 1 Hz
  • Data: Latitude, longitude, altitude
  • Accuracy: Horizontal and vertical accuracy
  • Speed: Current speed and course

Streaming Modes

Full Sensor

Stream all available sensors simultaneously.

RGBD Camera

Camera + Depth only - perfect for 3D reconstruction.

IMU Only

Just IMU data - low bandwidth, high frequency.

Mapping

Pose + IMU - ideal for SLAM algorithms.

Visual-Inertial

Camera + IMU - sensor fusion applications.

LiDAR

Depth + IMU - 3D scanning use cases.

Custom

Configure your own sensor combination.

Protocols

WebSocket (Default)

  • Bidirectional communication
  • Works everywhere
  • Good for most use cases

gRPC

  • High performance
  • Protocol Buffers
  • iOS 18+ required

MQTT

  • Multi-subscriber support
  • IoT-friendly
  • Requires broker

HTTP/REST

  • Simple POST requests
  • Webhook integration
  • Easy debugging

Bluetooth LE

  • No Wi-Fi needed
  • Low power
  • Telemetry only

MCAP Stream

  • Robotics standard
  • Foxglove compatible
  • Streaming format

QUIC/HTTP3

  • Ultra-low latency
  • Better on unstable networks
  • iOS 15+ required

→ Protocol Details

Apple Watch Integration

Wearable IMU

  • 50-100 Hz IMU data
  • Accelerometer + gyroscope + gravity
  • Nanosecond synchronization

Attitude

  • Quaternion representation
  • Euler angles (pitch, roll, yaw)
  • Reference frame information

Motion Activity

  • Classification: walking, running, cycling, vehicle, stationary
  • Confidence scores
  • Real-time updates

→ Apple Watch Guide

Local Recording

MCAP Format

  • Industry-standard container
  • H.264 video encoding
  • Nanosecond timestamps
  • Metadata preservation

Export Formats

  • KITTI - Autonomous driving datasets
  • TUM - SLAM datasets
  • EuRoC - MAV datasets
  • PLY - Point cloud export
  • CSV - Tabular data

User Interface

Connection Sheet

  • Protocol selection
  • QR code scanning
  • Manual IP entry
  • Connection status

Streaming View

  • Real-time sensor visualization
  • Statistics display
  • Connection quality indicators
  • Start/stop controls

Settings

  • Protocol configuration
  • Streaming mode selection
  • Sensor rate adjustment
  • Apple Watch toggle

Sensor Test

  • Individual sensor testing
  • Live data visualization
  • Sample rate monitoring
  • Connection diagnostics

Next Steps