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iOS App Usage Guide

Complete guide to using the ARVOS iOS app.

First Launch

Permissions

On first launch, the app will request permissions:

  1. Camera - Required for camera streaming
  2. Location - Required for GPS data
  3. Motion & Fitness - Required for IMU data
  4. Bluetooth - Required for BLE and Apple Watch

Grant all permissions for full functionality.

Initial Setup

  1. Open the ARVOS app
  2. Review the welcome screen
  3. Grant necessary permissions
  4. Ready to connect!

Connecting to a Server

Step 1: Start Your Server

On your computer, start a Python server:

python examples/basic_server.py

Step 2: Open Connection Sheet

In the ARVOS app: 1. Tap "CONNECT TO SERVER" button 2. Connection sheet appears

Step 3: Select Protocol

  1. Find "PROTOCOL" section
  2. Select your protocol (WebSocket is default)
  3. Port number auto-fills based on protocol

Step 4: Enter Server Details

Option A: Scan QR Code - Point camera at QR code shown in terminal - Tap notification to open in app

Option B: Manual Entry - Tap "Enter Manually" - Enter computer's IP address - Verify port number - Tap "CONNECT"

Step 5: Start Streaming

Once connected: 1. Tap "START STREAMING" button 2. Select streaming mode 3. Data flows to your server!

Streaming Modes

Full Sensor

Stream all available sensors: - Camera - Depth/LiDAR - IMU - ARKit Pose - GPS

Best for: Complete data collection

RGBD Camera

Camera + Depth only: - RGB video - Depth point clouds

Best for: 3D reconstruction

IMU Only

Just IMU data: - Accelerometer - Gyroscope - Gravity

Best for: Low bandwidth, high frequency

Mapping

Pose + IMU: - ARKit pose - IMU data

Best for: SLAM algorithms

Visual-Inertial

Camera + IMU: - RGB video - IMU data

Best for: Sensor fusion

LiDAR

Depth + IMU: - Point clouds - IMU data

Best for: 3D scanning

Custom

Configure your own combination: - Select individual sensors - Set rates - Custom configuration

Local Recording

Start Recording

  1. Tap "RECORD" button
  2. Select recording location
  3. Recording starts
  4. Tap "STOP" when done

Recording Format

  • Format: MCAP
  • Video: H.264 encoded
  • Timestamps: Nanosecond precision
  • Metadata: All sensor metadata preserved

Export Options

Recorded files can be exported to: - KITTI format - TUM format - EuRoC format - PLY point clouds - CSV data

Apple Watch Integration

Enable Watch

  1. Open Settings
  2. Find "Apple Watch" section
  3. Toggle "Enable Watch Streaming"
  4. Ensure watch is paired and nearby

Watch Data

Once enabled, watch data streams alongside iPhone data: - Watch IMU (50-100 Hz) - Watch attitude - Motion activity

→ Apple Watch Guide

Sensor Test View

Test individual sensors:

  1. Open "Sensor Test" view
  2. Toggle sensors on/off
  3. View real-time data
  4. Monitor sample rates

Available Tests

  • IMU - Accelerometer, gyroscope, gravity
  • Camera - Live camera preview
  • Depth - Point cloud visualization
  • Pose - ARKit tracking visualization
  • GPS - Location display
  • Apple Watch - Watch sensor data

Settings

Protocol Settings

  • Default protocol selection
  • Port configuration
  • Connection timeout

Streaming Settings

  • Default streaming mode
  • Sensor rate limits
  • Quality settings

Recording Settings

  • Default recording location
  • Video quality
  • Compression settings

Apple Watch Settings

  • Enable/disable watch
  • Watch sample rate
  • Watch data filtering

Troubleshooting

Connection Issues

  • Check Wi-Fi network
  • Verify firewall settings
  • Try different protocol
  • Check server is running

No Data Streaming

  • Ensure "START STREAMING" is tapped
  • Check streaming mode selection
  • Verify server callbacks registered
  • Check protocol matches

Performance Issues

  • Reduce sensor rates
  • Use lower quality settings
  • Try different protocol
  • Check network signal

→ Full Troubleshooting Guide

Next Steps