Low latency
Over USB: IMU 2.6 ms, pose 39 ms, video 49 ms; 60 Hz pose, 100 Hz IMU, 60 fps H.264 and 60 Hz depth at once with no drops.
iMuninn
Turn an iPhone into a network sensor for robots - camera, IMU, ARKit pose, LiDAR depth, a Protobuf protocol, received from Python, a browser or C++.
Three ways to receive
Section titled “Three ways to receive”Python packagepip install imuninn: scripts, datasets, Rerun, MCAP, MCP.
Web viewerOpen it in a browser, nothing to install.
C++ libraryDependency-free, links straight into real-time programs.
One protocol
Protobuf defines every message; the phone is the server, receive from Python, C++ or a browser.
Record and replay
Recorded as-is to MCAP, replayed in Rerun; the dataset format is the protocol itself.
Remote configuration
Self-describing parameters; the PC, the phone UI, YAML profiles and MCP tools edit one configuration.