Quick start

With the app open on the phone and imuninn installed (see Install), five lines get you poses:

import imuninn

with imuninn.connect() as dev:          # first phone found; or "iPhone" / "10.0.0.5" / "10.0.0.5:7420"
    dev.start()                         # capture session on (or tap Start on the phone)
    for pose in dev.iter("ar_pose"):    # blocking iterator; same for "imu" / "rgb" / "depth" / "health"
        print(pose.position, pose.intrinsics.fx)

Everything is synchronous; no asyncio needed.

Discover and connect

for p in imuninn.discover():            # Bonjour, about 2 s
    print(p.name, p.address, p.protocol_version)

dev = imuninn.connect("iPhone")         # by name
dev = imuninn.connect("10.0.0.5:7420")  # by address (when the Wi‑Fi blocks mDNS)
dev.close()

connect() returns after the handshake, clock sync and subscribing to every stream. With a USB cable the phone also has a 169.254.x.x link-local address with lower latency (≈1.5 ms round trip instead of ≈8 ms); imuninn list shows both.

Change parameters

r = dev.set("imu.rate_hz", 200)         # returns ConfigResult
for f in r.fields:
    print(f.key, f.status, f.reason)    # applied / clamped / rejected
dev.set("rgb.exposure_mode", "locked")
dev.set("depth.enabled", True)          # restarts the capture session, about 1 s
dev.apply_profile("calibration")        # built-in YAML preset, one round trip

Parameters are self-describing: dev.capabilities lists every parameter of every stream with type, range, choices and whether it applies immediately or restarts the session. Rules in Concepts.

Receive data

# iterator, one stream
for imu in dev.iter("imu"):
    print(imu.header.device_time_ns, imu.accel, imu.gyro)

# iterator, every stream: (stream, sample) tuples
for stream, sample in dev.iter():
    ...

# callbacks: run on the client thread, keep them short
dev.on("rgb", lambda frame: q.put(frame))
dev.on("*", lambda stream, sample: ...)
dev.on("__event__", print)              # "connected" / "config" / "lease" / "disconnected"

dev.stats has per-stream counts, drops (from seq gaps) and rates; dev.health is the phone’s latest thermal / battery report.

Time

Every sample carries header.device_time_ns, the phone’s monotonic clock. dev.to_pc_time(ns) converts to PC wall-clock seconds using the offset measured at connect (≈1 ms error over USB, ≈4 ms over Wi‑Fi).

The same from the command line

imuninn watch --start                   # print samples as text
imuninn rerun --start --depth           # visualise
imuninn record -o run1.mcap             # record

All commands: CLI reference.