MiSensorKit vs SensorStream, powered by ROS 2

MiSensorKit is a multi-modal field recording application designed for iOS devices. It enables synchronized capture of multiple sensor streams within a single recording session, making it the ideal portable tool for building rich multi-modal datasets in the field. CAPTURE MULTIPLE MODALITIES RGB frames saved as high-resolution JPEGs (up to 1024px) LiDAR depth maps stored as UInt16 millimeter buffers Full camera intrinsics and 6-DoF extrinsic pose logged every frame as JSON Real-time 3D body skeleton tracking with joint positions via ARKit Front-facing selfie camera capture Gaze estimation and eye tracking data GPS location with latitude, longitude, altitude, speed, heading, and accuracy metrics IMU data including accelerometer, gyroscope, fused attitude (roll/pitch/yaw), and gravity vector Ambient light intensity and color temperature estimates Barometric pressure readings synchronized with every frame FLEXIBLE RECORDING SETUP Choose which modalities to record, configure sampling frequency from 1 to 60 Hz, and select output resolution from 224 to 1024 px. A built-in preflight check alerts you to missing permissions or hardware limitations before you start. Monitor sensor status, live FPS, stream health, and session size in real time while recording. BUILT-IN DATA VIEWER Browse and inspect recorded sessions directly on your device. Scrub through individual frames to view RGB images, depth maps, camera metadata, skeleton data, and sensor readings — without needing to transfer files to a computer. EXPORT AND SHARE Export any session as a ZIP archive directly from the app, or share the raw folder via Files and AirDrop. A session summary sheet appears automatically after each recording with key statistics and one-tap sharing options. STRUCTURED OUTPUT FORMAT Each recording session creates an organized folder structure with separate directories for RGB, depth, camera pose, skeleton, GPS, IMU, and metadata — ready for your processing pipeline. REQUIREMENTS iPhone or iPad with LiDAR sensor (required for depth recording only) iOS 26.0 or later Designed for researchers and developers who need a portable, easy-to-use tool for multi-modal data collection without external hardware or complex calibration setups.

SensorStream turns your iPhone into a sensor platform, streaming LiDAR depth, RGB camera, IMU, and GPS data to your host computer over Wi-Fi or USB. Built for robotics prototypers, researchers, or anyone who wants to use the iPhone's powerful built-in sensor suite. SENSOR STREAMS • LiDAR Depth — 256×192 depth frames at up to 30 FPS from front and back (Wide) cameras (requires a LiDAR-equipped iPhone) • RGB Camera — JPEG-compressed colour frames at up to 30 FPS from the wide-angle camera, or front-facing camera • IMU — accelerometer, gyroscope, and quaternion orientation data at a configurable frequency • GPS — GNSS position TRANSPORT OPTIONS • Wi-Fi (TCP) — connect wirelessly over your local network; scan the server's QR code from the app for instant pairing • USB — low-latency wired connection via PeerTalk / iproxy for demanding real-time applications INTEGRATION • Driver for integration with ROS 2 — a companion driver publishes sensor data directly to ROS 2 topics (/depth_image, /color_image/compressed, /imu/data, /gps/fix) using sensor_msgs message types ON-DEVICE PREVIEW • Real-time depth overlay with adjustable min/max range and colour thresholds • Live camera preview • IMU visualiser for orientation feedback • Per-sensor toggles and settings — configure each sensor independently before streaming HOW IT WORKS 1. Start the companion driver on your computer 2. Open SensorStream, go to Settings → Network, and connect via Wi-Fi (scan the QR code or enter IP/port manually) or USB. 3. Enable the sensors you need on the Dashboard. 4. Tap Start Streaming, that's it. REQUIREMENTS • iPhone with iOS 15.6 or later • LiDAR sensor required for depth streaming (iPhone 12 Pro and later) • Host computer running Python 3.9+ and ROS 2 Humble for the companion server