AR Data API Reference

ARDataSubscriber

Constructor:

ARDataSubscriber(ip, port=8000, hwm=1, conflate=True, verbose=False)

Parameters:

• ip (str): iPhone's IP address

• port (int): Port number (default: 8000)

• hwm (int): High water mark (default: 1, keeps only latest message)

• conflate (bool): Message conflation (default: True)

• verbose (bool): Print connection info (default: False)

Usage:

# Create subscriber
sub = ARDataSubscriber("192.168.1.100")
​
# Continuously receive data
for data in sub:
    print(data.timestamp)
    print(data.velocity)
​
# Close when done
sub.close()

Main Methods:

Method	Returns	Description
get()	ARFrame or None	Get latest data frame
get_timestamp()	float or None	Get timestamp only
get_velocity()	np.ndarray or None	Get velocity only
get_local_pose()	np.ndarray or None	Get local pose only
get_global_pose()	np.ndarray or None	Get global pose only
get_camera_intrinsics()	np.ndarray or None	Get camera intrinsics only
get_color_image()	bytes or None	Get color image bytes only
get_depth_image()	np.ndarray or None	Get depth array only
close()	None	Close connection

Note:

• The subscriber is iterable, so you can use for data in sub: to receive frames continuously.

• All get_*() methods accept an optional timeout parameter (default: 1000ms).

ARFrame

Data object returned by get() or when iterating. For data format details, see AR Data Format Reference above.

Properties:

Property	Type	Description
timestamp	float	Unix timestamp in seconds
velocity	np.ndarray	Velocity $[v_x, v_y, v_z]$ in m/s
local_pose	np.ndarray	Local pose $[t_x, t_y, t_z, q_x, q_y, q_z, q_w]$
global_pose	np.ndarray	Global pose $[t_x, t_y, t_z, q_x, q_y, q_z, q_w]$
camera_intrinsics	np.ndarray	Camera intrinsics (3×3 flattened)
Color Image
color_bytes	bytes	JPEG image bytes (for saving/forwarding)
color_array	np.ndarray	Decoded RGB image array (640×480×3)
color	np.ndarray	Shortcut for color_array
Depth Image
depth_array	np.ndarray	Depth image array (uint16, 256×192)
depth	np.ndarray	Shortcut for depth_array
depth_width	int	Depth image width (256)
depth_height	int	Depth image height (192)
Helpers
has_color_image	bool	Check if color image exists
has_depth_image	bool	Check if depth image exists

Methods:

Method	Returns	Description
show_color(window_name)	bool	Display color image with OpenCV
show_depth(window_name, colormap)	bool	Display depth image with colormap
show_images(show_color, show_depth)	tuple	Display both images side by side