AR Data Receiving Examples

Before running the examples, update the IP address:

• Example: sub = ARDataSubscriber("192.168.1.100")

• Replace "192.168.1.100" with your iPhone’s actual IP (e.g., 192.168.x.x)

Make sure your iPhone and computer are on the same Wi-Fi / LAN.

Example 1: Continuous AR Data Reading

from asmagic import ARDataSubscriber

sub = ARDataSubscriber("192.168.1.100")

try:
    for data in sub:
        # Print all available data
        print(f"\n--- Frame at {data.timestamp} ---")
        print(f"Velocity: {data.velocity}")
        print(f"Local Pose: {data.local_pose}")
        print(f"Global Pose: {data.global_pose}")
        print(f"Camera Intrinsics: {data.camera_intrinsics}")

        if data.has_depth_image:
            depth = data.depth  # or data.depth_array
            print(f"Depth shape: {depth.shape}, min: {depth.min()}, max: {depth.max()}")

except KeyboardInterrupt:
    print("\nStopped")
finally:
    sub.close()

Example 2: Continuous Reading with get()

from asmagic import ARDataSubscriber

sub = ARDataSubscriber("192.168.1.100")

try:
    while True:
        data = sub.get()
        if data:
            print(f"Timestamp: {data.timestamp}")
            print(f"Velocity: {data.velocity}")
            print(f"Local Pose: {data.local_pose}")
            print(f"Global Pose: {data.global_pose}")
            print(f"Camera Intrinsics: {data.camera_intrinsics}")

            # Access images
            if data.has_color_image:
                print(f"Color bytes: {len(data.color_bytes)} bytes")
                print(f"Color array: {data.color_array.shape}")

            if data.has_depth_image:
                print(f"Depth array: {data.depth_array.shape}")

except KeyboardInterrupt:
    print("\nStopped")
finally:
    sub.close()

NOTE: Example 1 and Example 2 achieve the same goal of continuous data reading.

Example 3: Display Color and Depth Images

from asmagic import ARDataSubscriber
import cv2

sub = ARDataSubscriber("192.168.1.100")

try:
    for data in sub:
        # Display both images side by side
        data.show_images()

        # Or display individually:
        # data.show_color()  # RGB image
        # data.show_depth()  # Depth map with colormap

        # Press ESC to exit
        if cv2.waitKey(1) == 27:
            break

except KeyboardInterrupt:
    print("\nStopped")
finally:
    sub.close()
    cv2.destroyAllWindows()

Example 4: Process Image Data

from asmagic import ARDataSubscriber
import numpy as np

sub = ARDataSubscriber("192.168.1.100")

try:
    for data in sub:

        # Color image: process as numpy array
        if data.has_color_image:
            color = data.color_array  # RGB numpy array
            print(f"Color shape: {color.shape}")

        # Depth image: always as numpy array
        if data.has_depth_image:
            depth = data.depth_array  # uint16 numpy array
            depth_meters = depth.astype(np.float32) / 10000.0
            print(f"Depth range: {depth_meters.min():.2f}m - {depth_meters.max():.2f}m")

except KeyboardInterrupt:
    pass
finally:
    sub.close()

Example 5: Using Pose Data

from asmagic import ARDataSubscriber
import numpy as np

sub = ARDataSubscriber("192.168.1.100")

try:
    for data in sub:
        # Extract position from pose (first 3 elements)
        position = data.local_pose[:3] # [tx, ty, tz]

        # Extract quaternion from pose (last 4 elements)
        quaternion = data.local_pose[3:]  # [qx, qy, qz, qw]

        print(f"Position (m): x={position[0]:.3f}, y={position[1]:.3f}, z={position[2]:.3f}")
        print(f"Quaternion: {quaternion}")
        print(f"Velocity (m/s): {data.velocity}")   # [vx, vy, vz]

except KeyboardInterrupt:
    pass
finally:
    sub.close()

Example 6: Get Individual AR Data Fields

from asmagic import ARDataSubscriber
import numpy as np

sub = ARDataSubscriber("192.168.1.100")

try:
    while True:
        # Get only specific data fields
        timestamp = sub.get_timestamp()
        print(f"Timestamp: {timestamp}")

except KeyboardInterrupt:
    print("\nStopped")
finally:
    sub.close()

Note: Use get_*() methods when you need specific data fields. This is more efficient than receiving the full frame.