Robot Eyes: Vision & Pose

Give any robot eyes with the iPhone you already have.

Robot Eyes turns an iPhone Pro into a robot's camera and a dataset recorder at the same time, from one camera session, so the live stream and the saved recording share one clock and one frame counter.

RECORD • Color video (HEVC), LiDAR depth and confidence maps, accelerometer and gyroscope, and the camera's position and orientation from ARKit, with per-frame camera intrinsics. • The open Stray Scanner dataset layout, readable by existing tools, plus a session.json that summarizes rates, thermal state, battery and completeness. • Crash-safe fragmented video, a clear Complete / Incomplete state for every session, Keep pins, bulk Select ▸ Delete, and Share with real progress and a Cancel that works.

STREAM • Live camera over the USB cable in the Mobcam wire format (the one Moblin uses), with configurable stream size and rate. Thermal state is reported; it does not automatically change capture or stream settings. • A once-a-second status message: frame rates, thermal, battery, free storage, camera tilt, and optionally the camera's position, heading and speed at 5 to 15 Hz. • A small HTTP file server for the measurement files, so a computer can grade a run seconds after it ends. • Your computer may start and stop recordings, if you allow it. • A ROS 2 camera adapter (Humble and Jazzy) publishes Image and CameraInfo, with checkerboard calibration support. • Wi-Fi is off by default. Turn it on and receivers must present the access token shown in Settings.

MADE FOR THE BENCH • Every screen carries a one-word label, so "be on the Record view" is a checkable instruction. • A heads-up display in words, not icons: what the stream is doing, what the disk is doing, what to do next. • Presets for a general recorder and for the Robo Bump Truck, the RC truck this app was built to drive.

PRIVACY • No account, no analytics and no ads. Nothing leaves the phone unless you connect a receiver or tap Share. Support: rooneytech.pages.dev/robot-eyes

REQUIRES • An iPhone with a LiDAR scanner (iPhone 12 Pro and later Pro models) and iOS 18.6 or newer.

Robot Eyes is built on the open-source Stray Scanner recorder (MIT). ROS adapter and interface: github.com/12mv2/robo-bump-truck-ros