iMuninn

Stream camera, IMU, ARKit pose and LiDAR depth from your iPhone to Python, C++ or a browser on your computer, with millisecond-level latency over Wi‑Fi or USB.

iMuninn turns your iPhone into a networked sensor for robotics, research and data collection.

Open the app and your computer can connect to it over the local network (Wi‑Fi or USB). iMuninn streams:

• ARKit 6‑DoF pose with per-frame camera intrinsics, up to 60 Hz • IMU: accelerometer and gyroscope, 100–200 Hz • H.264 video up to 1920×1440 at 60 fps • LiDAR depth with confidence on Pro models, 60 Hz • Device health: thermal state, battery, actual frame rates

On the computer, receive the data with the open-source Python package (pip install imuninn), the C++ library, or the web viewer. Record MCAP files, visualize in Rerun, feed your robot stack, or let an AI agent use it through MCP.

Every setting — sample rates, resolution, lens, exposure, white balance, focus, bitrate — can be changed remotely from the computer. Several computers can connect to the same phone at once.

Privacy: iMuninn has no account and no server and never connects to the internet. Data goes only to computers you connect on your own network.

iMuninn is open source (MIT OR Apache-2.0). Documentation: imuninn.projects.weijinqi.com