RCDCamera : Remote Color Depth Camera

Simple iOS remote camera app to send color and depth images that can be received by the socket, without any 3rd-party dependencies. It is implemented to replace Intel RealSense.

Dependencies and requirements

• ARKit 4, AVFoundation, Network
• LiDAR-embedded iOS device (Considering only 12.9 iPad currently)

Features

2 mode is available, RGBD and RGB. You can switch to each other in runtime.

• RGBD

  • Send color and depth image to socket.
  • Intrinsic matrix viewer
  • Current fov viewer
  • Current color templerature viewer

• RGB

  • Send color image only to socket.
  • Manual ISO and exposure controller
  • Manual color gain controller

Usage

Device's IP address is required to get images. RCDCamera uses port 12345 by default.

• RGB image : Send UTF-8 encoded "rgb" string to the address, PNG image itself will be returned.
• Depth image(in RGBD mode only) : Send UTF-8 encoded "depth" string to the address, binary of the depth ARRAY will be returned. You have to convert it to an image in some way.

Note that UTF-8 encoded __TAIL_TAIL_TAIL__ is added to the end of the data in both mode. It can be used to separate images/data from received binary.

Please refer client_example.py for example. It receives color or depth image from the connected socket.

1. Check IP address of your device and run application.
2. Set IP address as device's in client_example.py and run script. It may requires few dependencies.

Screenshots

RGBD mode

RGB mode

Credits

• Resizing UIImage by Vasily Bodnarchuk in stack overflow. link
• Adding padding to String by Gustavo Seidler in stack overflow. link
• UIButton+.swift written by namsoo5.