mirror of
https://github.com/ruvnet/RuView.git
synced 2026-08-26 02:04:55 +00:00
0df48df7b2
* feat(ios): add RuView LiDAR frame protocol * feat(ios): capture ARKit scene depth for RuView * feat(ios): stream compact LiDAR frames over websocket * feat(ios): add native LiDAR capture UI * feat(ios): add RuView LiDAR app entrypoint * feat(web): add LiDAR bridge web package * feat(web): decode RuView LiDAR wire frames * feat(web): add local LiDAR websocket relay * feat(web): add LiDAR browser viewer * feat(web): render live LiDAR point cloud * fix(ios): use wall clock time for LiDAR provenance * feat(web): style LiDAR viewer * test(web): add LiDAR codec tests * docs: add iPhone LiDAR integration guide * docs(adr): define iPhone LiDAR sensor bridge * fix(ios): harden and validate LiDAR bridge * fix(ios): qualify LiDAR wire depth type
119 lines
3.2 KiB
Swift
119 lines
3.2 KiB
Swift
import Foundation
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import simd
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struct RuViewLiDARFrame: Codable, Sendable {
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struct Intrinsics: Codable, Sendable {
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let fx: Float
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let fy: Float
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let cx: Float
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let cy: Float
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let imageWidth: Int
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let imageHeight: Int
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}
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struct Pose: Codable, Sendable {
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let matrix: [Float]
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}
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struct Depth: Codable, Sendable {
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let width: Int
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let height: Int
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let meters: [Float]
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let confidence: [UInt8]
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}
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struct Provenance: Codable, Sendable {
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let sensor: String
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let source: String
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let privacyClass: String
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let sequence: UInt64
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let timestampNs: UInt64
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let schema: String
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}
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let type: String
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let intrinsics: Intrinsics
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let pose: Pose
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let depth: Depth
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let provenance: Provenance
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init(
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intrinsics: simd_float3x3,
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imageResolution: CGSize,
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cameraTransform: simd_float4x4,
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depthWidth: Int,
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depthHeight: Int,
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depthMeters: [Float],
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confidence: [UInt8],
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sequence: UInt64,
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timestamp: TimeInterval
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) {
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self.type = "ruview.lidar.depth.v1"
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self.intrinsics = Intrinsics(
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fx: intrinsics.columns.0.x,
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fy: intrinsics.columns.1.y,
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cx: intrinsics.columns.2.x,
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cy: intrinsics.columns.2.y,
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imageWidth: Int(imageResolution.width),
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imageHeight: Int(imageResolution.height)
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)
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self.pose = Pose(matrix: cameraTransform.columnMajorArray)
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self.depth = Depth(
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width: depthWidth,
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height: depthHeight,
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meters: depthMeters,
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confidence: confidence
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)
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self.provenance = Provenance(
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sensor: "apple-arkit-scene-depth",
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source: "live",
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privacyClass: "geometry-only",
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sequence: sequence,
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timestampNs: UInt64(max(0, timestamp) * 1_000_000_000),
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schema: "ruview.lidar.depth.v1"
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)
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}
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func assigningSequence(_ sequence: UInt64) -> RuViewLiDARFrame {
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RuViewLiDARFrame(
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type: type,
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intrinsics: intrinsics,
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pose: pose,
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depth: depth,
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provenance: Provenance(
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sensor: provenance.sensor,
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source: provenance.source,
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privacyClass: provenance.privacyClass,
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sequence: sequence,
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timestampNs: provenance.timestampNs,
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schema: provenance.schema
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)
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)
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}
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private init(
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type: String,
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intrinsics: Intrinsics,
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pose: Pose,
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depth: Depth,
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provenance: Provenance
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) {
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self.type = type
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self.intrinsics = intrinsics
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self.pose = pose
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self.depth = depth
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self.provenance = provenance
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}
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}
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private extension simd_float4x4 {
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var columnMajorArray: [Float] {
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[
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columns.0.x, columns.0.y, columns.0.z, columns.0.w,
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columns.1.x, columns.1.y, columns.1.z, columns.1.w,
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columns.2.x, columns.2.y, columns.2.z, columns.2.w,
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columns.3.x, columns.3.y, columns.3.z, columns.3.w
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]
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}
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}
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