CLI reference

Every command that talks to a phone takes an optional target: a Bonjour name, an IP, or ip:port; without it the first phone found is used.

usage: imuninn [-h] [--version]
               {list,watch,rerun,record,convert,info,profile} ...

imuninn list

discover phones on the local network

usage: imuninn list [-h] [--timeout TIMEOUT]

options:
  -h, --help         show this help message and exit
  --timeout TIMEOUT

imuninn watch

print incoming samples as text

usage: imuninn watch [-h] [--start] [--stream STREAM] [--every EVERY] [target]

positional arguments:
  target           phone name, host, or host:port (default: first phone found)

options:
  -h, --help       show this help message and exit
  --start          send SessionControl START after connect
  --stream STREAM  only this stream id (default: all)
  --every EVERY    print one sample out of N

imuninn rerun

visualise pose / trajectory / video / depth / IMU / health live in the Rerun viewer

usage: imuninn rerun [-h] [--start] [--depth] [--no-spawn]
                     [--video {decode,stream,off}] [--every EVERY]
                     [--scale SCALE] [--buffer-ms BUFFER_MS] [--port PORT]
                     [--points] [--point-stride POINT_STRIDE]
                     [--points-hz POINTS_HZ] [--no-trajectory]
                     [--no-blueprint] [--mcap MCAP] [--save SAVE]
                     [--seconds SECONDS]
                     [target ...]

positional arguments:
  target                phone name, host, or host:port; several for a multi-
                        device view (default: first phone found)

options:
  -h, --help            show this help message and exit
  --start               send SessionControl START after connect
  --depth               enable the depth stream on the phone(s) first
  --no-spawn            connect to an already running viewer
  --video {decode,stream,off}
                        decode: PyAV in this client (default); stream: hand
                        H.264 to the viewer (viewer-side ffmpeg, stutters at
                        60 fps); off
  --every EVERY         with --video decode: show one frame out of N
  --scale SCALE         with --video decode: downscale frames for the viewer
                        (1 = full size)
  --buffer-ms BUFFER_MS
                        playout buffer: release samples in device-time order
                        this many ms late, smoothing bursty Wi-Fi delivery
                        (try 150)
  --port PORT           spawn / connect to a viewer on this port instead of
                        the default 9876 (own viewer)
  --points              back-project depth into a Points3D cloud on the PC
                        (RGB-coloured with --video decode)
  --point-stride POINT_STRIDE
                        subsample the depth map for --points
  --points-hz POINTS_HZ
                        rate cap for --points and the confidence image (0 =
                        every frame)
  --no-trajectory       do not draw the camera path
  --no-blueprint        keep the viewer's own layout
  --mcap MCAP           replay this MCAP file instead of connecting to a phone
  --save SAVE           write a .rrd file instead of opening the viewer
  --seconds SECONDS     stop after this long (live mode)

imuninn record

record all subscribed streams to an MCAP file

usage: imuninn record [-h] [--start] [-o OUTPUT] [--streams STREAMS] [--depth]
                      [target]

positional arguments:
  target               phone name, host, or host:port (default: first phone
                       found)

options:
  -h, --help           show this help message and exit
  --start              send SessionControl START after connect
  -o, --output OUTPUT  output .mcap (default: imuninn-<time>.mcap)
  --streams STREAMS    comma-separated stream ids (default: all)
  --depth              enable the depth stream before recording

imuninn convert

convert a phone-side .imuninn recording to MCAP

usage: imuninn convert [-h] [-o OUTPUT] input

positional arguments:
  input

options:
  -h, --help           show this help message and exit
  -o, --output OUTPUT

imuninn info

message counts per topic in an MCAP file

usage: imuninn info [-h] input

positional arguments:
  input

options:
  -h, --help  show this help message and exit

imuninn profile

apply / save / list YAML configuration presets

usage: imuninn profile [-h] {apply,save,list} ...

positional arguments:
  {apply,save,list}
    apply            apply a built-in profile name or a YAML file to the phone
    save             save the phone's current config as YAML
    list             list built-in profiles

options:
  -h, --help         show this help message and exit

imuninn profile apply

usage: imuninn profile apply [-h] profile [target]

positional arguments:
  profile
  target

options:
  -h, --help  show this help message and exit

imuninn profile save

usage: imuninn profile save [-h] -o OUTPUT [target]

positional arguments:
  target

options:
  -h, --help           show this help message and exit
  -o, --output OUTPUT

imuninn profile list

usage: imuninn profile list [-h]

options:
  -h, --help  show this help message and exit

imuninn-mcp

Starts the MCP server (stdio). Tools and setup: MCP.