Adaptive recording

StrayScanner.xcodeproj/project.pbxproj

@@ -66,6 +66,9 @@
 		38E969CB2572608E00054CC4 /* NewSession.swift in Sources */ = {isa = PBXBuildFile; fileRef = 38E969CA2572608E00054CC4 /* NewSession.swift */; };
 		38FB730F2572A9FA007D9CB0 /* RecordSessionViewController.swift in Sources */ = {isa = PBXBuildFile; fileRef = 38FB730E2572A9FA007D9CB0 /* RecordSessionViewController.swift */; };
 		38FB73162572AF63007D9CB0 /* Shaders.metal in Sources */ = {isa = PBXBuildFile; fileRef = 38FB73152572AF63007D9CB0 /* Shaders.metal */; };
+		70849EC02E0E46B1007E1315 /* SettingsView.swift in Sources */ = {isa = PBXBuildFile; fileRef = 70849EBF2E0E46B1007E1315 /* SettingsView.swift */; };
+		70849EC42E0E4CE2007E1315 /* SettingsConstants.swift in Sources */ = {isa = PBXBuildFile; fileRef = 70849EC22E0E4CE2007E1315 /* SettingsConstants.swift */; };
+		709259192E0B79AB00A7B62E /* ShareUtility.swift in Sources */ = {isa = PBXBuildFile; fileRef = 709259182E0B79AB00A7B62E /* ShareUtility.swift */; };
 /* End PBXBuildFile section */
 
 /* Begin PBXContainerItemProxy section */
@@ -119,6 +122,9 @@
 		38FB73152572AF63007D9CB0 /* Shaders.metal */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.metal; path = Shaders.metal; sourceTree = "<group>"; };
 		38FB731F2573EABB007D9CB0 /* ShaderTypes.h */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.c.h; path = ShaderTypes.h; sourceTree = "<group>"; };
 		38FB73242573ECE2007D9CB0 /* BridgeHeader.h */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.c.h; name = BridgeHeader.h; path = StrayScanner/BridgeHeader.h; sourceTree = "<group>"; };
+		70849EBF2E0E46B1007E1315 /* SettingsView.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = SettingsView.swift; sourceTree = "<group>"; };
+		70849EC22E0E4CE2007E1315 /* SettingsConstants.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = SettingsConstants.swift; sourceTree = "<group>"; };
+		709259182E0B79AB00A7B62E /* ShareUtility.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = ShareUtility.swift; sourceTree = "<group>"; };
 		AC52749A3B5AED09C9753120 /* Pods-StrayScanner.debug.xcconfig */ = {isa = PBXFileReference; includeInIndex = 1; lastKnownFileType = text.xcconfig; name = "Pods-StrayScanner.debug.xcconfig"; path = "Target Support Files/Pods-StrayScanner/Pods-StrayScanner.debug.xcconfig"; sourceTree = "<group>"; };
 		DBC054EDDA47FB8A717AA671 /* Pods_StrayScanner.framework */ = {isa = PBXFileReference; explicitFileType = wrapper.framework; includeInIndex = 0; path = Pods_StrayScanner.framework; sourceTree = BUILT_PRODUCTS_DIR; };
 /* End PBXFileReference section */
@@ -179,6 +185,7 @@
 		38045D562561A6D20004F23C /* Views */ = {
 			isa = PBXGroup;
 			children = (
+				70849EBF2E0E46B1007E1315 /* SettingsView.swift */,
 				38045D572561A7370004F23C /* SessionRow.swift */,
 				38045D592561AC000004F23C /* SessionList.swift */,
 				38E969CA2572608E00054CC4 /* NewSession.swift */,
@@ -216,6 +223,7 @@
 			children = (
 				38694C6B26D2C66F00546EA1 /* Helpers */,
 				387B576825EA55AC00132903 /* CCode */,
+				70849EC32E0E4CE2007E1315 /* Constants */,
 				38C17AE4259BCD16006B3FDA /* UI */,
 				38FB73142572AF50007D9CB0 /* Shaders */,
 				38FB730D2572A91D007D9CB0 /* Controllers */,
@@ -244,6 +252,7 @@
 		38694C6B26D2C66F00546EA1 /* Helpers */ = {
 			isa = PBXGroup;
 			children = (
+				709259182E0B79AB00A7B62E /* ShareUtility.swift */,
 				38694C6C26D2C66F00546EA1 /* DatasetEncoder.swift */,
 				38694C6D26D2C66F00546EA1 /* ConfidenceEncoder.swift */,
 				38694C6E26D2C66F00546EA1 /* VideoEncoder.swift */,
@@ -310,6 +319,14 @@
 			name = Frameworks;
 			sourceTree = "<group>";
 		};
+		70849EC32E0E4CE2007E1315 /* Constants */ = {
+			isa = PBXGroup;
+			children = (
+				70849EC22E0E4CE2007E1315 /* SettingsConstants.swift */,
+			);
+			path = Constants;
+			sourceTree = "<group>";
+		};
 /* End PBXGroup section */
 
 /* Begin PBXNativeTarget section */
@@ -508,11 +525,14 @@
 				385999BD25616F2B00F3F681 /* AppDelegate.swift in Sources */,
 				38C17B23259D1C80006B3FDA /* SessionDetail.swift in Sources */,
 				385999C225616F2B00F3F681 /* Stray_Scanner.xcdatamodeld in Sources */,
+				70849EC12E0E46B1007E1315 /* SettingsView.swift in Sources */,
 				38045D5A2561AC000004F23C /* SessionList.swift in Sources */,
 				38694C8226D2C66F00546EA1 /* AppDaemon.swift in Sources */,
 				38694C7626D2C66F00546EA1 /* ConfidenceEncoder.swift in Sources */,
 				386E277825991163007D023B /* RecordButton.swift in Sources */,
 				385999BF25616F2B00F3F681 /* SceneDelegate.swift in Sources */,
+				709259192E0B79AB00A7B62E /* ShareUtility.swift in Sources */,
+				70849EC42E0E4CE2007E1315 /* SettingsConstants.swift in Sources */,
 				38694C8026D2C66F00546EA1 /* DepthEncoder.swift in Sources */,
 				38C17B13259BE1DA006B3FDA /* Recording+CoreDataProperties.swift in Sources */,
 				38C17B12259BE1DA006B3FDA /* Recording+CoreDataClass.swift in Sources */,
@@ -532,6 +552,7 @@
 				3863FE6325FCBB0E00C1DA4F /* SessionRow.swift in Sources */,
 				38694C7526D2C66F00546EA1 /* DatasetEncoder.swift in Sources */,
 				38694C7D26D2C66F00546EA1 /* CameraRenderer.swift in Sources */,
+				70849EC02E0E46B1007E1315 /* SettingsView.swift in Sources */,
 				38694C7B26D2C66F00546EA1 /* IMUEncoder.swift in Sources */,
 				3863FE6425FCBB0E00C1DA4F /* Shaders.metal in Sources */,
 				3863FE6525FCBB0E00C1DA4F /* AppDelegate.swift in Sources */,
@@ -541,6 +562,7 @@
 				38694C8326D2C66F00546EA1 /* AppDaemon.swift in Sources */,
 				38694C7726D2C66F00546EA1 /* ConfidenceEncoder.swift in Sources */,
 				3863FE6A25FCBB0E00C1DA4F /* RecordButton.swift in Sources */,
+				70849EC52E0E4CE2007E1315 /* SettingsConstants.swift in Sources */,
 				3807421027BBD07D003194C1 /* PngEncoder.mm in Sources */,
 				3863FE6C25FCBB0E00C1DA4F /* SceneDelegate.swift in Sources */,
 				38694C8126D2C66F00546EA1 /* DepthEncoder.swift in Sources */,

StrayScanner/Constants/SettingsConstants.swift

@@ -0,0 +1,22 @@
+//
+//  SettingsConstants.swift
+//  StrayScanner
+//
+//  Constants for settings keys and default values
+//
+
+import Foundation
+
+// MARK: - UserDefaults Keys
+let FpsUserDefaultsKey: String = "FPS"
+let AdaptiveThresholdPositionKey: String = "AdaptiveThresholdPosition"
+let AdaptiveThresholdAngleKey: String = "AdaptiveThresholdAngle"
+
+// MARK: - FPS Settings
+let FpsDividers: [Int] = [1, 2, 4, 12, 60]
+let AvailableFpsSettings: [Int] = FpsDividers.map { Int(60 / $0) }
+let AdaptiveModeIndex: Int = -1 // Special index for adaptive mode
+
+// MARK: - Adaptive Mode Defaults
+let DefaultAdaptiveThresholdPosition: Double = 0.15 // 15cm
+let DefaultAdaptiveThresholdAngle: Double = 15.0 // 15 degrees

StrayScanner/Controllers/RecordSessionViewController.swift

@@ -13,9 +13,7 @@ import ARKit
 import CoreData
 import CoreMotion
 
-let FpsDividers: [Int] = [1, 2, 4, 12, 60]
-let AvailableFpsSettings: [Int] = FpsDividers.map { Int(60 / $0) }
-let FpsUserDefaultsKey: String = "FPS"
+// Settings constants are now in SettingsConstants.swift
 
 class MetalView : UIView {
     override class var layerClass: AnyClass {
@@ -164,7 +162,10 @@ class RecordSessionViewController : UIViewController, ARSessionDelegate {
             self.updateTime()
         }
         startRawIMU()
-        datasetEncoder = DatasetEncoder(arConfiguration: arConfiguration!, fpsDivider: FpsDividers[chosenFpsSetting])
+
+        // Use fpsDivider of 1 for adaptive mode (adaptive logic handles frame skipping)
+        let fpsDivider = chosenFpsSetting == AdaptiveModeIndex ? 1 : FpsDividers[chosenFpsSetting]
+        datasetEncoder = DatasetEncoder(arConfiguration: arConfiguration!, fpsDivider: fpsDivider)
         startRawIMU()
     }
 
@@ -246,7 +247,15 @@ class RecordSessionViewController : UIViewController, ARSessionDelegate {
     }
 
     @IBAction func fpsButtonTapped() {
-        chosenFpsSetting = (chosenFpsSetting + 1) % AvailableFpsSettings.count
+        // Always cycle through FPS settings and adaptive mode
+        if chosenFpsSetting == AdaptiveModeIndex {
+            chosenFpsSetting = 0
+        } else if chosenFpsSetting == AvailableFpsSettings.count - 1 {
+            chosenFpsSetting = AdaptiveModeIndex
+        } else {
+            chosenFpsSetting = chosenFpsSetting + 1
+        }
+
         updateFpsSetting()
         UserDefaults.standard.set(chosenFpsSetting, forKey: FpsUserDefaultsKey)
     }
@@ -267,8 +276,13 @@ class RecordSessionViewController : UIViewController, ARSessionDelegate {
     }
 
     private func updateFpsSetting() {
-        let fps = AvailableFpsSettings[chosenFpsSetting]
-        let buttonLabel: String = "\(fps) fps"
+        let buttonLabel: String
+        if chosenFpsSetting == AdaptiveModeIndex {
+            buttonLabel = "Adaptive"
+        } else {
+            let fps = AvailableFpsSettings[chosenFpsSetting]
+            buttonLabel = "\(fps) fps"
+        }
         fpsButton.setTitle(buttonLabel, for: UIControl.State.normal)
     }
 

StrayScanner/Helpers/DatasetEncoder.swift

@@ -10,6 +10,7 @@ import Foundation
 import ARKit
 import CryptoKit
 import CoreMotion
+import UIKit
 
 class DatasetEncoder {
     enum Status {
@@ -39,12 +40,41 @@ class DatasetEncoder {
 
     private var latestAccelerometerData: (timestamp: Double, data: simd_double3)?
     private var latestGyroscopeData: (timestamp: Double, data: simd_double3)?
+
+    // Adaptive mode properties
+    private let adaptiveModeEnabled: Bool
+    private let positionThreshold: Float
+    private let angleThresholdCos: Float // Cosine of angle threshold for efficient comparison
+    private var lastSavedTransform: simd_float4x4?
+    private let hapticGenerator = UIImpactFeedbackGenerator(style: .light)
 
 
     init(arConfiguration: ARWorldTrackingConfiguration, fpsDivider: Int = 1) {
         self.frameInterval = fpsDivider
         self.queue = DispatchQueue(label: "encoderQueue")
 
+        // Check if we're in adaptive mode (indicated by the FPS button selection)
+        let currentFpsSetting = UserDefaults.standard.integer(forKey: FpsUserDefaultsKey)
+        self.adaptiveModeEnabled = (currentFpsSetting == AdaptiveModeIndex)
+
+        // Load adaptive mode thresholds with defaults
+        let posThreshold = UserDefaults.standard.double(forKey: AdaptiveThresholdPositionKey)
+        let angleThresholdDegrees = UserDefaults.standard.double(forKey: AdaptiveThresholdAngleKey)
+        self.positionThreshold = Float(posThreshold > 0 ? posThreshold : DefaultAdaptiveThresholdPosition)
+
+        // Convert angle threshold to cosine for efficient comparison
+        let angleThresholdRadians = Float(angleThresholdDegrees > 0 ? angleThresholdDegrees : DefaultAdaptiveThresholdAngle) * Float.pi / 180.0
+        self.angleThresholdCos = cos(angleThresholdRadians) // Direct angle for forward vector comparison
+
+        // Prepare haptic generator
+        if self.adaptiveModeEnabled {
+            hapticGenerator.prepare()
+            let angleDegreesForDebug = acos(self.angleThresholdCos) * 180.0 / Float.pi
+            print("Adaptive mode enabled: pos threshold=\(self.positionThreshold*100)cm, angle threshold=\(angleDegreesForDebug)° (forward vector)")
+        } else {
+            print("Adaptive mode disabled")
+        }
+
         let width = arConfiguration.videoFormat.imageResolution.width
         let height = arConfiguration.videoFormat.imageResolution.height
         var theId: UUID = UUID()
@@ -67,12 +97,67 @@ class DatasetEncoder {
         let totalFrames: Int = currentFrame
         let frameNumber: Int = savedFrames
         currentFrame = currentFrame + 1
+
+        // Check if we should skip this frame based on frame interval
         if (currentFrame % frameInterval != 0) {
             return
         }
+
+        // If adaptive mode is enabled, check if pose has changed significantly
+        if adaptiveModeEnabled {
+            let currentTransform = frame.camera.transform
+
+            if let lastTransform = lastSavedTransform {
+                // Calculate position change
+                let lastPos = simd_float3(lastTransform.columns.3.x, lastTransform.columns.3.y, lastTransform.columns.3.z)
+                let currentPos = simd_float3(currentTransform.columns.3.x, currentTransform.columns.3.y, currentTransform.columns.3.z)
+                let positionDelta = simd_distance(lastPos, currentPos)
+
+                // Calculate forward vector dot product for rotation comparison
+                // Forward is -Z in ARKit's coordinate system
+                let lastForward = -simd_float3(lastTransform.columns.2.x, lastTransform.columns.2.y, lastTransform.columns.2.z)
+                let currentForward = -simd_float3(currentTransform.columns.2.x, currentTransform.columns.2.y, currentTransform.columns.2.z)
+                let dotProduct = simd_dot(lastForward, currentForward)
+
+                // Debug logging (remove in production)
+//                if adaptiveModeEnabled {
+//                    let angleDelta = acos(min(dotProduct, 1.0)) * 180.0 / Float.pi
+//                    let angleThresholdDegrees = acos(angleThresholdCos) * 180.0 / Float.pi
+//                    print("Adaptive mode: pos=\(positionDelta*100)cm, angle=\(angleDelta)°, thresholds: pos=\(positionThreshold*100)cm, angle=\(angleThresholdDegrees)°")
+//                }
+
+                // Skip frame if changes are below thresholds
+                // Note: dotProduct > angleThresholdCos means angle < threshold (cosine decreases as angle increases)
+                if positionDelta < positionThreshold && dotProduct > angleThresholdCos {
+                    return
+                }
+            }
+
+            // Update last saved transform
+            lastSavedTransform = currentTransform
+
+            // Trigger haptic feedback for adaptive mode capture
+            DispatchQueue.main.async {
+                self.hapticGenerator.impactOccurred()
+            }
+        }
+
+        // Extract what we need from the frame before async dispatch
+        let capturedImage = frame.capturedImage
+        let sceneDepth = frame.sceneDepth
+        let frameTimestamp = frame.timestamp
+        let frameTransform = frame.camera.transform
+
         dispatchGroup.enter()
-        queue.async {
-            if let sceneDepth = frame.sceneDepth {
+        queue.async { [weak self] in
+            defer {
+                // Always balance enter/leave, even if self is nil
+                self?.dispatchGroup.leave()
+            }
+
+            guard let self = self else { return }
+
+            if let sceneDepth = sceneDepth {
                 self.depthEncoder.encodeFrame(frame: sceneDepth.depthMap, frameNumber: frameNumber)
                 if let confidence = sceneDepth.confidenceMap {
                     self.confidenceEncoder.encodeFrame(frame: confidence, frameNumber: frameNumber)
@@ -82,10 +167,10 @@ class DatasetEncoder {
             } else {
                 print("warning: scene depth missing.")
             }
-            self.rgbEncoder.add(frame: VideoEncoderInput(buffer: frame.capturedImage, time: frame.timestamp), currentFrame: totalFrames)
+
+            self.rgbEncoder.add(frame: VideoEncoderInput(buffer: capturedImage, time: frameTimestamp), currentFrame: frameNumber)
             self.odometryEncoder.add(frame: frame, currentFrame: frameNumber)
             self.lastFrame = frame
-            self.dispatchGroup.leave()
         }
         savedFrames = savedFrames + 1
     }

StrayScanner/Helpers/ShareUtility.swift

@@ -0,0 +1,60 @@
+//
+//  ShareUtility.swift
+//  StrayScanner
+//
+//  Created by Claude on 6/24/25.
+//
+
+import Foundation
+import Compression
+
+/// Utility class for creating shareable archives from recording datasets
+class ShareUtility {
+
+    /// Creates a shareable ZIP archive from a recording's dataset
+    /// - Parameter recording: The recording to create a ZIP archive for
+    /// - Returns: URL of the created ZIP file
+    static func createShareableArchive(for recording: Recording) async throws -> URL {
+        guard let sourceDirectory = recording.directoryPath() else {
+            throw NSError(domain: "ShareError", code: 1, userInfo: [NSLocalizedDescriptionKey: "Unable to get recording directory path"])
+        }
+
+        let tempDirectory = FileManager.default.temporaryDirectory
+        let archiveName = "\(recording.name ?? "Recording")_\(recording.id?.uuidString.prefix(8) ?? "unknown").zip"
+        let archiveURL = tempDirectory.appendingPathComponent(archiveName)
+
+        // Remove existing archive if it exists
+        try? FileManager.default.removeItem(at: archiveURL)
+
+        return try await withCheckedThrowingContinuation { continuation in
+            DispatchQueue.global(qos: .userInitiated).async {
+                do {
+                    try createZipArchive(sourceDirectory: sourceDirectory, destinationURL: archiveURL)
+                    continuation.resume(returning: archiveURL)
+                } catch {
+                    continuation.resume(throwing: error)
+                }
+            }
+        }
+    }
+
+    private static func createZipArchive(sourceDirectory: URL, destinationURL: URL) throws {
+        let coordinator = NSFileCoordinator()
+        var error: NSError?
+
+        coordinator.coordinate(readingItemAt: sourceDirectory, options: [.forUploading], error: &error) { (zipURL) in
+            do {
+                _ = zipURL.startAccessingSecurityScopedResource()
+                defer { zipURL.stopAccessingSecurityScopedResource() }
+
+                try FileManager.default.copyItem(at: zipURL, to: destinationURL)
+            } catch {
+                print("Failed to create zip: \(error)")
+            }
+        }
+
+        if let error = error {
+            throw error
+        }
+    }
+}

StrayScanner/Views/InformationView.swift

@@ -26,13 +26,16 @@ This app lets you record video and depth datasets using the camera and LIDAR sca
                 heading("Transfering Datasets To Your Desktop Computer")
 
                 bodyText("""
-The recorded datasets can be exported by connecting your device to it with the lightning cable.
+The recorded datasets can be exported in several ways:
 
-On Mac, you can access the files through Finder. In the sidebar, select your device. Under the "Files" tab, you should see an entry for Stray Scanner. Expand it, then drag the folders to the desired location. There is one folder per dataset, each named after a random alphanumerical hash.
+1. Share directly from the app: Tap the "Share" button inside any recording to export it as a ZIP archive via AirDrop, email, or save to Files.
 
-On Windows, you can access the files through iTunes.
+2. Connect your device with the lightning cable:
+   • On Mac, access files through Finder sidebar > your device > "Files" tab > Stray Scanner
+   • On Windows, access files through iTunes
+   • Drag folders to your desired location (one folder per dataset)
 
-Alternatively, you can access the data in the Files app under "Browse > On My iPhone > Stray Scanner" and export them to another app or move them to your iCloud drive.
+3. Use the Files app: Browse > On My iPhone > Stray Scanner, then export to another app or iCloud drive.
 """)
 }
                 Group {