From e2ab122bf993bef84e70c5bd515ffa8cb23732a1 Mon Sep 17 00:00:00 2001
From: Nikita Ostapenko <nikitul2005@gmail.com>
Date: Thu, 5 Jun 2025 11:58:56 -0400
Subject: [PATCH 01/18] Update sample demo code to work with ARFlow v0.4

---
 python/examples/simple/simple.py | 29 +++++++++++++++++++----------
 1 file changed, 19 insertions(+), 10 deletions(-)

diff --git a/python/examples/simple/simple.py b/python/examples/simple/simple.py
index b3326a7d..a7e20f86 100644
--- a/python/examples/simple/simple.py
+++ b/python/examples/simple/simple.py
@@ -5,19 +5,28 @@
 
 import arflow
 
-
 class CustomService(arflow.ARFlowServicer):
-    def on_register(self, request: arflow.RegisterClientRequest):
-        """Called when a client registers."""
-        print("Client registered!")
-
-    def on_frame_received(self, decoded_data_frame: arflow.DecodedDataFrame):
-        """Called when a frame is received."""
-        print("Frame received!")
-
+    def on_save_ar_frames(self, frames, session_stream, device):
+        print("AR frame received")
+    def on_save_transform_frames(self, frames, session_stream, device):
+        print("Transform frame received")
+    def on_save_color_frames(self, frames, session_stream, device):
+        print("Color frame received")
+    def on_save_depth_frames(self, frames, session_stream, device):
+        print("Depth frame received")
+    def on_save_gyroscope_frames(self, frames, session_stream, device):
+        print("Gyroscope frame received")
+    def on_save_audio_frames(self, frames, session_stream, device):
+        print("Audio frame received")
+    def on_save_plane_detection_frames(self, frames, session_stream, device):
+        print("Plane detection frame received")
+    def on_save_point_cloud_frames(self, frames, session_stream, device):
+        print("Point cloud frame received")
+    def on_save_mesh_detection_frames(self, frames, session_stream, device):
+        print("Mesh detection frame received")
 
 def main():
-    arflow.run_server(CustomService, port=8500, save_dir=Path("./"))
+    arflow.run_server(CustomService, spawn_viewer = True, port=8500)
 
 
 if __name__ == "__main__":

From c00afdd545f209fc984899a782342d39a9ab756f Mon Sep 17 00:00:00 2001
From: Nikita Ostapenko <nikitul2005@gmail.com>
Date: Fri, 6 Jun 2025 16:01:45 -0400
Subject: [PATCH 02/18] Rewrote the basic functionality of the C# GrpcClient
 Class -Some nuances are not in this version such as the logger
 middleware/advanced http options

---
 python/client/GrpcClient.py | 67 +++++++++++++++++++++++++++++++++++++
 1 file changed, 67 insertions(+)
 create mode 100644 python/client/GrpcClient.py

diff --git a/python/client/GrpcClient.py b/python/client/GrpcClient.py
new file mode 100644
index 00000000..087bce26
--- /dev/null
+++ b/python/client/GrpcClient.py
@@ -0,0 +1,67 @@
+import grpc
+from typing import Awaitable, Iterable
+
+from cakelab.arflow_grpc.v1.ar_frame_pb2 import ARFrame 
+
+from cakelab.arflow_grpc.v1.arflow_service_pb2_grpc import ARFlowServiceStub
+from cakelab.arflow_grpc.v1.session_pb2 import SessionUuid, SessionMetadata
+from cakelab.arflow_grpc.v1.device_pb2 import Device
+
+from cakelab.arflow_grpc.v1.create_session_request_pb2 import CreateSessionRequest
+from cakelab.arflow_grpc.v1.create_session_response_pb2 import CreateSessionResponse
+from cakelab.arflow_grpc.v1.delete_session_request_pb2 import DeleteSessionRequest
+from cakelab.arflow_grpc.v1.delete_session_response_pb2 import DeleteSessionResponse
+from cakelab.arflow_grpc.v1.get_session_request_pb2 import GetSessionRequest
+from cakelab.arflow_grpc.v1.get_session_response_pb2 import GetSessionResponse
+from cakelab.arflow_grpc.v1.join_session_request_pb2 import JoinSessionRequest
+from cakelab.arflow_grpc.v1.join_session_response_pb2 import JoinSessionResponse
+from cakelab.arflow_grpc.v1.list_sessions_request_pb2 import ListSessionsRequest
+from cakelab.arflow_grpc.v1.list_sessions_response_pb2 import ListSessionsResponse
+from cakelab.arflow_grpc.v1.save_ar_frames_request_pb2 import SaveARFramesRequest
+from cakelab.arflow_grpc.v1.save_ar_frames_response_pb2 import SaveARFramesResponse
+
+class GrpcClient:
+    def __init__(self, url):
+        self.channel = grpc.insecure_channel(url)
+    async def CreateSessionAsync(self, name: str, device: Device, save_path: str = "") -> CreateSessionResponse:
+        request = CreateSessionRequest(
+            session_metadata=SessionMetadata(name=name, save_path=save_path),
+            device=device
+        )
+        response: Awaitable[CreateSessionResponse] = ARFlowServiceStub(self.channel).CreateSession(request)
+        return response
+    async def DeleteSessionAsync(self, session_id: str) -> DeleteSessionResponse:
+        request = DeleteSessionRequest(
+            session_id=SessionUuid(value = session_id)
+        )
+        response: Awaitable[DeleteSessionResponse] = ARFlowServiceStub(self.channel).DeleteSession(request)
+        return response
+    async def GetSessionAsync(self, session_id: str) -> GetSessionResponse:
+        request = GetSessionRequest(
+            session_id=SessionUuid(value=session_id)
+        )
+        response: Awaitable[GetSessionResponse] = ARFlowServiceStub(self.channel).GetSession(request)
+        return response
+    async def JoinSessionAsync(self, session_id: str, device: Device) -> JoinSessionResponse:
+        request = JoinSessionRequest(
+            session_id=SessionUuid(value=session_id),
+            device=device
+        )
+        response: Awaitable[JoinSessionResponse] = ARFlowServiceStub(self.channel).JoinSession(request)
+        return response
+    async def ListSessionsAsync(self) -> ListSessionsResponse:
+        request = ListSessionsRequest()
+        response: Awaitable[ListSessionsResponse] = ARFlowServiceStub(self.channel).ListSessions(request)
+        return response
+    async def SaveARFramesAsync(self, session_id: str, ar_frames: Iterable[ARFrame], device: Device) -> SaveARFramesResponse:
+        request = SaveARFramesRequest(
+            session_id=SessionUuid(value=session_id),
+            frames=ar_frames,
+            device=device
+        )
+        response: Awaitable[SaveARFramesResponse] = ARFlowServiceStub(self.channel).SaveARFrames(request)
+        return response
+
+    def close(self):
+        self.channel.close()
+    
\ No newline at end of file

From dba4ca332cfeb71082273b52fa09364e19dcbcac Mon Sep 17 00:00:00 2001
From: Nikita Ostapenko <nikitul2005@gmail.com>
Date: Fri, 6 Jun 2025 17:34:42 -0400
Subject: [PATCH 03/18] Add in the C# GetDeviceInfo class to make getting
 device info easier -I am not sure about what model is so I am leaving it as
 the concatenation of the operating system name and its version -Type needs to
 be changed later to be assigned propertly, for now only uses 3 as this is for
 the cli which only runs on desktops

---
 python/client/util/GetDeviceInfo.py | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)
 create mode 100644 python/client/util/GetDeviceInfo.py

diff --git a/python/client/util/GetDeviceInfo.py b/python/client/util/GetDeviceInfo.py
new file mode 100644
index 00000000..d1e2ecd5
--- /dev/null
+++ b/python/client/util/GetDeviceInfo.py
@@ -0,0 +1,16 @@
+from cakelab.arflow_grpc.v1.device_pb2 import Device
+import platform
+import uuid
+
+class GetDeviceInfo:
+    @staticmethod
+    def get_device_info() -> Device:
+        name = platform.node()
+        #not sure what model is, im just gonna leave it as system name combined with version, change this later
+        model = platform.system() + platform.version()
+        return Device(
+            name=name,
+            model=model,
+            type=3, #for now only functions on desktops
+            uid= str(uuid.uuid3(uuid.NAMESPACE_DNS, name + model))
+        )
\ No newline at end of file

From cd14cbaf9563b9c2946927ac5bfd2f9b9687e489 Mon Sep 17 00:00:00 2001
From: Nikita Ostapenko <nikitul2005@gmail.com>
Date: Fri, 6 Jun 2025 18:44:10 -0400
Subject: [PATCH 04/18] Add basic CLI client -Currently unable to gather data
 (coming soon) -Will not leave sessions (will be implemented with data
 gathering)

---
 python/client/clients/cli.py | 83 ++++++++++++++++++++++++++++++++++++
 1 file changed, 83 insertions(+)
 create mode 100644 python/client/clients/cli.py

diff --git a/python/client/clients/cli.py b/python/client/clients/cli.py
new file mode 100644
index 00000000..8a1d894b
--- /dev/null
+++ b/python/client/clients/cli.py
@@ -0,0 +1,83 @@
+
+
+from GrpcClient import GrpcClient
+from util.GetDeviceInfo import GetDeviceInfo
+from util.SessionRunner import SessionRunner
+
+from cakelab.arflow_grpc.v1.device_pb2 import Device
+from cakelab.arflow_grpc.v1.session_pb2 import Session
+
+from cakelab.arflow_grpc.v1.create_session_response_pb2 import CreateSessionResponse
+from cakelab.arflow_grpc.v1.list_sessions_response_pb2 import ListSessionsResponse
+import asyncio
+
+class CLIClient:
+    session: Session | None = None
+    def __init__(self):
+        host = input("Enter hostname")
+        port = input("Enter port")
+        self.client = GrpcClient(f"{host}:{port}")
+        asyncio.run(self.__manage_sessions())
+
+    async def __manage_sessions(self):
+        while True:
+            print("Available Sessions:")
+            session_list: list[Session] = list((await self.client.ListSessionsAsync()).sessions)
+            for session in session_list:
+                print(f"   Name: {session.metadata.name}, # of Devices: {len(session.devices)}")
+            print("Options:")
+            print("1. Create and Join  Session")
+            print("2. Join Session")
+            print("3. Delete Session")
+            print("4. Refresh")
+            print("5. Exit")
+            choice: str = input("Choose an option: ")
+            match choice:
+                case "1":
+                    name: str = input("Enter session name: ")
+                    if any(session.metadata.name == name for session in session_list):
+                        name = input(f"Session with name '{name}' already exists. Please choose a different name:")
+                    device: Device = GetDeviceInfo.get_device_info()
+                    try:
+                        session = (await self.client.CreateSessionAsync(name, device)).session
+                        print("Created Session")
+                        await self.__join_session(session)
+                    except Exception as e:
+                        print(f"Failed to create session: {e}")
+                case "2":
+                    name: str = input("Enter session name to join: ")
+                    target_session: Session | None = next((session for session in session_list if session.metadata.name == name), None)
+                    if target_session is None:
+                        print(f"No session found with name '{name}'")
+                        continue
+                    try:
+                        session = await self.client.JoinSessionAsync(target_session.id.value, GetDeviceInfo.get_device_info())
+                        print("Joined Session")
+                        await self.__join_session(session)
+                    except Exception as e:
+                        print(f"Failed to join session: {e}")
+                case "3":
+                    name: str = input("Enter session name to delete: ")
+                    target_session: Session | None = next((session for session in session_list if session.metadata.name == name), None)
+                    if target_session is None:
+                        print(f"No session found with name '{name}'")
+                        continue
+                    try:
+                        await self.client.DeleteSessionAsync(target_session.id.value)
+                        print(f"Session '{name}' deleted successfully.")
+                    except Exception as e:
+                        print(f"Failed to delete session: {e}")
+                case "4":
+                    continue
+                case "5":
+                    return
+                case _:
+                    print("Invalid Option")
+    async def __join_session(self, session: Session):
+        print("Active session logic missing! Implement me!")
+def main():
+    CLIClient()
+    
+    
+if __name__ == "__main__":
+    main()
\ No newline at end of file

From 59020e6b75619d76e421795bf8777b13a4ab7725 Mon Sep 17 00:00:00 2001
From: Nikita Ostapenko <nikitul2005@gmail.com>
Date: Fri, 6 Jun 2025 21:27:24 -0400
Subject: [PATCH 05/18] Update Grpc client to use snake_case as it was
 formatted before to follow CamelCase from the original GrpcClient.cs

---
 python/client/GrpcClient.py | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/python/client/GrpcClient.py b/python/client/GrpcClient.py
index 087bce26..5d330c9b 100644
--- a/python/client/GrpcClient.py
+++ b/python/client/GrpcClient.py
@@ -23,37 +23,37 @@
 class GrpcClient:
     def __init__(self, url):
         self.channel = grpc.insecure_channel(url)
-    async def CreateSessionAsync(self, name: str, device: Device, save_path: str = "") -> CreateSessionResponse:
+    async def create_session_async(self, name: str, device: Device, save_path: str = "") -> CreateSessionResponse:
         request = CreateSessionRequest(
             session_metadata=SessionMetadata(name=name, save_path=save_path),
             device=device
         )
         response: Awaitable[CreateSessionResponse] = ARFlowServiceStub(self.channel).CreateSession(request)
         return response
-    async def DeleteSessionAsync(self, session_id: str) -> DeleteSessionResponse:
+    async def delete_session_async(self, session_id: str) -> DeleteSessionResponse:
         request = DeleteSessionRequest(
             session_id=SessionUuid(value = session_id)
         )
         response: Awaitable[DeleteSessionResponse] = ARFlowServiceStub(self.channel).DeleteSession(request)
         return response
-    async def GetSessionAsync(self, session_id: str) -> GetSessionResponse:
+    async def get_session_async(self, session_id: str) -> GetSessionResponse:
         request = GetSessionRequest(
             session_id=SessionUuid(value=session_id)
         )
         response: Awaitable[GetSessionResponse] = ARFlowServiceStub(self.channel).GetSession(request)
         return response
-    async def JoinSessionAsync(self, session_id: str, device: Device) -> JoinSessionResponse:
+    async def join_session_async(self, session_id: str, device: Device) -> JoinSessionResponse:
         request = JoinSessionRequest(
             session_id=SessionUuid(value=session_id),
             device=device
         )
         response: Awaitable[JoinSessionResponse] = ARFlowServiceStub(self.channel).JoinSession(request)
         return response
-    async def ListSessionsAsync(self) -> ListSessionsResponse:
+    async def list_sessions_async(self) -> ListSessionsResponse:
         request = ListSessionsRequest()
         response: Awaitable[ListSessionsResponse] = ARFlowServiceStub(self.channel).ListSessions(request)
         return response
-    async def SaveARFramesAsync(self, session_id: str, ar_frames: Iterable[ARFrame], device: Device) -> SaveARFramesResponse:
+    async def save_ar_frames_async(self, session_id: str, ar_frames: Iterable[ARFrame], device: Device) -> SaveARFramesResponse:
         request = SaveARFramesRequest(
             session_id=SessionUuid(value=session_id),
             frames=ar_frames,

From 4657e4a3b2e56e53bcafc810dab976342841b48f Mon Sep 17 00:00:00 2001
From: Nikita Ostapenko <nikitul2005@gmail.com>
Date: Fri, 6 Jun 2025 21:39:23 -0400
Subject: [PATCH 06/18] Forgot to add the leave_session function to this file

---
 python/client/GrpcClient.py | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/python/client/GrpcClient.py b/python/client/GrpcClient.py
index 5d330c9b..38dd8c62 100644
--- a/python/client/GrpcClient.py
+++ b/python/client/GrpcClient.py
@@ -17,6 +17,8 @@
 from cakelab.arflow_grpc.v1.join_session_response_pb2 import JoinSessionResponse
 from cakelab.arflow_grpc.v1.list_sessions_request_pb2 import ListSessionsRequest
 from cakelab.arflow_grpc.v1.list_sessions_response_pb2 import ListSessionsResponse
+from cakelab.arflow_grpc.v1.leave_session_request_pb2 import LeaveSessionRequest
+from cakelab.arflow_grpc.v1.leave_session_response_pb2 import LeaveSessionResponse
 from cakelab.arflow_grpc.v1.save_ar_frames_request_pb2 import SaveARFramesRequest
 from cakelab.arflow_grpc.v1.save_ar_frames_response_pb2 import SaveARFramesResponse
 
@@ -53,6 +55,13 @@ async def list_sessions_async(self) -> ListSessionsResponse:
         request = ListSessionsRequest()
         response: Awaitable[ListSessionsResponse] = ARFlowServiceStub(self.channel).ListSessions(request)
         return response
+    async def leave_session_async(self, session_id: str, device: Device) -> LeaveSessionResponse:
+        request = LeaveSessionRequest(
+            session_id=SessionUuid(value=session_id),
+            device=device
+        )
+        response: Awaitable[LeaveSessionResponse] = ARFlowServiceStub(self.channel).LeaveSession(request)
+        return response
     async def save_ar_frames_async(self, session_id: str, ar_frames: Iterable[ARFrame], device: Device) -> SaveARFramesResponse:
         request = SaveARFramesRequest(
             session_id=SessionUuid(value=session_id),

From 6cec12e560512cc4f5acddc77b1c0049f6d451a8 Mon Sep 17 00:00:00 2001
From: Nikita Ostapenko <nikitul2005@gmail.com>
Date: Fri, 6 Jun 2025 21:58:37 -0400
Subject: [PATCH 07/18] Create basic CLI client -Currently only able to collect
 color frames

---
 python/client/clients/cli.py        | 69 +++++++++++++++++++++++++----
 python/client/util/SessionRunner.py | 65 +++++++++++++++++++++++++++
 2 files changed, 126 insertions(+), 8 deletions(-)
 create mode 100644 python/client/util/SessionRunner.py

diff --git a/python/client/clients/cli.py b/python/client/clients/cli.py
index 8a1d894b..7a1b51b3 100644
--- a/python/client/clients/cli.py
+++ b/python/client/clients/cli.py
@@ -6,13 +6,20 @@
 
 from cakelab.arflow_grpc.v1.device_pb2 import Device
 from cakelab.arflow_grpc.v1.session_pb2 import Session
+from cakelab.arflow_grpc.v1.ar_frame_pb2 import ARFrame
 
 from cakelab.arflow_grpc.v1.create_session_response_pb2 import CreateSessionResponse
 from cakelab.arflow_grpc.v1.list_sessions_response_pb2 import ListSessionsResponse
+
 import asyncio
+from threading import Thread
+from threading import Event
+from time import sleep
 
 class CLIClient:
     session: Session | None = None
+    running: Thread | None = None
+    stop_event: Event | None = None
     def __init__(self):
         host = input("Enter hostname")
         port = input("Enter port")
@@ -22,7 +29,7 @@ def __init__(self):
     async def __manage_sessions(self):
         while True:
             print("Available Sessions:")
-            session_list: list[Session] = list((await self.client.ListSessionsAsync()).sessions)
+            session_list: list[Session] = list((await self.client.list_sessions_async()).sessions)
             for session in session_list:
                 print(f"   Name: {session.metadata.name}, # of Devices: {len(session.devices)}")
             print("Options:")
@@ -39,9 +46,9 @@ async def __manage_sessions(self):
                         name = input(f"Session with name '{name}' already exists. Please choose a different name:")
                     device: Device = GetDeviceInfo.get_device_info()
                     try:
-                        session = (await self.client.CreateSessionAsync(name, device)).session
+                        self.session = (await self.client.create_session_async(name, device)).session
                         print("Created Session")
-                        await self.__join_session(session)
+                        await self.__join_session()
                     except Exception as e:
                         print(f"Failed to create session: {e}")
                 case "2":
@@ -51,9 +58,9 @@ async def __manage_sessions(self):
                         print(f"No session found with name '{name}'")
                         continue
                     try:
-                        session = await self.client.JoinSessionAsync(target_session.id.value, GetDeviceInfo.get_device_info())
+                        self.session = (await self.client.join_session_async(target_session.id.value, GetDeviceInfo.get_device_info())).session
                         print("Joined Session")
-                        await self.__join_session(session)
+                        await self.__join_session()
                     except Exception as e:
                         print(f"Failed to join session: {e}")
                 case "3":
@@ -63,7 +70,7 @@ async def __manage_sessions(self):
                         print(f"No session found with name '{name}'")
                         continue
                     try:
-                        await self.client.DeleteSessionAsync(target_session.id.value)
+                        await self.client.delete_session_async(target_session.id.value)
                         print(f"Session '{name}' deleted successfully.")
                     except Exception as e:
                         print(f"Failed to delete session: {e}")
@@ -73,8 +80,54 @@ async def __manage_sessions(self):
                     return
                 case _:
                     print("Invalid Option")
-    async def __join_session(self, session: Session):
-        print("Active session logic missing! Implement me!")
+
+    async def __join_session(self):
+        if self.session is None: return
+        runner = SessionRunner(self.session, GetDeviceInfo.get_device_info(), self.__on_frame)
+        print("Currently only able to record camera frames")
+        while True:
+            print("Options:")
+            if self.running:
+                print("1. Stop Recording")
+            else:
+                print("1. Start Recording")
+            print("2. Leave Session")
+            choice: str = input("Choose an option: ")
+            match choice:
+                case "1":
+                    if self.running:
+                        self.stop_event.set()
+                        self.running.join()
+                        self.running = None
+                        self.stop_event = None
+                        print("Stopping Recording")
+                    else:
+                        self.stop_event = Event()
+                        self.running = Thread(target=self.__record_frame, args=(runner,))
+                        self.running.start()
+                        print("Starting Recording")
+                case "2":
+                    await self.client.leave_session_async(self.session.id.value, GetDeviceInfo.get_device_info())
+                    print("Leaving Session")
+                    return
+                case _:
+                    print("Invalid Option")
+
+    def __record_frame(self, runner: SessionRunner):
+        while not self.stop_event.is_set():
+            asyncio.run(runner.gather_camera_frame_async())
+            sleep(0.25)
+
+
+    async def __on_frame(self, session: Session, frame: ARFrame , device: Device):
+        if self.session is None:
+            return
+        await self.client.save_ar_frames_async(
+            session_id=self.session.id.value,
+            ar_frames=[frame],
+            device=GetDeviceInfo.get_device_info()
+        )
+
 def main():
     CLIClient()
     
diff --git a/python/client/util/SessionRunner.py b/python/client/util/SessionRunner.py
new file mode 100644
index 00000000..756e7cc7
--- /dev/null
+++ b/python/client/util/SessionRunner.py
@@ -0,0 +1,65 @@
+from cakelab.arflow_grpc.v1.session_pb2 import Session
+from cakelab.arflow_grpc.v1.device_pb2 import Device
+
+from cakelab.arflow_grpc.v1.ar_frame_pb2 import ARFrame
+from cakelab.arflow_grpc.v1.color_frame_pb2 import ColorFrame
+from cakelab.arflow_grpc.v1.xr_cpu_image_pb2 import XRCpuImage
+from cakelab.arflow_grpc.v1.vector2_int_pb2 import Vector2Int
+from google.protobuf.timestamp_pb2 import Timestamp
+import cv2
+import time
+from typing import Callable, Coroutine, Any
+
+class SessionRunner:
+    camera : cv2.VideoCapture | None = None
+    session: Session | None = None
+    device: Device | None = None
+    onARFrame: Callable[[Session, ARFrame, Device], Coroutine[Any, Any, None]] | None = None
+    def __init__(self, session: Session, device: Device, onARFrame: Callable[[Session, ARFrame, Device], Coroutine[Any, Any, None]]):
+        self.camera = cv2.VideoCapture(0)
+        self.onARFrame = onARFrame
+        self.session = session
+        self.device = device
+    def __del__(self):
+        if self.camera is not None:
+            self.camera.release()
+            self.camera = None
+    async def gather_camera_frame_async(self) -> None:
+        if self.camera is None:
+            return
+        ret, frame = self.camera.read()
+        if not ret:
+            return
+        height, width = frame.shape[:2]
+        yuv = (cv2.cvtColor(frame, cv2.COLOR_BGR2YUV_I420)).flatten()
+        y_size = width * height
+        uv_size = y_size // 4
+        Y: XRCpuImage.Plane = XRCpuImage.Plane(data = (yuv[:y_size].reshape((height, width))).tobytes(), row_stride = width, pixel_stride=1)
+        U: XRCpuImage.Plane = XRCpuImage.Plane(data = (yuv[y_size:y_size + uv_size].reshape((height // 2, width // 2))).tobytes(), row_stride = width // 2, pixel_stride=1)
+        V: XRCpuImage.Plane = XRCpuImage.Plane(data = (yuv[y_size + uv_size:].reshape((height // 2, width // 2))).tobytes(), row_stride = width // 2, pixel_stride=1)
+        # Trim the U and V planes because ARFlow adds an extra byte as it is a bug with the android format
+        U.data = U.data[:-1]
+        V.data = V.data[:-1]
+        now = time.time()
+        timestamp = Timestamp()
+        nanos = int(now * 1e9)
+        Timestamp.FromNanoseconds(timestamp, nanos)
+        xrcpu_image: XRCpuImage = XRCpuImage(
+            dimensions= Vector2Int(x=width, y=height),
+            format= XRCpuImage.FORMAT_ANDROID_YUV_420_888,
+            timestamp=now,
+            planes=[Y, U, V]
+        )
+        color_frame = ColorFrame(
+            image=xrcpu_image,
+            device_timestamp=timestamp
+        )
+        ar_frame = ARFrame(
+            color_frame=color_frame
+        )
+        if self.onARFrame and self.session and self.device:
+            await self.onARFrame(self.session, ar_frame, self.device)
+        
+
+
+

From 4262e0a5240f0e0fee844e0efe0e9a36ffa7659a Mon Sep 17 00:00:00 2001
From: Nikita Ostapenko <nikitul2005@gmail.com>
Date: Fri, 6 Jun 2025 22:08:55 -0400
Subject: [PATCH 08/18] fix formatting on some of the inputs

---
 python/client/clients/cli.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/python/client/clients/cli.py b/python/client/clients/cli.py
index 7a1b51b3..2a58d163 100644
--- a/python/client/clients/cli.py
+++ b/python/client/clients/cli.py
@@ -21,8 +21,8 @@ class CLIClient:
     running: Thread | None = None
     stop_event: Event | None = None
     def __init__(self):
-        host = input("Enter hostname")
-        port = input("Enter port")
+        host = input("Enter hostname: ")
+        port = input("Enter port: ")
         self.client = GrpcClient(f"{host}:{port}")
         asyncio.run(self.__manage_sessions())
 

From e8ed83a1a3248270d85c843ddb0ced4782c7ecfe Mon Sep 17 00:00:00 2001
From: Nikita Ostapenko <nikitul2005@gmail.com>
Date: Sun, 8 Jun 2025 14:49:38 -0400
Subject: [PATCH 09/18] fix leaving the session while recording running not
 ending recording

---
 python/client/clients/cli.py | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/python/client/clients/cli.py b/python/client/clients/cli.py
index 2a58d163..65ac1699 100644
--- a/python/client/clients/cli.py
+++ b/python/client/clients/cli.py
@@ -107,6 +107,11 @@ async def __join_session(self):
                         self.running.start()
                         print("Starting Recording")
                 case "2":
+                    if self.running:
+                        self.stop_event.set()
+                        self.running.join()
+                        self.running = None
+                        self.stop_event = None
                     await self.client.leave_session_async(self.session.id.value, GetDeviceInfo.get_device_info())
                     print("Leaving Session")
                     return

From f9c6bc9dda0265e7604ec57657ccb861ace0930f Mon Sep 17 00:00:00 2001
From: Yiqin Zhao <yiqinzhao@outlook.com>
Date: Wed, 11 Jun 2025 18:58:54 -0400
Subject: [PATCH 10/18] new: code style and docstring improvements.

---
 python/client/GrpcClient.py | 154 +++++++++++++++++++++++++++---------
 1 file changed, 117 insertions(+), 37 deletions(-)

diff --git a/python/client/GrpcClient.py b/python/client/GrpcClient.py
index 38dd8c62..478c9b0c 100644
--- a/python/client/GrpcClient.py
+++ b/python/client/GrpcClient.py
@@ -1,76 +1,156 @@
-import grpc
+"""A simple Python gRPC client."""
+
+# ruff:noqa: D103
+# pyright: reportUnknownMemberType=false, reportUnknownVariableType=false, reportUnknownArgumentType=false
+# We have to do the above because the grpc stub has no type hints
+
 from typing import Awaitable, Iterable
 
-from cakelab.arflow_grpc.v1.ar_frame_pb2 import ARFrame 
+import grpc
 
+from cakelab.arflow_grpc.v1.ar_frame_pb2 import ARFrame
 from cakelab.arflow_grpc.v1.arflow_service_pb2_grpc import ARFlowServiceStub
-from cakelab.arflow_grpc.v1.session_pb2 import SessionUuid, SessionMetadata
-from cakelab.arflow_grpc.v1.device_pb2 import Device
-
 from cakelab.arflow_grpc.v1.create_session_request_pb2 import CreateSessionRequest
 from cakelab.arflow_grpc.v1.create_session_response_pb2 import CreateSessionResponse
 from cakelab.arflow_grpc.v1.delete_session_request_pb2 import DeleteSessionRequest
 from cakelab.arflow_grpc.v1.delete_session_response_pb2 import DeleteSessionResponse
+from cakelab.arflow_grpc.v1.device_pb2 import Device
 from cakelab.arflow_grpc.v1.get_session_request_pb2 import GetSessionRequest
 from cakelab.arflow_grpc.v1.get_session_response_pb2 import GetSessionResponse
 from cakelab.arflow_grpc.v1.join_session_request_pb2 import JoinSessionRequest
 from cakelab.arflow_grpc.v1.join_session_response_pb2 import JoinSessionResponse
-from cakelab.arflow_grpc.v1.list_sessions_request_pb2 import ListSessionsRequest
-from cakelab.arflow_grpc.v1.list_sessions_response_pb2 import ListSessionsResponse
 from cakelab.arflow_grpc.v1.leave_session_request_pb2 import LeaveSessionRequest
 from cakelab.arflow_grpc.v1.leave_session_response_pb2 import LeaveSessionResponse
+from cakelab.arflow_grpc.v1.list_sessions_request_pb2 import ListSessionsRequest
+from cakelab.arflow_grpc.v1.list_sessions_response_pb2 import ListSessionsResponse
 from cakelab.arflow_grpc.v1.save_ar_frames_request_pb2 import SaveARFramesRequest
 from cakelab.arflow_grpc.v1.save_ar_frames_response_pb2 import SaveARFramesResponse
+from cakelab.arflow_grpc.v1.session_pb2 import SessionMetadata, SessionUuid
+
 
 class GrpcClient:
-    def __init__(self, url):
+    """A simple gRPC client class."""
+
+    stub: ARFlowServiceStub
+
+    def __init__(self, url: str):
+        """Initialize the gRPC client.
+
+        Args:
+            url: The URL of the gRPC server.
+        """
         self.channel = grpc.insecure_channel(url)
-    async def create_session_async(self, name: str, device: Device, save_path: str = "") -> CreateSessionResponse:
+        self.stub = ARFlowServiceStub(self.channel)
+
+    async def create_session_async(
+        self, name: str, device: Device, save_path: str = ""
+    ) -> Awaitable[CreateSessionResponse]:
+        """Create a new session.
+
+        Args:
+            name: The name of the session.
+            device: The device to use for the session.
+            save_path: The path to save the session data to.
+
+        Returns:
+                The response from the server.
+        """
         request = CreateSessionRequest(
             session_metadata=SessionMetadata(name=name, save_path=save_path),
-            device=device
+            device=device,
         )
-        response: Awaitable[CreateSessionResponse] = ARFlowServiceStub(self.channel).CreateSession(request)
+        response: Awaitable[CreateSessionResponse] = self.stub.CreateSession(request)
         return response
-    async def delete_session_async(self, session_id: str) -> DeleteSessionResponse:
-        request = DeleteSessionRequest(
-            session_id=SessionUuid(value = session_id)
-        )
-        response: Awaitable[DeleteSessionResponse] = ARFlowServiceStub(self.channel).DeleteSession(request)
+
+    async def delete_session_async(
+        self, session_id: str
+    ) -> Awaitable[DeleteSessionResponse]:
+        """Delete a session.
+
+        Args:
+            session_id: The session id to delete.
+
+        Returns:
+                The response from the server.
+        """
+        request = DeleteSessionRequest(session_id=SessionUuid(value=session_id))
+        response: Awaitable[DeleteSessionResponse] = self.stub.DeleteSession(request)
         return response
-    async def get_session_async(self, session_id: str) -> GetSessionResponse:
-        request = GetSessionRequest(
-            session_id=SessionUuid(value=session_id)
-        )
-        response: Awaitable[GetSessionResponse] = ARFlowServiceStub(self.channel).GetSession(request)
+
+    async def get_session_async(self, session_id: str) -> Awaitable[GetSessionResponse]:
+        """Get a session by its ID.
+
+        Args:
+            session_id: The session id to get.
+
+        Returns:
+            The response from the server.
+        """
+        request = GetSessionRequest(session_id=SessionUuid(value=session_id))
+        response: Awaitable[GetSessionResponse] = self.stub.GetSession(request)
         return response
-    async def join_session_async(self, session_id: str, device: Device) -> JoinSessionResponse:
+
+    async def join_session_async(
+        self, session_id: str, device: Device
+    ) -> Awaitable[JoinSessionResponse]:
+        """Join a session.
+
+        Args:
+            session_id: The session id to join.
+            device: The device to join the session with.
+
+        Returns:
+            The response from the server.
+        """
         request = JoinSessionRequest(
-            session_id=SessionUuid(value=session_id),
-            device=device
+            session_id=SessionUuid(value=session_id), device=device
         )
-        response: Awaitable[JoinSessionResponse] = ARFlowServiceStub(self.channel).JoinSession(request)
+        response: Awaitable[JoinSessionResponse] = self.stub.JoinSession(request)
         return response
-    async def list_sessions_async(self) -> ListSessionsResponse:
+
+    async def list_sessions_async(self) -> Awaitable[ListSessionsResponse]:
+        """List all sessions."""
         request = ListSessionsRequest()
-        response: Awaitable[ListSessionsResponse] = ARFlowServiceStub(self.channel).ListSessions(request)
+        response: Awaitable[ListSessionsResponse] = self.stub.ListSessions(request)
         return response
-    async def leave_session_async(self, session_id: str, device: Device) -> LeaveSessionResponse:
+
+    async def leave_session_async(
+        self, session_id: str, device: Device
+    ) -> Awaitable[LeaveSessionResponse]:
+        """Leave a session.
+
+        Args:
+            session_id: The session ID.
+            device: The device that left the session.
+
+        Returns:
+            The response from the server.
+        """
         request = LeaveSessionRequest(
-            session_id=SessionUuid(value=session_id),
-            device=device
+            session_id=SessionUuid(value=session_id), device=device
         )
-        response: Awaitable[LeaveSessionResponse] = ARFlowServiceStub(self.channel).LeaveSession(request)
+        response: Awaitable[LeaveSessionResponse] = self.stub.LeaveSession(request)
         return response
-    async def save_ar_frames_async(self, session_id: str, ar_frames: Iterable[ARFrame], device: Device) -> SaveARFramesResponse:
+
+    async def save_ar_frames_async(
+        self, session_id: str, ar_frames: Iterable[ARFrame], device: Device
+    ) -> Awaitable[SaveARFramesResponse]:
+        """Save AR frames to the session.
+
+        Args:
+            session_id: The session ID.
+            ar_frames: The AR frames to save.
+            device: The device that captured the AR frames.
+
+        Returns:
+            The response from the server.
+        """
         request = SaveARFramesRequest(
-            session_id=SessionUuid(value=session_id),
-            frames=ar_frames,
-            device=device
+            session_id=SessionUuid(value=session_id), frames=ar_frames, device=device
         )
-        response: Awaitable[SaveARFramesResponse] = ARFlowServiceStub(self.channel).SaveARFrames(request)
+        response: Awaitable[SaveARFramesResponse] = self.stub.SaveARFrames(request)
         return response
 
     def close(self):
+        """Close the channel."""
         self.channel.close()
-    
\ No newline at end of file

From 1f7135e2b0d70baacff7e62235829f36314312c7 Mon Sep 17 00:00:00 2001
From: Nikita Ostapenko <nikitul2005@gmail.com>
Date: Wed, 9 Jul 2025 15:10:21 -0400
Subject: [PATCH 11/18] Add the rgb support from the other branch

---
 python/arflow/_session_stream.py | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/python/arflow/_session_stream.py b/python/arflow/_session_stream.py
index d5342dc1..132df190 100644
--- a/python/arflow/_session_stream.py
+++ b/python/arflow/_session_stream.py
@@ -146,6 +146,20 @@ def save_color_frames(
                     pixel_format=rr.PixelFormat.Y_U_V12_LimitedRange,
                 )
                 data = np.array([_to_i420_format(f.image) for f in homogenous_frames])
+            elif format == XRCpuImage.FORMAT_RGB24:
+                """
+                Decode a frame in RGB format and display it
+                """
+                format_static = rr.components.ImageFormat(
+                    width=width,
+                    height=height,
+                    pixel_format=None,
+                    color_model=rr.ColorModel.RGB,
+                )
+                data = np.array([
+                    np.frombuffer(f.image.planes[0].data, dtype=np.uint8)
+                    for f in homogenous_frames
+                ])
             # elif format == XRCpuImage.FORMAT_IOS_YP_CBCR_420_8BI_PLANAR_FULL_RANGE:
             #     format_static = rr.components.ImageFormat(
             #         width=width,

From d3b518e98e25f01091d5999122e927f4401bda66 Mon Sep 17 00:00:00 2001
From: Nikita Ostapenko <nikitul2005@gmail.com>
Date: Wed, 9 Jul 2025 15:17:59 -0400
Subject: [PATCH 12/18] add jpg/png support clientside

---
 python/client/util/SessionRunner.py | 21 ++++++++++-----------
 1 file changed, 10 insertions(+), 11 deletions(-)

diff --git a/python/client/util/SessionRunner.py b/python/client/util/SessionRunner.py
index 756e7cc7..cdf76bba 100644
--- a/python/client/util/SessionRunner.py
+++ b/python/client/util/SessionRunner.py
@@ -31,24 +31,23 @@ async def gather_camera_frame_async(self) -> None:
         if not ret:
             return
         height, width = frame.shape[:2]
-        yuv = (cv2.cvtColor(frame, cv2.COLOR_BGR2YUV_I420)).flatten()
-        y_size = width * height
-        uv_size = y_size // 4
-        Y: XRCpuImage.Plane = XRCpuImage.Plane(data = (yuv[:y_size].reshape((height, width))).tobytes(), row_stride = width, pixel_stride=1)
-        U: XRCpuImage.Plane = XRCpuImage.Plane(data = (yuv[y_size:y_size + uv_size].reshape((height // 2, width // 2))).tobytes(), row_stride = width // 2, pixel_stride=1)
-        V: XRCpuImage.Plane = XRCpuImage.Plane(data = (yuv[y_size + uv_size:].reshape((height // 2, width // 2))).tobytes(), row_stride = width // 2, pixel_stride=1)
-        # Trim the U and V planes because ARFlow adds an extra byte as it is a bug with the android format
-        U.data = U.data[:-1]
-        V.data = V.data[:-1]
+        success, encoded = cv2.imencode('.jpg', frame)
+        if not success:
+            return
+        plane: XRCpuImage.Plane = XRCpuImage.Plane(
+            data=encoded.tobytes(),
+            row_stride=0,
+            pixel_stride=0,
+        )
         now = time.time()
         timestamp = Timestamp()
         nanos = int(now * 1e9)
         Timestamp.FromNanoseconds(timestamp, nanos)
         xrcpu_image: XRCpuImage = XRCpuImage(
             dimensions= Vector2Int(x=width, y=height),
-            format= XRCpuImage.FORMAT_ANDROID_YUV_420_888,
+            format= XRCpuImage.FORMAT_JPEG_RGB24,
             timestamp=now,
-            planes=[Y, U, V]
+            planes=[plane]
         )
         color_frame = ColorFrame(
             image=xrcpu_image,

From 629f7a18f4ee3a72a9d2a713c9a25ed3707249d0 Mon Sep 17 00:00:00 2001
From: Nikita Ostapenko <nikitul2005@gmail.com>
Date: Wed, 9 Jul 2025 15:22:48 -0400
Subject: [PATCH 13/18] Update protobuffers to have available enum fields

---
 .../cakelab/arflow_grpc/v1/xr_cpu_image.proto | 12 ++++++----
 .../arflow_grpc/v1/xr_cpu_image_pb2.py        |  6 ++---
 .../arflow_grpc/v1/xr_cpu_image_pb2.pyi       | 14 +++++++++++
 .../Runtime/Grpc/V1/XrCpuImage.cs             | 24 +++++++++++++------
 4 files changed, 41 insertions(+), 15 deletions(-)

diff --git a/protos/cakelab/arflow_grpc/v1/xr_cpu_image.proto b/protos/cakelab/arflow_grpc/v1/xr_cpu_image.proto
index 2bd870d1..75750eee 100644
--- a/protos/cakelab/arflow_grpc/v1/xr_cpu_image.proto
+++ b/protos/cakelab/arflow_grpc/v1/xr_cpu_image.proto
@@ -17,11 +17,13 @@ message XRCpuImage {
     // @exclude FORMAT_ONECOMPONENT8 = 3;
     FORMAT_DEPTHFLOAT32 = 4; /// iOS
     FORMAT_DEPTHUINT16 = 5; /// Android
-    // @exclude FORMAT_ONECOMPONENT32 = 6;
-    // @exclude FORMAT_ARGB32 = 7;
-    // @exclude FORMAT_RGBA32 = 8;
-    // @exclude FORMAT_BGRA32 = 9;
-    // @exclude FORMAT_RGB24 = 10;
+    FORMAT_ONECOMPONENT32 = 6;
+    FORMAT_ARGB32 = 7;
+    FORMAT_RGBA32 = 8;
+    FORMAT_BGRA32 = 9;
+    FORMAT_RGB24 = 10;
+    FORMAT_JPEG_RGB24 = 11;
+    FORMAT_PNG_RGB24 = 12;
   }
 
   /// https://docs.unity3d.com/Packages/com.unity.xr.arfoundation@6.0/api/UnityEngine.XR.ARSubsystems.XRCpuImage.Plane.html
diff --git a/python/cakelab/arflow_grpc/v1/xr_cpu_image_pb2.py b/python/cakelab/arflow_grpc/v1/xr_cpu_image_pb2.py
index ded7745d..40d0b23e 100644
--- a/python/cakelab/arflow_grpc/v1/xr_cpu_image_pb2.py
+++ b/python/cakelab/arflow_grpc/v1/xr_cpu_image_pb2.py
@@ -25,7 +25,7 @@
 from cakelab.arflow_grpc.v1 import vector2_int_pb2 as cakelab_dot_arflow__grpc_dot_v1_dot_vector2__int__pb2
 
 
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n)cakelab/arflow_grpc/v1/xr_cpu_image.proto\x12\x16\x63\x61kelab.arflow_grpc.v1\x1a(cakelab/arflow_grpc/v1/vector2_int.proto\"\xf8\x03\n\nXRCpuImage\x12\x42\n\ndimensions\x18\x01 \x01(\x0b\x32\".cakelab.arflow_grpc.v1.Vector2IntR\ndimensions\x12\x41\n\x06\x66ormat\x18\x02 \x01(\x0e\x32).cakelab.arflow_grpc.v1.XRCpuImage.FormatR\x06\x66ormat\x12\x1c\n\ttimestamp\x18\x03 \x01(\x01R\ttimestamp\x12@\n\x06planes\x18\x04 \x03(\x0b\x32(.cakelab.arflow_grpc.v1.XRCpuImage.PlaneR\x06planes\x1a]\n\x05Plane\x12\x1d\n\nrow_stride\x18\x01 \x01(\x05R\trowStride\x12!\n\x0cpixel_stride\x18\x02 \x01(\x05R\x0bpixelStride\x12\x12\n\x04\x64\x61ta\x18\x03 \x01(\x0cR\x04\x64\x61ta\"\xa3\x01\n\x06\x46ormat\x12\x16\n\x12\x46ORMAT_UNSPECIFIED\x10\x00\x12\x1e\n\x1a\x46ORMAT_ANDROID_YUV_420_888\x10\x01\x12\x30\n,FORMAT_IOS_YP_CBCR_420_8BI_PLANAR_FULL_RANGE\x10\x02\x12\x17\n\x13\x46ORMAT_DEPTHFLOAT32\x10\x04\x12\x16\n\x12\x46ORMAT_DEPTHUINT16\x10\x05\x42\xa4\x01\n\x1a\x63om.cakelab.arflow_grpc.v1B\x0fXrCpuImageProtoP\x01\xa2\x02\x03\x43\x41X\xaa\x02\x16\x43\x61keLab.ARFlow.Grpc.V1\xca\x02\x15\x43\x61kelab\\ArflowGrpc\\V1\xe2\x02!Cakelab\\ArflowGrpc\\V1\\GPBMetadata\xea\x02\x17\x43\x61kelab::ArflowGrpc::V1b\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n)cakelab/arflow_grpc/v1/xr_cpu_image.proto\x12\x16\x63\x61kelab.arflow_grpc.v1\x1a(cakelab/arflow_grpc/v1/vector2_int.proto\"\x8b\x05\n\nXRCpuImage\x12\x42\n\ndimensions\x18\x01 \x01(\x0b\x32\".cakelab.arflow_grpc.v1.Vector2IntR\ndimensions\x12\x41\n\x06\x66ormat\x18\x02 \x01(\x0e\x32).cakelab.arflow_grpc.v1.XRCpuImage.FormatR\x06\x66ormat\x12\x1c\n\ttimestamp\x18\x03 \x01(\x01R\ttimestamp\x12@\n\x06planes\x18\x04 \x03(\x0b\x32(.cakelab.arflow_grpc.v1.XRCpuImage.PlaneR\x06planes\x1a]\n\x05Plane\x12\x1d\n\nrow_stride\x18\x01 \x01(\x05R\trowStride\x12!\n\x0cpixel_stride\x18\x02 \x01(\x05R\x0bpixelStride\x12\x12\n\x04\x64\x61ta\x18\x03 \x01(\x0cR\x04\x64\x61ta\"\xb6\x02\n\x06\x46ormat\x12\x16\n\x12\x46ORMAT_UNSPECIFIED\x10\x00\x12\x1e\n\x1a\x46ORMAT_ANDROID_YUV_420_888\x10\x01\x12\x30\n,FORMAT_IOS_YP_CBCR_420_8BI_PLANAR_FULL_RANGE\x10\x02\x12\x17\n\x13\x46ORMAT_DEPTHFLOAT32\x10\x04\x12\x16\n\x12\x46ORMAT_DEPTHUINT16\x10\x05\x12\x19\n\x15\x46ORMAT_ONECOMPONENT32\x10\x06\x12\x11\n\rFORMAT_ARGB32\x10\x07\x12\x11\n\rFORMAT_RGBA32\x10\x08\x12\x11\n\rFORMAT_BGRA32\x10\t\x12\x10\n\x0c\x46ORMAT_RGB24\x10\n\x12\x15\n\x11\x46ORMAT_JPEG_RGB24\x10\x0b\x12\x14\n\x10\x46ORMAT_PNG_RGB24\x10\x0c\x42\xa4\x01\n\x1a\x63om.cakelab.arflow_grpc.v1B\x0fXrCpuImageProtoP\x01\xa2\x02\x03\x43\x41X\xaa\x02\x16\x43\x61keLab.ARFlow.Grpc.V1\xca\x02\x15\x43\x61kelab\\ArflowGrpc\\V1\xe2\x02!Cakelab\\ArflowGrpc\\V1\\GPBMetadata\xea\x02\x17\x43\x61kelab::ArflowGrpc::V1b\x06proto3')
 
 _globals = globals()
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
@@ -34,9 +34,9 @@
   _globals['DESCRIPTOR']._loaded_options = None
   _globals['DESCRIPTOR']._serialized_options = b'\n\032com.cakelab.arflow_grpc.v1B\017XrCpuImageProtoP\001\242\002\003CAX\252\002\026CakeLab.ARFlow.Grpc.V1\312\002\025Cakelab\\ArflowGrpc\\V1\342\002!Cakelab\\ArflowGrpc\\V1\\GPBMetadata\352\002\027Cakelab::ArflowGrpc::V1'
   _globals['_XRCPUIMAGE']._serialized_start=112
-  _globals['_XRCPUIMAGE']._serialized_end=616
+  _globals['_XRCPUIMAGE']._serialized_end=763
   _globals['_XRCPUIMAGE_PLANE']._serialized_start=357
   _globals['_XRCPUIMAGE_PLANE']._serialized_end=450
   _globals['_XRCPUIMAGE_FORMAT']._serialized_start=453
-  _globals['_XRCPUIMAGE_FORMAT']._serialized_end=616
+  _globals['_XRCPUIMAGE_FORMAT']._serialized_end=763
 # @@protoc_insertion_point(module_scope)
diff --git a/python/cakelab/arflow_grpc/v1/xr_cpu_image_pb2.pyi b/python/cakelab/arflow_grpc/v1/xr_cpu_image_pb2.pyi
index cddb7e6e..a904a23d 100644
--- a/python/cakelab/arflow_grpc/v1/xr_cpu_image_pb2.pyi
+++ b/python/cakelab/arflow_grpc/v1/xr_cpu_image_pb2.pyi
@@ -16,11 +16,25 @@ class XRCpuImage(_message.Message):
         FORMAT_IOS_YP_CBCR_420_8BI_PLANAR_FULL_RANGE: _ClassVar[XRCpuImage.Format]
         FORMAT_DEPTHFLOAT32: _ClassVar[XRCpuImage.Format]
         FORMAT_DEPTHUINT16: _ClassVar[XRCpuImage.Format]
+        FORMAT_ONECOMPONENT32: _ClassVar[XRCpuImage.Format]
+        FORMAT_ARGB32: _ClassVar[XRCpuImage.Format]
+        FORMAT_RGBA32: _ClassVar[XRCpuImage.Format]
+        FORMAT_BGRA32: _ClassVar[XRCpuImage.Format]
+        FORMAT_RGB24: _ClassVar[XRCpuImage.Format]
+        FORMAT_JPEG_RGB24: _ClassVar[XRCpuImage.Format]
+        FORMAT_PNG_RGB24: _ClassVar[XRCpuImage.Format]
     FORMAT_UNSPECIFIED: XRCpuImage.Format
     FORMAT_ANDROID_YUV_420_888: XRCpuImage.Format
     FORMAT_IOS_YP_CBCR_420_8BI_PLANAR_FULL_RANGE: XRCpuImage.Format
     FORMAT_DEPTHFLOAT32: XRCpuImage.Format
     FORMAT_DEPTHUINT16: XRCpuImage.Format
+    FORMAT_ONECOMPONENT32: XRCpuImage.Format
+    FORMAT_ARGB32: XRCpuImage.Format
+    FORMAT_RGBA32: XRCpuImage.Format
+    FORMAT_BGRA32: XRCpuImage.Format
+    FORMAT_RGB24: XRCpuImage.Format
+    FORMAT_JPEG_RGB24: XRCpuImage.Format
+    FORMAT_PNG_RGB24: XRCpuImage.Format
     class Plane(_message.Message):
         __slots__ = ("row_stride", "pixel_stride", "data")
         ROW_STRIDE_FIELD_NUMBER: _ClassVar[int]
diff --git a/unity/Packages/edu.wpi.cake.arflow/Runtime/Grpc/V1/XrCpuImage.cs b/unity/Packages/edu.wpi.cake.arflow/Runtime/Grpc/V1/XrCpuImage.cs
index df8d456f..e5e543c2 100644
--- a/unity/Packages/edu.wpi.cake.arflow/Runtime/Grpc/V1/XrCpuImage.cs
+++ b/unity/Packages/edu.wpi.cake.arflow/Runtime/Grpc/V1/XrCpuImage.cs
@@ -26,7 +26,7 @@ static XrCpuImageReflection() {
           string.Concat(
             "CiljYWtlbGFiL2FyZmxvd19ncnBjL3YxL3hyX2NwdV9pbWFnZS5wcm90bxIW",
             "Y2FrZWxhYi5hcmZsb3dfZ3JwYy52MRooY2FrZWxhYi9hcmZsb3dfZ3JwYy92",
-            "MS92ZWN0b3IyX2ludC5wcm90byL4AwoKWFJDcHVJbWFnZRJCCgpkaW1lbnNp",
+            "MS92ZWN0b3IyX2ludC5wcm90byKLBQoKWFJDcHVJbWFnZRJCCgpkaW1lbnNp",
             "b25zGAEgASgLMiIuY2FrZWxhYi5hcmZsb3dfZ3JwYy52MS5WZWN0b3IySW50",
             "UgpkaW1lbnNpb25zEkEKBmZvcm1hdBgCIAEoDjIpLmNha2VsYWIuYXJmbG93",
             "X2dycGMudjEuWFJDcHVJbWFnZS5Gb3JtYXRSBmZvcm1hdBIcCgl0aW1lc3Rh",
@@ -34,14 +34,17 @@ static XrCpuImageReflection() {
             "LmFyZmxvd19ncnBjLnYxLlhSQ3B1SW1hZ2UuUGxhbmVSBnBsYW5lcxpdCgVQ",
             "bGFuZRIdCgpyb3dfc3RyaWRlGAEgASgFUglyb3dTdHJpZGUSIQoMcGl4ZWxf",
             "c3RyaWRlGAIgASgFUgtwaXhlbFN0cmlkZRISCgRkYXRhGAMgASgMUgRkYXRh",
-            "IqMBCgZGb3JtYXQSFgoSRk9STUFUX1VOU1BFQ0lGSUVEEAASHgoaRk9STUFU",
+            "IrYCCgZGb3JtYXQSFgoSRk9STUFUX1VOU1BFQ0lGSUVEEAASHgoaRk9STUFU",
             "X0FORFJPSURfWVVWXzQyMF84ODgQARIwCixGT1JNQVRfSU9TX1lQX0NCQ1Jf",
             "NDIwXzhCSV9QTEFOQVJfRlVMTF9SQU5HRRACEhcKE0ZPUk1BVF9ERVBUSEZM",
-            "T0FUMzIQBBIWChJGT1JNQVRfREVQVEhVSU5UMTYQBUKkAQoaY29tLmNha2Vs",
-            "YWIuYXJmbG93X2dycGMudjFCD1hyQ3B1SW1hZ2VQcm90b1ABogIDQ0FYqgIW",
-            "Q2FrZUxhYi5BUkZsb3cuR3JwYy5WMcoCFUNha2VsYWJcQXJmbG93R3JwY1xW",
-            "MeICIUNha2VsYWJcQXJmbG93R3JwY1xWMVxHUEJNZXRhZGF0YeoCF0Nha2Vs",
-            "YWI6OkFyZmxvd0dycGM6OlYxYgZwcm90bzM="));
+            "T0FUMzIQBBIWChJGT1JNQVRfREVQVEhVSU5UMTYQBRIZChVGT1JNQVRfT05F",
+            "Q09NUE9ORU5UMzIQBhIRCg1GT1JNQVRfQVJHQjMyEAcSEQoNRk9STUFUX1JH",
+            "QkEzMhAIEhEKDUZPUk1BVF9CR1JBMzIQCRIQCgxGT1JNQVRfUkdCMjQQChIV",
+            "ChFGT1JNQVRfSlBFR19SR0IyNBALEhQKEEZPUk1BVF9QTkdfUkdCMjQQDEKk",
+            "AQoaY29tLmNha2VsYWIuYXJmbG93X2dycGMudjFCD1hyQ3B1SW1hZ2VQcm90",
+            "b1ABogIDQ0FYqgIWQ2FrZUxhYi5BUkZsb3cuR3JwYy5WMcoCFUNha2VsYWJc",
+            "QXJmbG93R3JwY1xWMeICIUNha2VsYWJcQXJmbG93R3JwY1xWMVxHUEJNZXRh",
+            "ZGF0YeoCF0Nha2VsYWI6OkFyZmxvd0dycGM6OlYxYgZwcm90bzM="));
       descriptor = pbr::FileDescriptor.FromGeneratedCode(descriptorData,
           new pbr::FileDescriptor[] { global::CakeLab.ARFlow.Grpc.V1.Vector2IntReflection.Descriptor, },
           new pbr::GeneratedClrTypeInfo(null, null, new pbr::GeneratedClrTypeInfo[] {
@@ -383,6 +386,13 @@ public enum Format {
         ///&#x2F; Android
         /// </summary>
         [pbr::OriginalName("FORMAT_DEPTHUINT16")] Depthuint16 = 5,
+        [pbr::OriginalName("FORMAT_ONECOMPONENT32")] Onecomponent32 = 6,
+        [pbr::OriginalName("FORMAT_ARGB32")] Argb32 = 7,
+        [pbr::OriginalName("FORMAT_RGBA32")] Rgba32 = 8,
+        [pbr::OriginalName("FORMAT_BGRA32")] Bgra32 = 9,
+        [pbr::OriginalName("FORMAT_RGB24")] Rgb24 = 10,
+        [pbr::OriginalName("FORMAT_JPEG_RGB24")] JpegRgb24 = 11,
+        [pbr::OriginalName("FORMAT_PNG_RGB24")] PngRgb24 = 12,
       }
 
       /// <summary>

From b9eb139ad884494f435fbc22df2ac9bcb237f70a Mon Sep 17 00:00:00 2001
From: Nikita Ostapenko <nikitul2005@gmail.com>
Date: Wed, 9 Jul 2025 15:47:26 -0400
Subject: [PATCH 14/18] add support for png/jpg image transfer capability

---
 python/arflow/_session_stream.py    | 12 ++++++++++++
 python/client/util/SessionRunner.py |  2 +-
 2 files changed, 13 insertions(+), 1 deletion(-)

diff --git a/python/arflow/_session_stream.py b/python/arflow/_session_stream.py
index 132df190..8d822f58 100644
--- a/python/arflow/_session_stream.py
+++ b/python/arflow/_session_stream.py
@@ -7,6 +7,7 @@
 import numpy as np
 import numpy.typing as npt
 import rerun as rr
+import cv2
 
 from arflow._types import (
     ARFrameType,
@@ -160,6 +161,17 @@ def save_color_frames(
                     np.frombuffer(f.image.planes[0].data, dtype=np.uint8)
                     for f in homogenous_frames
                 ])
+            elif format == XRCpuImage.FORMAT_JPEG_RGB24 or format == XRCpuImage.FORMAT_PNG_RGB24:
+                format_static = rr.components.ImageFormat(
+                    width=width,
+                    height=height,
+                    pixel_format=None,
+                    color_model=rr.ColorModel.BGR,
+                )
+                data = np.array([
+                    cv2.imdecode(np.frombuffer(f.image.planes[0].data, dtype=np.uint8), cv2.IMREAD_COLOR).flatten()
+                    for f in homogenous_frames
+                ])
             # elif format == XRCpuImage.FORMAT_IOS_YP_CBCR_420_8BI_PLANAR_FULL_RANGE:
             #     format_static = rr.components.ImageFormat(
             #         width=width,
diff --git a/python/client/util/SessionRunner.py b/python/client/util/SessionRunner.py
index cdf76bba..7b58a7fe 100644
--- a/python/client/util/SessionRunner.py
+++ b/python/client/util/SessionRunner.py
@@ -45,7 +45,7 @@ async def gather_camera_frame_async(self) -> None:
         Timestamp.FromNanoseconds(timestamp, nanos)
         xrcpu_image: XRCpuImage = XRCpuImage(
             dimensions= Vector2Int(x=width, y=height),
-            format= XRCpuImage.FORMAT_JPEG_RGB24,
+            format= XRCpuImage.Format.FORMAT_JPEG_RGB24,
             timestamp=now,
             planes=[plane]
         )

From 2aa005075b40dda34894783b19a2d8df611c2255 Mon Sep 17 00:00:00 2001
From: Nikita Ostapenko <nikitul2005@gmail.com>
Date: Thu, 10 Jul 2025 00:12:30 -0400
Subject: [PATCH 15/18] add vedant saran's test and modify it to test for
 frame-by-frame

---
 python/client/compression_test.py             | 457 ++++++++++++++++++
 .../real_arflow_test_20250709_235941.csv      |   3 +
 .../real_arflow_test_20250709_235941.json     |  45 ++
 .../real_arflow_test_20250710_000549.csv      |   3 +
 .../real_arflow_test_20250710_000549.json     |  45 ++
 .../real_arflow_test_20250710_001054.csv      |   3 +
 .../real_arflow_test_20250710_001054.json     |  45 ++
 python/client/util/SessionRunner.py           |  17 +-
 8 files changed, 616 insertions(+), 2 deletions(-)
 create mode 100644 python/client/compression_test.py
 create mode 100644 python/client/real_arflow_test_20250709_235941.csv
 create mode 100644 python/client/real_arflow_test_20250709_235941.json
 create mode 100644 python/client/real_arflow_test_20250710_000549.csv
 create mode 100644 python/client/real_arflow_test_20250710_000549.json
 create mode 100644 python/client/real_arflow_test_20250710_001054.csv
 create mode 100644 python/client/real_arflow_test_20250710_001054.json

diff --git a/python/client/compression_test.py b/python/client/compression_test.py
new file mode 100644
index 00000000..d9dbcd3d
--- /dev/null
+++ b/python/client/compression_test.py
@@ -0,0 +1,457 @@
+#!/usr/bin/env python3
+"""Real ARFlow Compression Test
+
+This script measures the difference between streaming and non-streaming modes
+by monitoring existing ARFlow sessions and measuring their network usage.
+
+Usage:
+1. Start ARFlow server: arflow view --port 8500
+2. Connect your device to the server
+3. Run this test: python real_arflow_compression_test.py
+
+Note: This test monitors existing sessions from connected devices.
+"""
+
+import argparse
+import asyncio
+import csv
+import json
+import sys
+import time
+from dataclasses import dataclass
+from datetime import datetime
+from pathlib import Path
+from typing import Any, List
+import traceback
+
+import cv2
+
+# Add ARFlow to path
+sys.path.insert(0, str(Path(__file__).parent.parent))
+
+try:
+    import psutil  # type: ignore
+
+    from cakelab.arflow_grpc.v1.ar_frame_pb2 import ARFrame
+    from cakelab.arflow_grpc.v1.device_pb2 import Device
+    from cakelab.arflow_grpc.v1.session_pb2 import Session
+    from client.GrpcClient import GrpcClient
+    from client.util.GetDeviceInfo import GetDeviceInfo
+    from client.util.SessionRunner import SessionRunner
+except ImportError as e:
+    print(f"❌ Failed to import required components: {e}")
+    print("Make sure you're running this from the python/benchmarks directory")
+    print("Required: pip install psutil opencv-python")
+    sys.exit(1)
+
+
+@dataclass
+class TestConfig:
+    """Configuration for a real ARFlow test."""
+
+    name: str
+    duration: int  # seconds
+    description: str
+    width: int
+    height: int
+
+
+@dataclass
+class TestResult:
+    """Results from a real ARFlow test."""
+
+    config: TestConfig
+    frames_sent: int
+    bytes_sent: int
+    fps_achieved: float
+    cpu_usage_avg: float | str
+    memory_usage_mb: float | str
+    bandwidth_mbps: float
+    psnr: float | None
+    errors: List[str]
+    width: int
+    height: int
+
+
+class RealARFlowTester:
+    """Test compression impact using real ARFlow components."""
+
+    def __init__(self, server_host: str = "localhost", server_port: int = 8500):
+        self.server_host = server_host
+        self.server_port = server_port
+        self.configs = [
+            TestConfig(
+                name="ARFlow_SD_PNG",
+                duration=30,
+                description="ARFlow SD (PNG Compressed)",
+                width=640,
+                height=480,
+            ),
+            TestConfig(
+                name="ARFlow_HD_PNG",
+                duration=30,
+                description="ARFlow HD (PNG Compressed)",
+                width=1280,
+                height=720,
+            ),
+        ]
+        self.results: List[TestResult] = []
+        self.client = GrpcClient(f"{self.server_host}:{self.server_port}")
+
+    async def get_existing_session(self) -> tuple[Any, Device]:
+        """Get an existing session from a connected device."""
+        print("📱 Looking for existing sessions...")
+
+        # Create gRPC client
+        self.client = self.client
+
+        # List existing sessions
+        response = await self.client.list_sessions_async()
+        sessions = response.sessions  # type: ignore
+        
+
+        for session in sessions:
+            if session.id.value == "test_session":
+                await self.client.delete_session_async("test_session")
+        session = (await self.client.create_session_async("test_session", GetDeviceInfo.get_device_info(), "")).session
+        print(
+            f"✅ Found session: {session.metadata.name} from device: {session.devices[0].name}"
+        )
+
+        # Get device info from the session
+        device = session.devices[0]
+
+        return session, device
+
+    async def run_test(self, config: TestConfig) -> TestResult:
+        """Run a single test configuration."""
+        print(f"\n🧪 Testing: {config.name}")
+        print(f"   Duration: {config.duration}s")
+
+        errors: List[str] = []
+        frames_sent = 0
+        bytes_sent = 0
+        cpu_usage_samples: List[float] = []
+        memory_usage_samples: List[float] = []
+
+        try:
+            # Get existing session from
+            session, device = await self.get_existing_session()
+
+            # Track metrics
+            start_time = time.time()
+            process = psutil.Process()
+            initial_memory = process.memory_info().rss / 1024 / 1024  # MB
+
+            # Frame callback to track metrics
+            async def on_frame(sess: Any, frame: ARFrame, dev: Device) -> None:
+                nonlocal frames_sent, bytes_sent
+                frames_sent += 1
+
+                # Count bytes sent (SessionRunner sends compressed H.264 data)
+                if frame.color_frame and frame.color_frame.image:
+                    # This will be the actual compressed data size
+                    bytes_sent += len(frame.color_frame.image.planes[0].data)
+                await self.client.save_ar_frames_async(
+                    session_id=sess.id.value, 
+                    ar_frames=[frame], 
+                    device=dev
+                    )
+                
+
+            # Create session runner to monitor the existing session
+            print("   Monitoring existing session...")
+            runner = SessionRunner(session, device, on_frame)
+            runner.camera.set(cv2.CAP_PROP_FRAME_WIDTH, config.width)
+            runner.camera.set(cv2.CAP_PROP_FRAME_HEIGHT, config.height)
+            stopped = False
+
+            # Start recording
+            async def gather_frames_loop():
+                while not stopped:
+                    await runner.gather_camera_frame_async()
+                    await asyncio.sleep(0)  # Yield to event loop
+
+            gather_task = asyncio.create_task(gather_frames_loop())
+            # Monitor performance
+            end_time = start_time + config.duration
+            sample_interval = 1.0  # Sample every second
+
+            while time.time() < end_time:
+                # Sample CPU and memory
+                try:
+                    cpu_percent = process.cpu_percent()
+                    memory_mb = process.memory_info().rss / 1024 / 1024
+
+                    cpu_usage_samples.append(cpu_percent)
+                    memory_usage_samples.append(memory_mb)
+                except Exception as e:
+                    print(f"⚠️  Warning: Failed to sample performance: {e}")
+
+                await asyncio.sleep(sample_interval)
+
+            # Stop the runner
+            stopped = True
+            gather_task.cancel()
+
+            # Calculate metrics
+            actual_duration = time.time() - start_time
+            fps_achieved = frames_sent / actual_duration if actual_duration > 0 else 0
+            cpu_usage_avg = (
+                sum(cpu_usage_samples) / len(cpu_usage_samples)
+                if cpu_usage_samples
+                else 0
+            )
+            memory_usage_mb = (
+                max(memory_usage_samples) - initial_memory
+                if memory_usage_samples
+                else 0
+            )
+            bandwidth_mbps = (
+                (bytes_sent * 8) / (actual_duration * 1_000_000)
+                if actual_duration > 0
+                else 0
+            )
+
+            print(f"✅ Results:")
+            print(f"   • Frames received: {frames_sent}")
+            print(f"   • Bytes received: {bytes_sent:,}")
+            print(f"   • FPS achieved: {fps_achieved:.2f}")
+            print(f"   • CPU usage: {cpu_usage_avg:.1f}%")
+            print(f"   • Memory usage: {memory_usage_mb:.1f} MB")
+            print(f"   • Bandwidth: {bandwidth_mbps:.2f} Mbps")
+
+        except Exception as e:
+            error_msg = f"Test failed: {e}"
+            print(f"❌ {error_msg}")
+            traceback.print_exc()
+            errors.append(error_msg)
+
+            # Set default values for failed test
+            fps_achieved = 0.0
+            cpu_usage_avg = 0.0
+            memory_usage_mb = 0.0
+            bandwidth_mbps = 0.0
+        return TestResult(
+            config=config,
+            frames_sent=frames_sent,
+            bytes_sent=bytes_sent,
+            fps_achieved=fps_achieved,
+            cpu_usage_avg=cpu_usage_avg,
+            memory_usage_mb=memory_usage_mb,
+            bandwidth_mbps=bandwidth_mbps,
+            psnr=runner.summed_psnr / frames_sent if runner.summed_psnr != None else None,
+            errors=errors,
+            width=config.width,
+            height=config.height,
+        )
+
+    async def run_all_tests(self) -> None:
+        """Run all test configurations."""
+        print("🚀 Real ARFlow Compression Evaluation")
+        print("=" * 50)
+        print(f"Server: {self.server_host}:{self.server_port}")
+        print(f"Configurations: {len(self.configs)}")
+        print("=" * 50)
+
+        # Check if server is reachable
+        print("🔍 Checking ARFlow server connection...")
+        try:
+            client = self.client
+            # Try to list sessions to test connection
+            response = await client.list_sessions_async()
+            sessions = response.sessions  # type: ignore
+            print(f"✅ Connected to ARFlow server ({len(sessions)} active sessions)")
+
+        except Exception as e:
+            print(f"❌ Cannot connect to ARFlow server: {e}")
+            print("Please start the ARFlow server first:")
+            print(f"  arflow view --port {self.server_port}")
+            return
+
+        # Run tests
+        for i, config in enumerate(self.configs, 1):
+            print(f"\n[{i}/{len(self.configs)}]")
+            result = await self.run_test(config)
+            self.results.append(result)
+
+            # Brief pause between tests
+            if i < len(self.configs):
+                print("⏸️  Pausing between tests...")
+                await asyncio.sleep(5)
+
+        self.generate_reports()
+
+    def generate_reports(self) -> None:
+        """Generate detailed reports."""
+        timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
+
+        # CSV Report
+        csv_file = f"real_arflow_test_{timestamp}.csv"
+        with open(csv_file, "w", newline="") as f:
+            writer = csv.writer(f)
+            writer.writerow(
+                [
+                    "Configuration",
+                    "Duration (s)",
+                    "Frames Received",
+                    "Bytes Received",
+                    "FPS Achieved",
+                    "CPU Usage (%)",
+                    "Memory Usage (MB)",
+                    "Bandwidth (Mbps)",
+                    "PSNR (dB)",
+                    "Errors",
+                ]
+            )
+            for r in self.results:
+                writer.writerow(
+                    [
+                        r.config.name,
+                        r.config.duration,
+                        r.frames_sent,
+                        r.bytes_sent,
+                        f"{r.fps_achieved:.2f}",
+                        f"{r.cpu_usage_avg:.1f}",
+                        f"{r.memory_usage_mb:.1f}",
+                        f"{r.bandwidth_mbps:.2f}",
+                        f"{r.psnr:.2f}" if r.psnr != None else "N/A",
+                        "; ".join(r.errors) if r.errors else "None",
+                    ]
+                )
+
+        # JSON Report
+        json_file = f"real_arflow_test_{timestamp}.json"
+        with open(json_file, "w") as f:
+            json.dump(
+                {
+                    "timestamp": timestamp,
+                    "test_type": "real_arflow_compression",
+                    "server": f"{self.server_host}:{self.server_port}",
+                    "results": [
+                        {
+                            "config": {
+                                "name": r.config.name,
+                                "duration": r.config.duration,
+                                "description": r.config.description,
+                                "width": r.config.width,
+                                "height": r.config.height,
+                            },
+                            "measurements": {
+                                "frames_sent": r.frames_sent,
+                                "bytes_sent": r.bytes_sent,
+                                "fps_achieved": r.fps_achieved,
+                                "cpu_usage_avg": r.cpu_usage_avg,
+                                "memory_usage_mb": r.memory_usage_mb,
+                                "bandwidth_mbps": r.bandwidth_mbps,
+                                "psnr": r.psnr,
+                                "errors": r.errors,
+                            },
+                        }
+                        for r in self.results
+                    ],
+                },
+                f,
+                indent=2,
+            )
+
+        print(f"\n📊 Real ARFlow Test Complete!")
+        print(f"📄 Reports: {csv_file}, {json_file}")
+
+        self.print_analysis()
+
+    def print_analysis(self) -> None:
+        """Print analysis of the results."""
+        print(f"\n📈 Real ARFlow Performance Analysis:")
+        print("-" * 60)
+
+        if self.results and not self.results[0].errors:
+            result = self.results[0]
+
+            print(f"\nARFlow Streaming Performance:")
+            print(f"  • Actual FPS: {result.fps_achieved:.2f}")
+            print(f"  • Bandwidth usage: {result.bandwidth_mbps:.2f} Mbps")
+            print(f"  • CPU usage: {result.cpu_usage_avg:.1f}%")
+            print(f"  • Memory usage: {result.memory_usage_mb:.1f} MB")
+            print(f"  • Frames processed: {result.frames_sent}")
+            print(
+                f"  • Average bytes per frame: {result.bytes_sent // result.frames_sent if result.frames_sent > 0 else 0:,}"
+            )
+
+            # Estimate uncompressed equivalent
+            estimated_width, estimated_height = 640, 480
+            uncompressed_bytes_per_frame = estimated_width * estimated_height * 3  # RGB
+            total_uncompressed_bytes = uncompressed_bytes_per_frame * result.frames_sent
+            compression_ratio = (
+                total_uncompressed_bytes / result.bytes_sent
+                if result.bytes_sent > 0
+                else 0
+            )
+
+            print(f"\nCompression Efficiency:")
+            print(f"  • Estimated compression ratio: {compression_ratio:.1f}:1")
+            print(
+                f"  • Bandwidth savings: {((total_uncompressed_bytes - result.bytes_sent) / total_uncompressed_bytes) * 100:.1f}%"
+            )
+            print(
+                f"  • Uncompressed equivalent: {(total_uncompressed_bytes * 8) / (result.config.duration * 1_000_000):.2f} Mbps"
+            )
+        else:
+            print("\n⚠️  Could not analyze results due to test failures")
+
+
+async def main() -> None:
+    """Main entry point."""
+    parser = argparse.ArgumentParser(
+        description="Test real ARFlow compression performance"
+    )
+    parser.add_argument(
+        "--duration",
+        type=int,
+        default=30,
+        help="Test duration in seconds (default: 30)",
+    )
+    parser.add_argument(
+        "--host",
+        type=str,
+        default="localhost",
+        help="ARFlow server host (default: localhost)",
+    )
+    parser.add_argument(
+        "--port",
+        type=int,
+        default=8500,
+        help="ARFlow server port (default: 8500)",
+    )
+
+    args = parser.parse_args()
+
+    # Check dependencies
+    try:
+        import cv2  # type: ignore
+
+        print("✅ OpenCV available")
+    except ImportError:
+        print("❌ OpenCV not found. Install with: pip install opencv-python")
+        print("This is required for camera capture in SessionRunner")
+        sys.exit(1)
+
+    try:
+        import psutil  # type: ignore
+
+        print("✅ psutil available")
+    except ImportError:
+        print("❌ psutil not found. Install with: pip install psutil")
+        print("This is required for performance monitoring")
+        sys.exit(1)
+
+    # Update test durations
+    tester = RealARFlowTester(args.host, args.port)
+    for config in tester.configs:
+        config.duration = args.duration
+
+    await tester.run_all_tests()
+
+
+if __name__ == "__main__":
+    asyncio.run(main())
\ No newline at end of file
diff --git a/python/client/real_arflow_test_20250709_235941.csv b/python/client/real_arflow_test_20250709_235941.csv
new file mode 100644
index 00000000..114f706b
--- /dev/null
+++ b/python/client/real_arflow_test_20250709_235941.csv
@@ -0,0 +1,3 @@
+Configuration,Duration (s),Frames Received,Bytes Received,FPS Achieved,CPU Usage (%),Memory Usage (MB),Bandwidth (Mbps),PSNR (dB),Errors
+ARFlow_SD_JPG,30,790,40084790,26.29,17.0,72.0,10.67,45.44,None
+ARFlow_HD_JPG,30,823,104385101,26.61,41.1,49.7,27.00,46.59,None
diff --git a/python/client/real_arflow_test_20250709_235941.json b/python/client/real_arflow_test_20250709_235941.json
new file mode 100644
index 00000000..4ddd5332
--- /dev/null
+++ b/python/client/real_arflow_test_20250709_235941.json
@@ -0,0 +1,45 @@
+{
+  "timestamp": "20250709_235941",
+  "test_type": "real_arflow_compression",
+  "server": "localhost:8500",
+  "results": [
+    {
+      "config": {
+        "name": "ARFlow_SD_JPG",
+        "duration": 30,
+        "description": "ARFlow SD (JPG Compressed)",
+        "width": 640,
+        "height": 480
+      },
+      "measurements": {
+        "frames_sent": 790,
+        "bytes_sent": 40084790,
+        "fps_achieved": 26.287684824391214,
+        "cpu_usage_avg": 17.028,
+        "memory_usage_mb": 71.9609375,
+        "bandwidth_mbps": 10.670747602753506,
+        "psnr": 45.44057593172643,
+        "errors": []
+      }
+    },
+    {
+      "config": {
+        "name": "ARFlow_HD_JPG",
+        "duration": 30,
+        "description": "ARFlow HD (JPG Compressed)",
+        "width": 1280,
+        "height": 720
+      },
+      "measurements": {
+        "frames_sent": 823,
+        "bytes_sent": 104385101,
+        "fps_achieved": 26.612517645600366,
+        "cpu_usage_avg": 41.11538461538461,
+        "memory_usage_mb": 49.734375,
+        "bandwidth_mbps": 27.00316250109625,
+        "psnr": 46.586260293895094,
+        "errors": []
+      }
+    }
+  ]
+}
\ No newline at end of file
diff --git a/python/client/real_arflow_test_20250710_000549.csv b/python/client/real_arflow_test_20250710_000549.csv
new file mode 100644
index 00000000..cf9c5867
--- /dev/null
+++ b/python/client/real_arflow_test_20250710_000549.csv
@@ -0,0 +1,3 @@
+Configuration,Duration (s),Frames Received,Bytes Received,FPS Achieved,CPU Usage (%),Memory Usage (MB),Bandwidth (Mbps),PSNR (dB),Errors
+ARFlow_SD_RAW,30,443,408268800,14.35,13.8,79.3,105.82,N/A,None
+ARFlow_HD_RAW,30,154,425779200,4.97,14.5,70.8,109.99,N/A,None
diff --git a/python/client/real_arflow_test_20250710_000549.json b/python/client/real_arflow_test_20250710_000549.json
new file mode 100644
index 00000000..1928ba59
--- /dev/null
+++ b/python/client/real_arflow_test_20250710_000549.json
@@ -0,0 +1,45 @@
+{
+  "timestamp": "20250710_000549",
+  "test_type": "real_arflow_compression",
+  "server": "localhost:8500",
+  "results": [
+    {
+      "config": {
+        "name": "ARFlow_SD_RAW",
+        "duration": 30,
+        "description": "ARFlow SD (RAW)",
+        "width": 640,
+        "height": 480
+      },
+      "measurements": {
+        "frames_sent": 443,
+        "bytes_sent": 408268800,
+        "fps_achieved": 14.352133811610944,
+        "cpu_usage_avg": 13.833333333333334,
+        "memory_usage_mb": 79.28515625,
+        "bandwidth_mbps": 105.81541216624517,
+        "psnr": null,
+        "errors": []
+      }
+    },
+    {
+      "config": {
+        "name": "ARFlow_HD_RAW",
+        "duration": 30,
+        "description": "ARFlow HD (RAW)",
+        "width": 1280,
+        "height": 720
+      },
+      "measurements": {
+        "frames_sent": 154,
+        "bytes_sent": 425779200,
+        "fps_achieved": 4.972587614010481,
+        "cpu_usage_avg": 14.526315789473685,
+        "memory_usage_mb": 70.84765625,
+        "bandwidth_mbps": 109.98568188172943,
+        "psnr": null,
+        "errors": []
+      }
+    }
+  ]
+}
\ No newline at end of file
diff --git a/python/client/real_arflow_test_20250710_001054.csv b/python/client/real_arflow_test_20250710_001054.csv
new file mode 100644
index 00000000..eb250a7e
--- /dev/null
+++ b/python/client/real_arflow_test_20250710_001054.csv
@@ -0,0 +1,3 @@
+Configuration,Duration (s),Frames Received,Bytes Received,FPS Achieved,CPU Usage (%),Memory Usage (MB),Bandwidth (Mbps),PSNR (dB),Errors
+ARFlow_SD_PNG,30,611,192035334,19.84,46.4,81.9,49.89,361.20,None
+ARFlow_HD_PNG,30,217,185273703,7.10,49.4,66.9,48.47,361.20,None
diff --git a/python/client/real_arflow_test_20250710_001054.json b/python/client/real_arflow_test_20250710_001054.json
new file mode 100644
index 00000000..39a73ed1
--- /dev/null
+++ b/python/client/real_arflow_test_20250710_001054.json
@@ -0,0 +1,45 @@
+{
+  "timestamp": "20250710_001054",
+  "test_type": "real_arflow_compression",
+  "server": "localhost:8500",
+  "results": [
+    {
+      "config": {
+        "name": "ARFlow_SD_PNG",
+        "duration": 30,
+        "description": "ARFlow SD (PNG Compressed)",
+        "width": 640,
+        "height": 480
+      },
+      "measurements": {
+        "frames_sent": 611,
+        "bytes_sent": 192035334,
+        "fps_achieved": 19.842161486386413,
+        "cpu_usage_avg": 46.36,
+        "memory_usage_mb": 81.91796875,
+        "bandwidth_mbps": 49.890620076204925,
+        "psnr": 361.2019990992245,
+        "errors": []
+      }
+    },
+    {
+      "config": {
+        "name": "ARFlow_HD_PNG",
+        "duration": 30,
+        "description": "ARFlow HD (PNG Compressed)",
+        "width": 1280,
+        "height": 720
+      },
+      "measurements": {
+        "frames_sent": 217,
+        "bytes_sent": 185273703,
+        "fps_achieved": 7.096268537299018,
+        "cpu_usage_avg": 49.42857142857143,
+        "memory_usage_mb": 66.921875,
+        "bandwidth_mbps": 48.470117949780004,
+        "psnr": 361.20199909922064,
+        "errors": []
+      }
+    }
+  ]
+}
\ No newline at end of file
diff --git a/python/client/util/SessionRunner.py b/python/client/util/SessionRunner.py
index 7b58a7fe..c8e902f2 100644
--- a/python/client/util/SessionRunner.py
+++ b/python/client/util/SessionRunner.py
@@ -14,6 +14,8 @@ class SessionRunner:
     camera : cv2.VideoCapture | None = None
     session: Session | None = None
     device: Device | None = None
+    frames_gathered: int = 0
+    summed_psnr: float = 0.0
     onARFrame: Callable[[Session, ARFrame, Device], Coroutine[Any, Any, None]] | None = None
     def __init__(self, session: Session, device: Device, onARFrame: Callable[[Session, ARFrame, Device], Coroutine[Any, Any, None]]):
         self.camera = cv2.VideoCapture(0)
@@ -31,24 +33,35 @@ async def gather_camera_frame_async(self) -> None:
         if not ret:
             return
         height, width = frame.shape[:2]
-        success, encoded = cv2.imencode('.jpg', frame)
+        
+        success, encoded = cv2.imencode('.png', frame)
         if not success:
             return
+        self.summed_psnr += cv2.PSNR(frame, cv2.imdecode(encoded, cv2.IMREAD_COLOR))
         plane: XRCpuImage.Plane = XRCpuImage.Plane(
             data=encoded.tobytes(),
             row_stride=0,
             pixel_stride=0,
         )
+        """
+        frame_rgb = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
+        plane: XRCpuImage.Plane = XRCpuImage.Plane(
+            data=frame_rgb.tobytes(),
+            row_stride=3 * width,
+            pixel_stride=3,
+        )
+        """
         now = time.time()
         timestamp = Timestamp()
         nanos = int(now * 1e9)
         Timestamp.FromNanoseconds(timestamp, nanos)
         xrcpu_image: XRCpuImage = XRCpuImage(
             dimensions= Vector2Int(x=width, y=height),
-            format= XRCpuImage.Format.FORMAT_JPEG_RGB24,
+            format= XRCpuImage.Format.FORMAT_PNG_RGB24,
             timestamp=now,
             planes=[plane]
         )
+        
         color_frame = ColorFrame(
             image=xrcpu_image,
             device_timestamp=timestamp

From 26370168346bb32f977acd9c5b237600be975dfd Mon Sep 17 00:00:00 2001
From: Nikita Ostapenko <nikitul2005@gmail.com>
Date: Thu, 10 Jul 2025 00:20:30 -0400
Subject: [PATCH 16/18] fix ruff's checks

---
 python/arflow/_session_stream.py    |  2 +-
 python/client/GrpcClient.py         | 25 ++++++++++++++++++-------
 python/client/clients/cli.py        | 16 +++++++++-------
 python/client/compression_test.py   | 16 +++++-----------
 python/client/util/GetDeviceInfo.py |  7 ++++++-
 python/client/util/SessionRunner.py | 21 ++++++++++++++-------
 6 files changed, 53 insertions(+), 34 deletions(-)

diff --git a/python/arflow/_session_stream.py b/python/arflow/_session_stream.py
index 8d822f58..25bcf34f 100644
--- a/python/arflow/_session_stream.py
+++ b/python/arflow/_session_stream.py
@@ -3,11 +3,11 @@
 import logging
 from collections.abc import Sequence
 
+import cv2
 import DracoPy
 import numpy as np
 import numpy.typing as npt
 import rerun as rr
-import cv2
 
 from arflow._types import (
     ARFrameType,
diff --git a/python/client/GrpcClient.py b/python/client/GrpcClient.py
index 38dd8c62..c91d8bd2 100644
--- a/python/client/GrpcClient.py
+++ b/python/client/GrpcClient.py
@@ -1,31 +1,35 @@
-import grpc
+"""A gRPC client for interacting with the ARFlow server."""
 from typing import Awaitable, Iterable
 
-from cakelab.arflow_grpc.v1.ar_frame_pb2 import ARFrame 
+import grpc
 
+from cakelab.arflow_grpc.v1.ar_frame_pb2 import ARFrame
 from cakelab.arflow_grpc.v1.arflow_service_pb2_grpc import ARFlowServiceStub
-from cakelab.arflow_grpc.v1.session_pb2 import SessionUuid, SessionMetadata
-from cakelab.arflow_grpc.v1.device_pb2 import Device
-
 from cakelab.arflow_grpc.v1.create_session_request_pb2 import CreateSessionRequest
 from cakelab.arflow_grpc.v1.create_session_response_pb2 import CreateSessionResponse
 from cakelab.arflow_grpc.v1.delete_session_request_pb2 import DeleteSessionRequest
 from cakelab.arflow_grpc.v1.delete_session_response_pb2 import DeleteSessionResponse
+from cakelab.arflow_grpc.v1.device_pb2 import Device
 from cakelab.arflow_grpc.v1.get_session_request_pb2 import GetSessionRequest
 from cakelab.arflow_grpc.v1.get_session_response_pb2 import GetSessionResponse
 from cakelab.arflow_grpc.v1.join_session_request_pb2 import JoinSessionRequest
 from cakelab.arflow_grpc.v1.join_session_response_pb2 import JoinSessionResponse
-from cakelab.arflow_grpc.v1.list_sessions_request_pb2 import ListSessionsRequest
-from cakelab.arflow_grpc.v1.list_sessions_response_pb2 import ListSessionsResponse
 from cakelab.arflow_grpc.v1.leave_session_request_pb2 import LeaveSessionRequest
 from cakelab.arflow_grpc.v1.leave_session_response_pb2 import LeaveSessionResponse
+from cakelab.arflow_grpc.v1.list_sessions_request_pb2 import ListSessionsRequest
+from cakelab.arflow_grpc.v1.list_sessions_response_pb2 import ListSessionsResponse
 from cakelab.arflow_grpc.v1.save_ar_frames_request_pb2 import SaveARFramesRequest
 from cakelab.arflow_grpc.v1.save_ar_frames_response_pb2 import SaveARFramesResponse
+from cakelab.arflow_grpc.v1.session_pb2 import SessionMetadata, SessionUuid
+
 
 class GrpcClient:
+    """A gRPC client for interacting with the ARFlow server."""
     def __init__(self, url):
+        """Initializes a new GrpcClient instance."""
         self.channel = grpc.insecure_channel(url)
     async def create_session_async(self, name: str, device: Device, save_path: str = "") -> CreateSessionResponse:
+        """Creates a new session."""
         request = CreateSessionRequest(
             session_metadata=SessionMetadata(name=name, save_path=save_path),
             device=device
@@ -33,18 +37,21 @@ async def create_session_async(self, name: str, device: Device, save_path: str =
         response: Awaitable[CreateSessionResponse] = ARFlowServiceStub(self.channel).CreateSession(request)
         return response
     async def delete_session_async(self, session_id: str) -> DeleteSessionResponse:
+        """Deletes a specific session."""
         request = DeleteSessionRequest(
             session_id=SessionUuid(value = session_id)
         )
         response: Awaitable[DeleteSessionResponse] = ARFlowServiceStub(self.channel).DeleteSession(request)
         return response
     async def get_session_async(self, session_id: str) -> GetSessionResponse:
+        """Retrieves a specific session."""
         request = GetSessionRequest(
             session_id=SessionUuid(value=session_id)
         )
         response: Awaitable[GetSessionResponse] = ARFlowServiceStub(self.channel).GetSession(request)
         return response
     async def join_session_async(self, session_id: str, device: Device) -> JoinSessionResponse:
+        """Joins an existing session."""
         request = JoinSessionRequest(
             session_id=SessionUuid(value=session_id),
             device=device
@@ -52,10 +59,12 @@ async def join_session_async(self, session_id: str, device: Device) -> JoinSessi
         response: Awaitable[JoinSessionResponse] = ARFlowServiceStub(self.channel).JoinSession(request)
         return response
     async def list_sessions_async(self) -> ListSessionsResponse:
+        """Lists all active sessions."""
         request = ListSessionsRequest()
         response: Awaitable[ListSessionsResponse] = ARFlowServiceStub(self.channel).ListSessions(request)
         return response
     async def leave_session_async(self, session_id: str, device: Device) -> LeaveSessionResponse:
+        """Leaves a session."""
         request = LeaveSessionRequest(
             session_id=SessionUuid(value=session_id),
             device=device
@@ -63,6 +72,7 @@ async def leave_session_async(self, session_id: str, device: Device) -> LeaveSes
         response: Awaitable[LeaveSessionResponse] = ARFlowServiceStub(self.channel).LeaveSession(request)
         return response
     async def save_ar_frames_async(self, session_id: str, ar_frames: Iterable[ARFrame], device: Device) -> SaveARFramesResponse:
+        """Saves AR frames to the server."""
         request = SaveARFramesRequest(
             session_id=SessionUuid(value=session_id),
             frames=ar_frames,
@@ -72,5 +82,6 @@ async def save_ar_frames_async(self, session_id: str, ar_frames: Iterable[ARFram
         return response
 
     def close(self):
+        """Close the gRPC channel."""
         self.channel.close()
     
\ No newline at end of file
diff --git a/python/client/clients/cli.py b/python/client/clients/cli.py
index 65ac1699..549bf4ed 100644
--- a/python/client/clients/cli.py
+++ b/python/client/clients/cli.py
@@ -1,26 +1,27 @@
 
+"""A simple command line interface for the ARFlow gRPC server."""
+import asyncio
+from threading import Event, Thread
+from time import sleep
 
 from GrpcClient import GrpcClient
 from util.GetDeviceInfo import GetDeviceInfo
 from util.SessionRunner import SessionRunner
 
-from cakelab.arflow_grpc.v1.device_pb2 import Device
-from cakelab.arflow_grpc.v1.session_pb2 import Session
 from cakelab.arflow_grpc.v1.ar_frame_pb2 import ARFrame
-
 from cakelab.arflow_grpc.v1.create_session_response_pb2 import CreateSessionResponse
+from cakelab.arflow_grpc.v1.device_pb2 import Device
 from cakelab.arflow_grpc.v1.list_sessions_response_pb2 import ListSessionsResponse
+from cakelab.arflow_grpc.v1.session_pb2 import Session
 
-import asyncio
-from threading import Thread
-from threading import Event
-from time import sleep
 
 class CLIClient:
+    """A simple command line interface for the ARFlow gRPC server."""
     session: Session | None = None
     running: Thread | None = None
     stop_event: Event | None = None
     def __init__(self):
+        """Initialize the CLI client and start the session management loop."""
         host = input("Enter hostname: ")
         port = input("Enter port: ")
         self.client = GrpcClient(f"{host}:{port}")
@@ -134,6 +135,7 @@ async def __on_frame(self, session: Session, frame: ARFrame , device: Device):
         )
 
 def main():
+    """Main function to run the CLI client."""
     CLIClient()
     
     
diff --git a/python/client/compression_test.py b/python/client/compression_test.py
index d9dbcd3d..f3e12d4f 100644
--- a/python/client/compression_test.py
+++ b/python/client/compression_test.py
@@ -1,15 +1,8 @@
 #!/usr/bin/env python3
-"""Real ARFlow Compression Test
+"""Real ARFlow Compression Test.
 
-This script measures the difference between streaming and non-streaming modes
-by monitoring existing ARFlow sessions and measuring their network usage.
-
-Usage:
-1. Start ARFlow server: arflow view --port 8500
-2. Connect your device to the server
-3. Run this test: python real_arflow_compression_test.py
-
-Note: This test monitors existing sessions from connected devices.
+This script runs a test for a suite of tests on the device by connecting to an existing ARFlow server
+and creating a session. It then starts recording on its own.
 """
 
 import argparse
@@ -18,11 +11,11 @@
 import json
 import sys
 import time
+import traceback
 from dataclasses import dataclass
 from datetime import datetime
 from pathlib import Path
 from typing import Any, List
-import traceback
 
 import cv2
 
@@ -77,6 +70,7 @@ class RealARFlowTester:
     """Test compression impact using real ARFlow components."""
 
     def __init__(self, server_host: str = "localhost", server_port: int = 8500):
+        """Initialize the tester with server details."""
         self.server_host = server_host
         self.server_port = server_port
         self.configs = [
diff --git a/python/client/util/GetDeviceInfo.py b/python/client/util/GetDeviceInfo.py
index d1e2ecd5..113e29de 100644
--- a/python/client/util/GetDeviceInfo.py
+++ b/python/client/util/GetDeviceInfo.py
@@ -1,10 +1,15 @@
-from cakelab.arflow_grpc.v1.device_pb2 import Device
+"""A class that gets the device information for the current device."""
 import platform
 import uuid
 
+from cakelab.arflow_grpc.v1.device_pb2 import Device
+
+
 class GetDeviceInfo:
+    """A class that gets the device information for the current device."""
     @staticmethod
     def get_device_info() -> Device:
+        """Gets the device information for the current device."""
         name = platform.node()
         #not sure what model is, im just gonna leave it as system name combined with version, change this later
         model = platform.system() + platform.version()
diff --git a/python/client/util/SessionRunner.py b/python/client/util/SessionRunner.py
index c8e902f2..4c4928ab 100644
--- a/python/client/util/SessionRunner.py
+++ b/python/client/util/SessionRunner.py
@@ -1,16 +1,20 @@
-from cakelab.arflow_grpc.v1.session_pb2 import Session
-from cakelab.arflow_grpc.v1.device_pb2 import Device
+"""A class that handles the session and camera for a device."""
+import time
+from typing import Any, Callable, Coroutine
+
+import cv2
+from google.protobuf.timestamp_pb2 import Timestamp
 
 from cakelab.arflow_grpc.v1.ar_frame_pb2 import ARFrame
 from cakelab.arflow_grpc.v1.color_frame_pb2 import ColorFrame
-from cakelab.arflow_grpc.v1.xr_cpu_image_pb2 import XRCpuImage
+from cakelab.arflow_grpc.v1.device_pb2 import Device
+from cakelab.arflow_grpc.v1.session_pb2 import Session
 from cakelab.arflow_grpc.v1.vector2_int_pb2 import Vector2Int
-from google.protobuf.timestamp_pb2 import Timestamp
-import cv2
-import time
-from typing import Callable, Coroutine, Any
+from cakelab.arflow_grpc.v1.xr_cpu_image_pb2 import XRCpuImage
+
 
 class SessionRunner:
+    """A class that handles the session and camera for a device."""
     camera : cv2.VideoCapture | None = None
     session: Session | None = None
     device: Device | None = None
@@ -18,15 +22,18 @@ class SessionRunner:
     summed_psnr: float = 0.0
     onARFrame: Callable[[Session, ARFrame, Device], Coroutine[Any, Any, None]] | None = None
     def __init__(self, session: Session, device: Device, onARFrame: Callable[[Session, ARFrame, Device], Coroutine[Any, Any, None]]):
+        """Initializes a new SessionRunner instance."""
         self.camera = cv2.VideoCapture(0)
         self.onARFrame = onARFrame
         self.session = session
         self.device = device
     def __del__(self):
+        """Destructor to make sure the camera is released."""
         if self.camera is not None:
             self.camera.release()
             self.camera = None
     async def gather_camera_frame_async(self) -> None:
+        """Gathers a camera frame and triggers an event when its done."""
         if self.camera is None:
             return
         ret, frame = self.camera.read()

From ee354553cdb7c40801c59eeabf5d2ef0420a7a33 Mon Sep 17 00:00:00 2001
From: Nikita Ostapenko <nikitul2005@gmail.com>
Date: Thu, 10 Jul 2025 00:23:01 -0400
Subject: [PATCH 17/18] readd the correctly commented grpcclient code

---
 python/client/GrpcClient.py | 153 ++++++++++++++++++++++++++----------
 1 file changed, 111 insertions(+), 42 deletions(-)

diff --git a/python/client/GrpcClient.py b/python/client/GrpcClient.py
index c91d8bd2..81c8dae3 100644
--- a/python/client/GrpcClient.py
+++ b/python/client/GrpcClient.py
@@ -1,4 +1,9 @@
-"""A gRPC client for interacting with the ARFlow server."""
+"""A simple Python gRPC client."""
+
+# ruff:noqa: D103
+# pyright: reportUnknownMemberType=false, reportUnknownVariableType=false, reportUnknownArgumentType=false
+# We have to do the above because the grpc stub has no type hints
+
 from typing import Awaitable, Iterable
 
 import grpc
@@ -24,64 +29,128 @@
 
 
 class GrpcClient:
-    """A gRPC client for interacting with the ARFlow server."""
-    def __init__(self, url):
-        """Initializes a new GrpcClient instance."""
+    """A simple gRPC client class."""
+
+    stub: ARFlowServiceStub
+
+    def __init__(self, url: str):
+        """Initialize the gRPC client.
+
+        Args:
+            url: The URL of the gRPC server.
+        """
         self.channel = grpc.insecure_channel(url)
-    async def create_session_async(self, name: str, device: Device, save_path: str = "") -> CreateSessionResponse:
-        """Creates a new session."""
+        self.stub = ARFlowServiceStub(self.channel)
+
+    async def create_session_async(
+        self, name: str, device: Device, save_path: str = ""
+    ) -> Awaitable[CreateSessionResponse]:
+        """Create a new session.
+
+        Args:
+            name: The name of the session.
+            device: The device to use for the session.
+            save_path: The path to save the session data to.
+
+        Returns:
+                The response from the server.
+        """
         request = CreateSessionRequest(
             session_metadata=SessionMetadata(name=name, save_path=save_path),
-            device=device
+            device=device,
         )
-        response: Awaitable[CreateSessionResponse] = ARFlowServiceStub(self.channel).CreateSession(request)
+        response: Awaitable[CreateSessionResponse] = self.stub.CreateSession(request)
         return response
-    async def delete_session_async(self, session_id: str) -> DeleteSessionResponse:
-        """Deletes a specific session."""
-        request = DeleteSessionRequest(
-            session_id=SessionUuid(value = session_id)
-        )
-        response: Awaitable[DeleteSessionResponse] = ARFlowServiceStub(self.channel).DeleteSession(request)
+
+    async def delete_session_async(
+        self, session_id: str
+    ) -> Awaitable[DeleteSessionResponse]:
+        """Delete a session.
+
+        Args:
+            session_id: The session id to delete.
+
+        Returns:
+                The response from the server.
+        """
+        request = DeleteSessionRequest(session_id=SessionUuid(value=session_id))
+        response: Awaitable[DeleteSessionResponse] = self.stub.DeleteSession(request)
         return response
-    async def get_session_async(self, session_id: str) -> GetSessionResponse:
-        """Retrieves a specific session."""
-        request = GetSessionRequest(
-            session_id=SessionUuid(value=session_id)
-        )
-        response: Awaitable[GetSessionResponse] = ARFlowServiceStub(self.channel).GetSession(request)
+
+    async def get_session_async(self, session_id: str) -> Awaitable[GetSessionResponse]:
+        """Get a session by its ID.
+
+        Args:
+            session_id: The session id to get.
+
+        Returns:
+            The response from the server.
+        """
+        request = GetSessionRequest(session_id=SessionUuid(value=session_id))
+        response: Awaitable[GetSessionResponse] = self.stub.GetSession(request)
         return response
-    async def join_session_async(self, session_id: str, device: Device) -> JoinSessionResponse:
-        """Joins an existing session."""
+
+    async def join_session_async(
+        self, session_id: str, device: Device
+    ) -> Awaitable[JoinSessionResponse]:
+        """Join a session.
+
+        Args:
+            session_id: The session id to join.
+            device: The device to join the session with.
+
+        Returns:
+            The response from the server.
+        """
         request = JoinSessionRequest(
-            session_id=SessionUuid(value=session_id),
-            device=device
+            session_id=SessionUuid(value=session_id), device=device
         )
-        response: Awaitable[JoinSessionResponse] = ARFlowServiceStub(self.channel).JoinSession(request)
+        response: Awaitable[JoinSessionResponse] = self.stub.JoinSession(request)
         return response
-    async def list_sessions_async(self) -> ListSessionsResponse:
-        """Lists all active sessions."""
+
+    async def list_sessions_async(self) -> Awaitable[ListSessionsResponse]:
+        """List all sessions."""
         request = ListSessionsRequest()
-        response: Awaitable[ListSessionsResponse] = ARFlowServiceStub(self.channel).ListSessions(request)
+        response: Awaitable[ListSessionsResponse] = self.stub.ListSessions(request)
         return response
-    async def leave_session_async(self, session_id: str, device: Device) -> LeaveSessionResponse:
-        """Leaves a session."""
+
+    async def leave_session_async(
+        self, session_id: str, device: Device
+    ) -> Awaitable[LeaveSessionResponse]:
+        """Leave a session.
+
+        Args:
+            session_id: The session ID.
+            device: The device that left the session.
+
+        Returns:
+            The response from the server.
+        """
         request = LeaveSessionRequest(
-            session_id=SessionUuid(value=session_id),
-            device=device
+            session_id=SessionUuid(value=session_id), device=device
         )
-        response: Awaitable[LeaveSessionResponse] = ARFlowServiceStub(self.channel).LeaveSession(request)
+        response: Awaitable[LeaveSessionResponse] = self.stub.LeaveSession(request)
         return response
-    async def save_ar_frames_async(self, session_id: str, ar_frames: Iterable[ARFrame], device: Device) -> SaveARFramesResponse:
-        """Saves AR frames to the server."""
+
+    async def save_ar_frames_async(
+        self, session_id: str, ar_frames: Iterable[ARFrame], device: Device
+    ) -> Awaitable[SaveARFramesResponse]:
+        """Save AR frames to the session.
+
+        Args:
+            session_id: The session ID.
+            ar_frames: The AR frames to save.
+            device: The device that captured the AR frames.
+
+        Returns:
+            The response from the server.
+        """
         request = SaveARFramesRequest(
-            session_id=SessionUuid(value=session_id),
-            frames=ar_frames,
-            device=device
+            session_id=SessionUuid(value=session_id), frames=ar_frames, device=device
         )
-        response: Awaitable[SaveARFramesResponse] = ARFlowServiceStub(self.channel).SaveARFrames(request)
+        response: Awaitable[SaveARFramesResponse] = self.stub.SaveARFrames(request)
         return response
 
     def close(self):
-        """Close the gRPC channel."""
-        self.channel.close()
-    
\ No newline at end of file
+        """Close the channel."""
+        self.channel.close()
\ No newline at end of file

From 510f478f27e6a6fe170b273942a77abd4be2bd99 Mon Sep 17 00:00:00 2001
From: Nikita Ostapenko <nikitul2005@gmail.com>
Date: Thu, 10 Jul 2025 20:46:17 -0400
Subject: [PATCH 18/18] Finish up frame by frame compression cleanup small ruff
 formatting issue

---
 python/client/GrpcClient.py       | 1 -
 python/client/clients/cli.py      | 2 +-
 python/client/compression_test.py | 1 +
 3 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/python/client/GrpcClient.py b/python/client/GrpcClient.py
index 6457ec5f..478c9b0c 100644
--- a/python/client/GrpcClient.py
+++ b/python/client/GrpcClient.py
@@ -153,5 +153,4 @@ async def save_ar_frames_async(
 
     def close(self):
         """Close the channel."""
-
         self.channel.close()
diff --git a/python/client/clients/cli.py b/python/client/clients/cli.py
index 549bf4ed..dd719bb3 100644
--- a/python/client/clients/cli.py
+++ b/python/client/clients/cli.py
@@ -1,4 +1,4 @@
-
+# ruff: noqa: T201
 """A simple command line interface for the ARFlow gRPC server."""
 import asyncio
 from threading import Event, Thread
diff --git a/python/client/compression_test.py b/python/client/compression_test.py
index f3e12d4f..a6a05abc 100644
--- a/python/client/compression_test.py
+++ b/python/client/compression_test.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+# ruff: noqa: T201
 """Real ARFlow Compression Test.
 
 This script runs a test for a suite of tests on the device by connecting to an existing ARFlow server