DepthCapture｜LiDAR Point Cloud

DepthCapture records RGB and depth on iPhone/iPad. View RGB, depth maps and 3D point clouds live for measurement and research.

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■ Depth sources

Sources depend on your device:
・LiDAR
・LiDAR+Spatial
・TrueDepth
・Stereo Depth
・AI Depth

LiDAR uses the rear sensor, TrueDepth the front camera. Stereo requires a compatible camera.
LiDAR+Spatial requires a supported LiDAR device and adds camera position/orientation in local capture space.
AI Depth estimates relative depth from images; matching LiDAR or TrueDepth distance accuracy is not guaranteed.

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■ Record RGB + Depth

Snapshot Capture saves RGB, Depth and capture info; Stream Recording saves continuous RGB-D.

RGB:
・JPEG
・PNG
Depth:
・BIN
・16-bit PNG
・TIFF
・EXR

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■ Live depth preview

View RGB and Depth live with color maps:
・Grayscale
・Blue-Red
・Viridis
・Inferno

Use an automatic or fixed depth range to check data and adjust subjects or settings.

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■ Live 3D point clouds

View live 3D point clouds from depth and camera info, colored by RGB or depth.

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■ Object detection

Detect selected categories, such as people, cars or animals. Overlay regions on RGB; highlight or show only points in those regions.
Enable during capture to save results for in-app review and export as PNG masks + JSON info. Detection display does not alter saved RGB/Depth or exported point clouds.
Detection may fail or skip recording frames depending on conditions and processing load.

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■ Export point clouds

Export saved Snapshots or Stream Recording frames:
・PLY
・GLB
・glTF
・PCD
・LAS
・CSV
・E57
・XYZ
・XYZRGB

XYZ: coordinates only. XYZRGB: coordinates + saved RGB colors.
E57 supports only saved LiDAR/LiDAR+Spatial data with the required depth/camera information. LiDAR+Spatial aligns only frames with valid poses in one coordinate system.
Use with 3D software, point-cloud tools or Python.

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■ Continuous RGB-D recording

Set saving intervals for Stream Recording. Save as RGB/Depth file sequences or ROS2-compatible MCAP, which can include RGB, Depth, CameraInfo, TF and IMU / Device Motion for robotics or computer vision.

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■ Capture metadata

Settings and camera info, when available:
・Camera Intrinsics
・Extrinsic Matrix
・Lens Distortion
・Camera pose/tracking status (LiDAR+Spatial)
・RGB / Depth resolution
・Depth Source
・Depth Accuracy / Quality
・Depth Filtering
・Capture settings

Snapshots and recordings include manifests and metadata for checking capture conditions on Mac/PC.

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■ Capture settings

Settings vary by source/device:
・Depth Filtering
・Depth FPS
・Depth Resolution
・RGB Resolution
・RGB / Depth Synchronization
・Depth Range
・Save Depth Preview

Balance quality, processing load and file size. Use built-in presets or save, reuse and share your own. Saving or importing custom presets requires a feature unlock purchase.

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■ Sync multiple devices

Bluetooth syncs Snapshot capture and Stream Recording start/stop operations. Only operation timing is synced: set capture settings per device; image acquisition times may differ.

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■ Review saved data

Saved Data shows Snapshot RGB, Depth and 3D Point Cloud, and lets you scrub/play Stream Recording frames. Share sessions or access them in Files.

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■ Uses

・LiDAR/depth-sensor checks
・3D point-cloud capture/viewing
・RGB-D collection
・Computer vision
・Machine-learning datasets
・Robotics/ROS2
・AR/3D sensing: capture/validation
・Research/experiments/prototyping
・Depth-source comparison/testing

Sources, resolutions and frame rates vary by device/camera. Without LiDAR, supported TrueDepth, Stereo Depth or AI Depth may be available.
Advanced features can be unlocked by a one-time purchase or an auto-renewing monthly plan. The monthly plan includes ad removal. Watch rewarded ads for temporary feature access.

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Terms of Use (Apple Standard EULA):
https://www.apple.com/legal/internet-services/itunes/dev/stdeula/