DepthCapture｜LiDAR Point Cloud

DepthCapture is an iPhone/iPad app for capturing and recording RGB images and depth data from multiple depth sources, including LiDAR, TrueDepth, supported stereo cameras, and AI-based depth estimation.

View the RGB feed and depth map in real time while capturing, and visualize depth data immediately as a 3D point cloud.

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■ Multiple depth sources

Choose from the sources supported by your device:

・LiDAR
・TrueDepth
・Stereo Depth
・AI Depth

LiDAR-equipped devices can capture rear depth, while TrueDepth uses the front camera. Supported devices can also use stereo-camera depth.

AI Depth estimates depth from a standard camera image using an AI model.

※ AI Depth provides relative estimates and is not calibrated to match the distance accuracy of hardware depth sources such as LiDAR or TrueDepth.

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■ Record RGB + Depth

Use Snapshot Capture for still data or Stream Recording for continuous RGB-D capture.

RGB:
・JPEG
・PNG

Depth:
・BIN
・16-bit PNG
・TIFF
・EXR

Snapshots store RGB, depth, and related capture information together.

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■ Real-time depth visualization

View RGB and depth live while capturing.

Color maps:
・Grayscale
・Blue-Red
・Viridis
・Inferno

The displayed depth range can be automatic or fixed to a range you specify, so you can check data quality before saving.

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■ Live 3D point cloud

Generate and display a 3D point cloud from the acquired depth data and camera information in real time.

Point clouds can use RGB colors or depth-based coloring for direct spatial inspection.

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■ Export point clouds

Export saved point clouds as:

・PLY
・GLB
・glTF
・PCD
・LAS
・CSV

Export snapshots or individual Stream Recording frames for use with 3D software, point-cloud tools, Python, and other environments.

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■ Continuous RGB-D recording

Stream Recording saves continuous RGB and depth data as either an RGB/depth file sequence or ROS2-compatible MCAP.

MCAP can include RGB, Depth, CameraInfo, TF, and IMU / Device Motion for ROS2, robotics, and computer vision.

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■ Capture metadata

Along with RGB and depth data, DepthCapture saves capture settings and camera information.

When available, metadata includes:

・Camera Intrinsics
・Extrinsic Matrix
・Lens Distortion information
・RGB / Depth resolution
・Depth Source
・Depth Accuracy / Quality
・Depth Filtering
・Capture settings

Snapshots and Recording Sessions also include manifest and metadata files describing the recorded data and capture conditions.

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■ Customize capture settings

Adjust:

・Depth Filtering
・Depth FPS
・Depth Resolution
・RGB Resolution
・RGB / Depth Synchronization
・Depth Range
・Save Depth Preview

Presets are also available for common capture settings.

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■ Review saved data

Review Snapshots and Stream Recordings in Saved Data.

Snapshots can show RGB, Depth, and 3D Point Cloud. Stream Recordings can be scrubbed and played back with RGB, Depth, and Point Cloud views.

Sessions can be shared or accessed through the Files app.

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■ Example uses

・LiDAR and depth-sensor testing
・3D point-cloud capture and visualization
・RGB-D dataset collection
・Computer vision
・Machine-learning data collection
・Robotics and ROS2
・AR and 3D-sensing data capture and validation
・Research, experiments, and prototyping
・Comparing depth acquisition methods

Available sources, resolutions, and frame rates vary by device. Devices without LiDAR may still support TrueDepth, Stereo Depth, or AI Depth.

DepthCapture records RGB-D data, lets you inspect it in 3D, and move it into your own workflow.

Some advanced features require an in-app purchase or temporary access unlocked by watching a rewarded ad.

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