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Record and export camera + LiDAR + IMU datasets to your desktop computer for offline processing.

Note: requires a device with LiDAR. The iPad Pro, iPhone 12 Pro or iPhone 12 Pro Max currently have LiDAR sensors on them.

Stray Scanner allows you to record color, depth and IMU datasets and export them to your desktop computer.

For machine learning and dense mapping applications, you need a dataset to work with. Stray Scanner allows you to collect RGB-D datasets with your iPhone. The recorded datasets contain:
- color images
- depth frames from the LiDAR sensor
- depth confidence maps
- camera position estimates for each frame
- camera calibration matrix

Once recorded, the datasets can easily be moved to your desktop computer by connecting your device with a Lightning cable and accessing the files through Finder.

Put your iPhone's LiDAR scanner to good use. No more fumbling around calibrating and configuring depth sensors. Shoot datasets straight from your iPhone.

What’s New

Version 1.2

As many have requested, scans can now be accessed through the files app and you no longer have to connect your device to your computer with a lightning cable.

IMU data is recorded at full frequency in a csv file.

We fixed a bug where sometimes some depth and confidence frames got dropped.

RGB video is now encoded with a constant frame rate to avoid frames getting out of sync with the depth frames.

Ratings and Reviews

5.0 out of 5
1 Rating

1 Rating

App Privacy

The developer, Kenneth Blomqvist, indicated that the app’s privacy practices may include handling of data as described below. For more information, see the developer’s privacy policy.

Data Not Collected

The developer does not collect any data from this app.

Privacy practices may vary based on, for example, the features you use or your age. Learn More


  • Family Sharing

    Up to six family members will be able to use this app with Family Sharing enabled.

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