Iphone 18 compatibility update

Bug Fixes - Back facing camera lidar mode for specific iPhones

POINT CLOUD OVER USB • Stream point clouds to TouchDesigner through the charging cable instead of Wi-Fi. Switch on USB / Listen Mode in the Point Cloud network settings and connect from the computer — no venue Wi-Fi, no radio interference, and the phone charges while it streams. Wi-Fi still works exactly as before; this is an extra option, not a replacement. ARKIT POINT CLOUD NOW STREAMS • The ARKit Point Cloud mode can now send its cloud to TouchDesigner on its own port, so it runs alongside the Point Cloud and Mesh Cloud streams instead of competing with them. • Front-On keeps the streamed cloud square to the camera rather than rotated by whichever way you happened to be facing when the session started. • A separate stream point budget keeps the network side light without thinning the cloud on screen. SCAN EVERYTHING, NOT JUST PEOPLE • All Surfaces captures the whole scene — walls, furniture, floors — instead of only human silhouettes. • Floors brings back floors and other steeply angled surfaces that the people-scanning filters used to remove. • Reach sets how far out the scan goes, so distant noise doesn't eat the point budget. FOUR NEW WAYS TO COLOUR A SCAN • Height — hue by height, so floor, table and ceiling each read as their own band. • Orientation — hue by the direction a surface faces, separating walls from floors. • Confidence — colour by ARKit's own depth accuracy, so you can see which points to trust. • Classify — a distinct colour for people, floors, ceilings, walls and objects. Plus bug fixes, including camera switching in Point Cloud mode. Everything still runs on-device. No accounts, no telemetry, no analytics.

No Changes - Updating app store rating for australian social media requirements

This is a small maintenance update. • LiDAR Depth: fixed the depth image dropping the background on default settings, which could make the scene look like a floating foreground cutout. The depth stabilizer responsible now defaults to off, so LiDAR Depth shows the full scene again — you can switch the stabilizer back on any time in LiDAR settings. • Updated in-app help and community links. Thanks for using TDLidar.

9.4 — Two new depth modes, Person Only point clouds, full remote control New mode: LiDAR + Monocular Depth (Pro) The rear LiDAR's real, metric depth is fed into an on-device neural depth model every frame — the sensor supplies true distance, the network supplies the fine edges the 256×192 LiDAR grid can't resolve. Output is real metres on a fixed near/far range, so a given grey always means the same distance in every room and the image never "breathes". Per-pixel trust blending (Damp / Hold / Fill), a frame-level health gate that disregards a globally bad sensor reading, and a self-healing capture watchdog. Needs LiDAR. New mode: ARKit Point Cloud (Beta, Pro) Scan human figures as live, world-locked point-cloud silhouettes — person segmentation × LiDAR depth, fully replaced on each scan. Trails, echo, light-paint, sculpt, riptide, vanish and gravity effects, 13 point shapes, spectrum / static / RGB colour. Pause freezes the last frame while the camera stays live so you can walk around it; tap for a photo, hold to record video. Marked Beta — the in-app help links to the docs, where a new feedback form takes bug reports and feature requests. Monocular Depth, rebuilt Three model tiers — Small, Medium, High — at a locked 60 fps. What you see is now exactly what streams and records: one processed frame drives the preview, NDI and recording. New live camera ↔ depth view (Pro), a Sharpen that actually sharpens, auto-adjust you can scope to a region of the frame with a live lattice overlay, and instant return from the menu. Point Cloud: Person Only A person matte gates point emission so the cloud is only the people in frame, with a Fast / Balanced / Accurate quality picker. Plus whole-cloud tilt, a movement lock, and Off / Spin / Sway orbit modes. Show Control: everything is remote now Every LiDAR, Monocular Depth and Point Cloud setting — over 140 parameters — can be driven over OSC and MIDI (normalized 0–1), with a remote factory reset and a show blackout: screen fully dark while streaming keeps running, triple-tap to wake. Note: Show Control and persistent NDI now ship OFF by default (this update turns them off once — re-enable them any time in the main-menu gear → Network sheet). Hardware shutter The volume buttons — and Camera Control on supported iPhones — take a photo; hold to record. Plus Photos follow the screen orientation, "saved to gallery" captions, and a large round of stability and performance work across LiDAR, Monocular Depth and Point Cloud.

New: Show Control (remote trigger) Drive TDLidar hands-free from a lighting desk, QLab, Bitfocus Companion or any OSC controller on the same Wi-Fi. Turn on Show Control and the app listens for OSC to switch modes, start/stop recording, recall Look Presets and ride live faders — brightness, contrast, gamma, colormap and depth clip. It shows this iPhone's IP right in Settings (tap to copy) and can send a once-a-second status heartbeat — battery, thermal, current mode — back to your controller. New: Look Presets Save a complete LiDAR or Monocular "look" — colormap, invert, brightness/contrast/gamma, depth mode and clip — then recall any of them instantly by number, over OSC or MIDI. Build a cue list of looks and step through them live. New: MIDI in (Network + Bluetooth) Receive MIDI over Wi-Fi (Network MIDI connects automatically) or pair a Bluetooth MIDI controller through Apple's standard pairing sheet. A Note On recalls a Look Preset by note number; CC faders ride gamma, contrast, brightness and depth clip out of the box. Incoming MIDI Time Code is shown live on screen. New: One persistent NDI source across modes NDI now stays locked. Switch between LiDAR, Point Cloud and Monocular Depth and your single "TDLiDAR" source keeps streaming without dropping — your TouchDesigner / OBS / Resolume receiver never loses the feed on a mode change. On by default; toggle it off to go back to per-mode sources. Also new: Monocular "Metric" depth A second on-device depth model sits beside the existing "Relative" one — metric-scaled depth from the plain RGB camera, with stronger temporal smoothing to kill edge flicker, plus a front → 1x → 0.5x camera cycle. Also new: 3-Day Pro Pass Try every Pro feature for 3 days with a one-time $2.99 pass, alongside the existing one-time lifetime unlock. Non-renewing — nothing auto-charges. Show Control, Look Presets, MIDI input and persistent NDI are free. Everything else — Mesh Cloud, Cue Deck, Align, Sensors mode, Monocular Depth, TouchDesigner point clouds, Point Cloud Photos and NDI depth streaming — carries over.

New: Mesh Cloud mode Scan a room or object with the LiDAR scanner and watch a live point cloud build on a black background as you move. When you're done, walk your scan in a full-screen 3D viewer — on-screen joystick to move, dial to zoom, swipe to look, and a recenter button to reframe. Clean it up like a mini point-cloud editor: box-select stray points and delete them, with undo/redo. Then export to PLY or send the whole cloud into TouchDesigner as POP geometry over a fast local connection. • Adjustable point density (quantization) up to 200,000 points • Live clean-up: remove floating points, keep the largest connected surface, highlight incomplete areas • Your finished scan is kept when you switch modes — jump back in and it reopens to the 3D viewer New: Main Menu A redesigned home screen — pick a mode from one central hub instead of switching modes mid-session. Nothing runs until you pick a mode, so the camera and sensors stay off until you need them. New: Cue Deck A MIDI-pad-style grid of on-screen trigger buttons for TouchDesigner. Each pad sends its own OSC address on press and release — build a hands-free wireless trigger surface for cues, transport, or any bang/toggle in your patch, no cables or extra hardware. New: Align Point the phone at a wall or projection surface and Align finds it for you — tap to lock it in, then fine-tune its corners by hand. Streams the surface's corners live over OSC as a quick starting point for TouchDesigner's own projector-warping tools. Also new: Point Cloud Motion FX Live, motion-driven effects on the LiDAR point cloud, right in the slide-up settings bar — trails, velocity colour, age-fade, sculpt, riptide, vanishing and gravity fall, plus Light Paint options. Everything updates as you drag. Improvements & fixes • New slide-up live settings bar for LiDAR/Depth (controls change the image as you drag) • Confidence and depth-line (topographic) views added alongside the existing 15 colormaps • Face "Detail" boosted (higher default + range) and depth-quality fixes (edge shadow on Face Detail, over-bright environment after a camera flip) • The old "AR Mesh" sensor is replaced by the new Mesh Cloud mode Mesh Cloud, Cue Deck and Align are Pro features; Mesh Cloud and Align need a LiDAR iPhone. Everything else — Sensors mode, Monocular Depth, point clouds in TouchDesigner, Point Cloud Photos, and NDI depth streaming — carries over.

New: Mesh Cloud mode Scan a room or object with the LiDAR scanner and watch a live point cloud build on a black background as you move. When you're done, walk your scan in a full-screen 3D viewer — on-screen joystick to move, dial to zoom, swipe to look, and a recenter button to reframe. Clean it up like a mini point-cloud editor: box-select stray points and delete them, with undo/redo. Then export to PLY or send the whole cloud into TouchDesigner as POP geometry over a fast local connection. • Adjustable point density (quantization) up to 200,000 points • Live clean-up: remove floating points, keep the largest connected surface, highlight incomplete areas • Your finished scan is kept when you switch modes — jump back in and it reopens to the 3D viewer Also new: Point Cloud Motion FX Live, motion-driven effects on the LiDAR point cloud, right in the slide-up settings bar — trails, velocity colour, age-fade, sculpt, riptide, vanishing and gravity fall, plus Light Paint options. Everything updates as you drag. Improvements & fixes • New slide-up live settings bar for LiDAR/Depth (controls change the image as you drag) • Face "Detail" boosted (higher default + range) and depth-quality fixes (edge shadow on Face Detail, over-bright environment after a camera flip) • The old "AR Mesh" sensor is replaced by the new Mesh Cloud mode Mesh Cloud is a Pro feature and needs a LiDAR iPhone. Everything else — Sensors mode, Monocular Depth, point clouds in TouchDesigner, Point Cloud Photos, and NDI depth streaming — carries over.

9.1.0 — New Monocular Depth mode New: Monocular Depth mode A neural depth camera that runs entirely on-device on the regular RGB camera — so depth visuals and NDI now work on every iPhone, with no LiDAR or TrueDepth required. Pick a colormap, invert it, and tune brightness / contrast / gamma, or let Auto-Adjust read the scene light and tune them for you. Front or back camera, with temporal smoothing for a steady image. • Stream it to TouchDesigner or OBS over NDI, or record it straight to your gallery • Alpha-mask the background to transparent for clean compositing • HD upscale on the NDI feed and recordings Fixes • Corrected the Front Distance sensor's camera orientation • Smaller sensor and stability fixes Monocular Depth is a Pro feature. Everything else from 9.0 — Sensors mode, real point clouds in TouchDesigner, Point Cloud Photos, and NDI depth streaming — is unchanged.

The old single tracking tab is now a full sensor dashboard. Enable any of ~40 on-device sensors, preview each one live in its own tile, then stream them to TouchDesigner over OSC (camera sensors also broadcast over NDI): • Vision & AR — ARKit body, hands, pinch & gestures, face, animal pose, QR / rectangle / text detection, saliency, scene classification, AR planes, AR mesh, 6DoF device pose • Camera — exposure/ISO/shutter readout, ambient & directional light, front & back distance • Audio — mic level, live FFT audio bands, on-device speech-to-text, sound ID • Motion & device — accelerometer, gravity, gyro, rotation, magnetometer, barometer, activity, battery, thermal, proximity, touch • Companion — AirPods head pose, Apple Watch heart rate, NFC Pick the mic input source per audio sensor, and tune each sensor's smoothing/sensitivity in its own settings group. Real point clouds in TouchDesigner Stream the full LiDAR point cloud — up to 50,000 points, bit-exact XYZ + colour — straight into TouchDesigner POP geometry over a fast local connection. No more 2,000-point cap. Grab the matching TouchDesigner operator family from the in-app link. A redesigned interface A cleaner, monospaced look throughout, a live slide-up settings bar for Point Cloud mode (every control changes the cloud as you drag), point-cloud edit filters and effects, depth cleanup, gesture-speed controls, and a one-tap "Reset all settings." Plus • Faster, cleaner depth across modes • Lots of stability and quality-of-life fixes NDI depth streaming and the Point Cloud Photos 3D camera are still here and rock-solid. Update and start sensing.

Point Cloud over NDI • Choose your NDI output resolution — now up to high definition. • New Transparent Background sends just the points (no black box) so they drop straight into your scene. Faster & smoother • A big performance fix keeps the point-cloud NDI stream fluid even at the highest resolution and densest point counts — no more stalls. • Sharper front-camera depth with black spots and gaps filled in, plus a cleaner HD preview. Handy touches • Double-tap the camera to switch between full-screen and full-frame (3:4) views. • Recordings now stop safely on their own if a call comes in or you switch apps, so clips never get corrupted. • Square gallery thumbnails, show/hide toggles for the point-cloud axes and phone marker, a Detail slider for crisper edges in every mode, and an option to turn off Apple's depth smoothing.

8.0.0 — Point Cloud Photos + topographic colour maps Turn your iPhone's LiDAR into a 3D camera. This is the biggest TDLidar update yet. Point Cloud Photos — a brand-new mode Freeze the live LiDAR cloud into a 3D "photo" and explore it from any angle: • One finger to orbit, two fingers to move, pinch to zoom — like a 3D viewer in your pocket • Tap the shutter to save a 3D model; hold it to record an orbit video while you move around the cloud • Re-open any capture in the built-in 3D viewer, then Save to Files as a PLY for Blender, TouchDesigner or any point-cloud tool • Orbit videos save straight to your Photos library Raw mode topographic colour maps (Pro) Raw mode now speaks in colour. Choose from 15 depth colour maps — each one paints the depth field and draws its own topographic contour lines, from bold neon bands to fine scanner lines. Dial the line thickness in, keep your colour wheel for a global grade, and the classic green look is still the default. iPhone 16 Camera Control On iPhone 16, the hardware Camera Control button scrolls live parameters without touching the screen — pick what it drives (colour map, line thickness, density and more) for hands-free, tripod-friendly performance. Plus • Faster, cleaner depth across modes • Front-camera point clouds for devices without a rear scanner • Lots of stability and quality-of-life fixes NDI and OSC streaming to TouchDesigner are unchanged and rock-solid. Update and start scanning.

Bug fixes: • Fixed Live Depth on iPhones without a rear LiDAR scanner — it now runs on the front TrueDepth camera instead of getting stuck on a "LiDAR Required" screen. Thanks for using TDLidar!

v7.12.0 is the biggest TDLidar update since launch. Every depth mode now runs on either camera, the OSC body tracker has been rebuilt on Apple's 3D body-pose model, and the Point Cloud pipeline is finally robust on both cameras. • Back-LiDAR parity. All four depth modes — Environment, Face Detail, Raw and Point Cloud — now work on both the front TrueDepth camera AND the rear LiDAR scanner. Earlier builds locked the back camera to Environment / Raw only. Switch cameras at any time, in any mode, mid-stream. • 3D body OSC tracking. The OSC body tracker has been rebuilt on Apple's new 3D human body pose model. On LiDAR-equipped iPhones (12 Pro and later) the Z values are now real metric depth sampled from the scanner — the body skeleton arrives in TouchDesigner with proper depth, not a 2D projection. On non-LiDAR iPhones the tracker falls back to the prior 2D behaviour. A new in-mode toggle ("Fuse body depth") lets you turn LiDAR depth fusion off if you want the old behaviour for a project. • Hand tracking with depth. Every hand landmark — wrist, thumb, index, middle, ring, little — now includes a Z value when LiDAR is available. A new `/tdlidar/body/hands/abs_depth` channel and `/tdlidar/body/hands/distance` channel let your TouchDesigner patch tell whether real depth is present per frame and what the mean hand distance is. The wire format extends in place; existing patches keep working. • Twin depth bars in Body mode. Body OSC mode now shows two stacked green depth-bar indicators at the top of the screen — one for the body subject, one for the hands — auto-scaled to the session's largest observed range. Same readout style as Face mode. • Point Cloud rebuilt. The Point Cloud pipeline has been collapsed to a single robust path (Fixed Grid) that works correctly on both cameras. The previous Expand and RealityKit-back modes have been retired — they had unfixed issues on the back camera (colour dropout, distribution picker disappearing). The on-device viewer's X-axis polarity has been corrected so the cloud reads upright by default on both cameras with the on-device flip toggle OFF. • Local network permission gate. Tapping "Start NDI" now checks Local Network permission before opening the NDI sender. If permission is missing you get a clear in-app explainer with a direct link to Settings — no more silent failures where the stream looked alive on the phone but never reached TouchDesigner. • HD resolution crash-safety. The HD output resolution slider now resets to the device-native default on every launch. The persisted-resolution path had let an overscaled setting carry into a session whose memory budget couldn't hold it, crashing the app at the next NDI start. • UI + ergonomics. Performance section's rounded corner regression fixed. Body Mode settings sheet reorganised with cleaner Sub-Toggle groups. iPad scaling fixes so the on-screen UI fits the iPad-in-iPhone-mode canvas correctly. Camera Control hardware button bindings continue to ship for iPhone 15 Pro and later. This release does not introduce any new permissions, third-party SDKs, network endpoints, or categories of data collection. Existing permissions are unchanged.

Version 7.6.3 is a polish and performance release focused on the front-facing depth pipeline and the Tracking settings layout. This release is a polish + performance update on top of the v7.6.2 baseline (currently shipping on the App Store). No new features that change permission scope, network behaviour, or third-party SDK usage. The four user-visible changes are: a) Front-facing depth pipeline now holds 30 fps on iPhone 17 Pro Max. The TrueDepth sensor delivers at a nominal 30 Hz with ~1–2 ms natural per-frame jitter around the 33.33 ms ideal interval. The previous release used a strict `>=` time-throttle on the frame interval, which was rejecting every second frame whenever the next frame arrived a fraction of a millisecond early — silently halving the effective rate on the fastest delivery path. iPhone 16 Plus had less per-frame timing variance and didn't hit the same beat-frequency aliasing, which is why this regression only showed up on newer hardware. The throttle now allows a 3 ms tolerance band on the minimum interval. It never produces a frame above the user-selected target rate — verified with Target FPS = 15, the on-screen readout stays at 14–15 fps; it only stops the throttle aliasing the sensor's native delivery against its own boundary. Fix landed in `CaptureManager.swift` at lines 595–598 and was verified by Instruments trace on the user's own iPhone 17 Pro Max. Prior-build symptom: iPhone 17 Pro Max ran 18–21 fps in Face Detail, Environment and Raw modes while iPhone 16 Plus on the same code ran a steady 25–30 fps. b) Tracking → Motion Shaping is now per-axis. The single "noise gate" slider has been replaced with Sensitivity (0–4×) and Noise Gate sliders for each of Accelerometer, Gyroscope, Compass, Barometer and Apple Watch — FIVE tabs in total. The layout uses the same tabbed-selector control approved in v7.5 NDI mode (Face / Env / Raw / PC). Each tab's title colour matches the on-screen oscilloscope's hue map so the user knows which trace they're shaping. Each tab has its own Reset button. All sliders persist across launches via UserDefaults. c) Tracking → Audio Shaping is now grouped into sub-tabs. The previous flat list of audio sliders has been reorganised into FOUR tabs — Channels, Sensitivity, Clamp and Auto-Gain — for the same reasons as (b). Same persistence and Reset behaviour. The underlying audio analysis engine is unchanged. A small spacing issue on the Audio Channels toggle row was also corrected. d) The "Camera RGB" colormap option has been removed from Face Detail and Environment modes. It was a legacy colormap that quietly kept the RGB camera path open while the user was streaming depth-only frames, costing battery and thermal headroom for almost no users. The RGB camera path is still active where it is actually needed — Pro Point Cloud streaming with the "Send Color" toggle on, and the front-camera Head Overlay mode (Pro). No public OSC or NDI payload has changed. This change NARROWS the camera data flow; it does not widen it. Build hygiene — no new compiler warnings; deployment target unchanged at iOS 18.6 / watchOS 10.0; no new third-party SDKs; no new outbound network endpoints; no new permission prompts. Privacy posture and Info.plist keys are bit-identical to v7.6 / v7.6.1 / v7.6.2.

Version 7.6.2 is a stability release focused on the Pro purchase flow, the Apple Watch companion, and the on-device Point Cloud preview. • Fixed the offer-code Pro unlock loop. Users who redeemed a Pro lifetime offer code via App Store → Account → Redeem Gift Card or Code were getting prompted to sign in with their Apple ID over and over again on every Pro-feature tap, even after the code was applied. The app now reconciles entitlements silently using StoreKit's standard Transaction.currentEntitlements and Transaction.updates listener on launch and on every transaction event. The Apple ID sign-in sheet now only appears when you explicitly tap "Restore Purchases" — exactly as Apple's docs require. • Apple Watch companion: data now actually reaches TouchDesigner. The watch motion bundle, heart rate, and Digital Crown stream live to the paired iPhone over WatchConnectivity and are republished as OSC under /tdlidar/motion/watch/* alongside the phone's own IMU channels — same OSC In CHOP in your TouchDesigner patch. • Watch motion send rate dropped from 50 Hz to a steady 30 Hz to match the phone's display tick and stay well clear of WatchConnectivity's interactive-message rate limit. Heart-rate path now requests workout-write authorization too, so the underlying HKWorkoutSession actually runs and HKLiveWorkoutDataSource delivers heart-rate samples instead of failing silently on watchOS 10+. • OSC sender is now reliable while the watch is sending live frames. The previous build tore down and rebuilt the UDP socket on every incoming watch packet, which destabilised the motion stream too. Fixed. • Point Cloud viewer reverted to a fixed front-on preview, matching the v7.5 behaviour many users asked for. Removed the orbit / pinch / 3-finger gesture stack that was eating the 1-finger swipe-up-to-Settings gesture (a few users got stuck in Point Cloud mode and could not open Settings). • Pro users get new Settings controls for the Point Cloud viewer: Viewer FOV slider (20° telephoto → 120° wide-angle) and per-axis Flip X / Y / Z toggles. The flips mirror the on-screen preview only — the underlying /tdlidar/cloud OSC payload is bit-identical to v7.6.1, so TouchDesigner patches built against the previous stream keep working unchanged. • Better in-app messaging on Restore Purchases for users who redeemed offer codes on the wrong Apple ID. No new system permissions are required for this update.

Version 7.5 sharpens the streaming experience and the controls that drive it. • New lightswitch icon in the top bar. One tap flips between NDI streaming and OSC tracking — the old tab bar is gone, and the OSC switch has been removed from Settings so the mode change lives where you actually need it. • Smooth cross-fade between colormaps. Cycling through depth color presets now blends from one to the next instead of snapping, so live audiences don't see a hard cut when you change looks. • Manual NDI Wired toggle in Performance settings. Flip it on when the iPhone is plugged into a host with Personal Hotspot enabled — the Start NDI button updates to show you're going out over the cable. • Resolution display fix. The on-screen resolution pill now updates immediately when you switch HD modes mid-session — no more stale numbers when you reach for higher quality. • Flip Z toggle restored in Fixed Grid Point Cloud mode. Auto-flip stays on by default so depth still reads correctly out of the box; flipping the toggle on overrides it. • Supercharge mode in Performance settings. Triples NDI buffer pool depth and pins a 100 MB resident scratch region so iOS doesn't compress the working set under load. Trades RAM for sustained FPS. • Face Detail upgrades. Facial Detail slider now goes up to 5×, and a new Focus Point picker lets you center the depth band on the forehead, eyes, nose, mouth, or the whole face average — fixes a sharpness regression for users who liked the v7.1 look. • HD Smoothing Strength slider in Filtering settings. Replaces the fixed Gaussian sigma with a 0–3 range so you can dial in just enough smoothing to hide the upscale stair-step without losing band-edge crispness. • NDI SDK acknowledgements added. The Permissions / About area now includes the full NDI® attribution and license reference, satisfying the NDI SDK terms.

TDLidar 7.1 is a polish + integration release on top of v7.0's TDLidar Pro launch. NEW • Point Cloud OSC density picker now goes up to 10000 points / frame. • OSC tracker tab shows the active mode's OSC namespace (e.g. /tdlidar/face/) so you know exactly what to wire on the receiver. • Speech mode requests microphone + speech-recognition permission ON the user's first Activate Speech tap (was firing silently in the background — some users were missing the dialog). FIXED • Changing the OSC IP / port in the Tracking settings now reconnects the live UDP socket immediately. Previously the active connection kept sending to the stale endpoint until the user toggled Stop / Start OSC. • Speech transcription now ships on its own dedicated UDP port (9002) so it can be received by an OSC In DAT in TouchDesigner without colliding with the OSC In CHOP that handles the other tracking modes. • RGB-color sampling on the Point Cloud / Head Overlay / RGB-mode encoders better aligns to the depth pixel (subtle vertical drift fix). • Point Cloud viewer fullscreen , PiP no longer blanks during the transition (per-view sprite size tracking). • Settings sheet remembers your last scroll position + the PiP fullscreen state so reopening returns you to where you left off. • The mode picker in Settings (Env / Face / Raw / RGB) now cleanly cascades through Point Cloud + viewer state — no more orphaned PC mode after switching. • Pro toggle is now consistent across all surfaces. The dev-only debug bypass that snuck into a TestFlight build is fully gone. • TDLidar Pro: HD depth output, edge-preserving smoothing, six Pro colormaps, Point Cloud OSC streaming, Head Overlay mode, alpha-channel NDI, Raw-mode customization, on-device 3D point cloud viewer, PLY export. • Per-mode "Activate" buttons for every OSC tracker — no auto-start, saves battery. • Brand-new Raw mode (free). • Swipe up anywhere to open Settings. • Recording stability — recording + point-cloud streaming + NDI run together without freezing. UNCHANGED FROM 6.1 • Real-time LiDAR / TrueDepth NDI streaming with 9 colormaps. • On-device .mp4 recording with Photos export. • PIP fullscreen + 60 fps frame-doubled output. • Optional Apple Watch companion (heart rate + wrist motion → OSC). • All six tracking modes (Body / Face / Hands / Motion / Audio / Speech).

TDLidar 6.1 is a performance and polish release. The on-device preview is now near-instant, the rear LiDAR mode picks the right settings for you, and Pro iPhones with a rear LiDAR scanner can unlock higher-resolution depth modes that were previously hidden. NEW - Rear-LiDAR auto-profile: Switching to the back camera now does three things automatically — locks Mode to Environment (the rear scanner is built for room-scale, not face-distance detail), pins frame rate at 60 fps, and loads the highest depth resolution your iPhone supports. Switching back restores your previous front-camera tuning. Mode and Frame Rate pickers in Settings disable themselves while the rear LiDAR is active, with inline explanations of why. NEW - Higher-resolution depth on Pro iPhones: The Resolution picker now exposes every depth format your device supports. The previous 640x480 cap was an artifact of an internal capture-session preset; on iPhone 14 Pro and newer with the rear LiDAR scanner, additional formats can now appear. Older iPhones and the front TrueDepth sensor still see 640x480 because that's the sensor's native pixel count. NEW - Camera-switch loading state: Switching between front TrueDepth and rear LiDAR is a multi-step reconfigure (session restart + format change + FPS change). A clean loading overlay now bridges the gap with directional copy ("Loading rear LiDAR profile…" / "Restoring front camera…") so the brief stall never looks like a freeze. IMPROVED - Near-instant on-device preview: The picture-in-picture preview moved from a software CIImage → CIContext → CALayer pipeline (which did a GPU↔CPU round-trip every frame) to a direct GPU display path via AVSampleBufferDisplayLayer — the same pipeline AVCaptureVideoPreviewLayer uses internally. The PiP now tracks the camera-feed background within one frame instead of visibly lagging behind it. IMPROVED - Multi-threaded depth processing: The rotate + colormap-LUT step in the depth pipeline is now parallelized across all available CPU cores via DispatchQueue.concurrentPerform, chunked by row stripes to amortize GCD scheduling. Several milliseconds back per frame on Pro iPhones, headroom that goes into the rest of the pipeline. IMPROVED - Pixel-buffer pool for depth output: The single reusable output buffer was replaced with a 3-deep IOSurface-backed CVPixelBufferPool. With one buffer, the capture queue had to wait for the slowest consumer (PiP / side-by-side / recorder) to finish reading before writing the next frame; with a 3-deep ring it never waits. ~4 MB additional memory; zero pipeline stalls. IMPROVED - Depth-priority synchronizer: Reordered the synchronized capture pipeline so depth is the master output ahead of paired RGB video. The synchronizer now fires the moment depth is ready instead of waiting for the next video tick — saves up to one frame of latency on every depth-only path. UNCHANGED FROM 6.0: On-device NDI recording with Photos export PIP fullscreen mode (double-tap the preview) 60 fps frame-doubled NDI output option Optional Apple Watch companion (heart rate + wrist motion → OSC) Six tracking modes (Body / Face / Hands / Motion / Audio / Speech) over OSC Dual NDI streams (TDLidar + TDLidar Camera) and side-by-side mode (TDLidar SBS) 9 depth colormaps on the NDI output

TDLidar 6.0 adds on-device recording, fullscreen NDI preview, a 60 fps output option, and an optional Apple Watch companion app. Plus a polish pass on permissions, performance, and the OSC tab. NEW - On-device NDI recording: Tap the record button on the LiDAR page to capture the colormapped NDI output to an .mp4 file in the app's sandbox. Open the folder icon to browse your clips, preview them, then export specific recordings to your Photos library. Photos access is write-only — TDLidar never reads your existing photos. Your unused recordings stay private to the app. NEW - PIP fullscreen mode: Double-tap the picture-in-picture preview to expand the NDI output to fill the screen. Single-tap once to see the hint. Double-tap again to return to the docked PIP. Recording can start and stop in either layout, and continues across the transition. NEW - 60 fps NDI output: Settings → Performance now offers a 60 fps option. The depth sensor still captures at 30 fps natively, but the NDI stream advertises 60 fps with frame doubling so receivers expecting a 60 Hz clock get a clean schedule. No judder, no jumping. NEW - Optional Apple Watch companion: Install TDLidar Watch App from the Watch app on your iPhone (no watch required for the iOS app to work). The watch streams wrist orientation, accel, gyro, heart rate, and digital crown to your iPhone over Apple's `WCSession`, where they're republished as OSC under `/tdlidar/watch/*`. NEW - Activate Model gate on Pose tab: The YOLO body-pose model no longer runs the moment you swipe to the OSC page. Tap "Activate Model" when you're ready to track, and the model auto-stops when you swipe back to the LiDAR page. Saves Neural Engine cycles and keeps tab transitions smooth. NEW - Motion sensitivity slider: Settings → Motion includes a -20% / +20% noise-gate slider that filters per-axis idle jitter on accelerometer + gyroscope. The phone-on-table baseline is now visibly clean. NEW - Apple Watch status section in OSC settings: A live readout of Apple Watch reachability and last-update time, mirroring TDInput's pattern. Hidden when no watch is paired. NEW - First-launch welcome screen: Both the iOS app and the watch app open with a one-pane welcome that explains every permission TDLidar will request (Camera, Microphone, Speech Recognition, Photos, Motion, Health on watch) before iOS shows its consent alerts. Shown once, gated by an `@AppStorage` flag. IMPROVED - Lower-latency NDI: NDI senders now use `clock_video=false` for live-capture passthrough, eliminating the ~1-2 second buffer-then-emit lag. The PiP render moved off the capture queue so it can't stall the next NDI frame. IMPROVED - Front-loaded permissions: Microphone, Speech Recognition, and Motion & Fitness permission alerts now fire shortly after the camera prompt on first launch — no more mid-tab-swipe permission stalls. IMPROVED - Apple depth filtering OFF by default: Raw sensor data is now the default starting point for installations and analysis. Toggle in Settings → Filtering re-enables Apple's hole-fill on the fly. REMOVED - Blob tracking: The depth-blob tracker was removed in 6.0 — usage was low and it bloated the settings sheet. If you relied on it, please reach out and we'll publish a separate downstream tool. UNCHANGED FROM 5.2: * Dual NDI streams (TDLidar + TDLidar Camera) and side-by-side mode (TDLidar SBS). * Six tracking modes (Body / Face / Hands / Motion / Audio / Speech) over OSC. * 9 depth colormaps on the NDI output.

TDLidar 5.1 is a full iPhone capture suite. Six tracking modes, nine depth colormaps, and live blob tracking on the LiDAR depth. (Point-cloud streaming is held back from this release for additional stability work — coming back in a follow-up.) NEW - Six tracking modes (swipe right to the Tracking page): Body - 17-keypoint pose, every iPhone Face - 52 ARKit blend shapes + face transform Hands - 21 landmarks per hand, 3D on LiDAR devices Motion - accel, gyro, compass heading, barometer, altitude, battery at 50 Hz Audio - bass / mid / high levels, beat detection, dynamics, 20-band FFT spectrum Speech - on-device transcription (SpeechAnalyzer on iOS 26): per-word, partial, final NEW - 9 depth colormaps on the NDI output: Black & White, Black Aqua White, Blue Red, Deep Sea, Color Spectrum, Incandescent, Heated Metal, Sunrise, Visible Spectrum. Switch any time without restarting the stream. NEW - Live blob tracking on LiDAR depth: Connected-components labeling with frame-to-frame ID tracking, configurable depth slab, area constraints, blob revival within a time/distance window. OSC bundle padded to 10 slots so the receiving CHOP channel layout is stable. Fields match TouchDesigner's blobtrackTOP_Class verbatim. NEW - Compass heading: True/magnetic heading and accuracy added to the Motion mode under /tdlidar/motion/heading. Uses CoreLocation with Location-When-In-Use only; no location data is recorded or transmitted. UNCHANGED: The original NDI depth stream stays exactly as it was on page 1 - now with a colormap picker. Swipe to switch - camera, ARKit, and audio sessions never fight each other. Under the hood: AVAudioEngine + Accelerate / vDSP for the audio pipeline (FFT, spectral-flux beat detection, dynamics). CoreLocation for compass heading. Network framework for UDP/OSC streaming. Throttled OSC counters so streaming never stalls UI input.

Major release — TDLidar is now a full iPhone capture rig for TouchDesigner. The original NDI depth stream is unchanged on page 1. Swipe right for the new Tracking page. NEW — TRACKING PAGE: - Body tracking via on-device YOLO 17-keypoint pose, back camera. Works on every iPhone. - Face tracking via ARKit ARFaceTrackingConfiguration — all 52 blend shapes plus the 4×4 face transform and lookAt point. - Hand tracking via Vision VNDetectHumanHandPoseRequest on top of ARKit world tracking — 21 landmarks per hand, up to two hands. Auto-promotes to 3D coordinates on LiDAR-equipped iPhones. - Motion mode streams accelerometer, gyroscope, magnetometer, barometric pressure, altitude, and battery at 50 Hz with no camera in use. - Live skeleton, hand, and blend-shape overlays painted directly on the camera feed. - Aspect-fill correction so overlays line up 1:1 with the visible image, not the cropped capture buffer. NEW — OSC OUTPUT: - Custom OSC encoder built on Apple's Network framework. UDP bundles to a user-configurable host:port (default 9000). - Channels organised under /tdlidar/{body,face,hand,motion} with TouchDesigner-friendly naming. Drop in a single OSC In CHOP and four Select CHOPs to demux. - Settings sheet with host, port, "Save & Test Ping" diagnostic, live message-rate counter. - Local-network permission prompt fires on first appearance of the Tracking page so the dialog never blocks streaming. NDI DEPTH STREAM (unchanged on page 1): - Same Environment / Face Detail / Raw depth modes, same temporal smoothing, brightness/contrast/gamma controls, adaptive thermal throttling. - Lifecycle-aware so the camera doesn't fight between pages — depth pauses when you swipe to tracking, resumes when you swipe back. ENGINEERING: - 17-keypoint YOLO pose model bundled, runs on Neural Engine via Core ML. - ARKit body/face/hand engines isolated in separate ownership boundaries; only one camera session runs at a time. - Throttled OSC counter updates so streaming never stalls TextField input in the settings sheet.

TDLidar now supports the rear LiDAR scanner on Pro iPhones (iPhone 12 Pro and later). Switch between the front-facing TrueDepth camera and the back-facing LiDAR scanner directly from Settings — giving you longer range, wider field of view, and new creative possibilities for streaming depth data to TouchDesigner. New "Use Back Camera (LiDAR)" toggle in Settings Automatically detects if your device has a rear LiDAR scanner — option only appears on supported hardware Depth resolution picker updates when switching cameras About section now shows which sensor is active

- Environment and Face Detail encoding pipelines rebuilt with Apple Accelerate (vDSP) — vectorized SIMD operations replace per-pixel scalar loops for normalization, contrast, brightness, and clipping - Temporal smoothing uses hardware-accelerated exponential moving average (EMA) blending via vDSP_vintb - NDI frame rate metadata now dynamically matches your configured FPS for correct timing in downstream receivers - New loading screen on startup - Dark mode interface for better visibility during use - Cleaner settings design with improved button styling - Live pulse indicator when streaming