DepthCapture｜LiDAR Point Cloud
RGB-D Capture, View & Export
Free · In‑App Purchases
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/
Ratings & Reviews
- This app hasn’t received enough ratings or reviews to display an overview.
- Added LiDAR+Spatial as a Depth source to capture camera position and orientation alongside depth data.
- Added object detection for captured images. Save results and highlight detected objects in the point cloud view.
- Added E57, XYZ, and XYZRGB point cloud export formats.
- Capture settings can now be saved and shared as custom presets.
- You can now set the capture interval for Stream recordings.
- Capture timing can now be synced across multiple devices via Bluetooth.
- Updated purchase options.
- Improved usability and stability across capture, saving, and export.
The developer, kentaro hirahara, 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 Used to Track You
The following data may be used to track you across apps and websites owned by other companies:
- Location
- Identifiers
- Usage Data
Data Linked to You
The following data may be collected and linked to your identity:
- Location
- Identifiers
- Usage Data
Data Not Linked to You
The following data may be collected but it is not linked to your identity:
- Purchases
- Diagnostics
Accessibility
The developer has not yet indicated which accessibility features this app supports. Learn More
Information
- Seller
- kentaro hirahara
- Size
- 77.8 MB
- Category
- Utilities
- Compatibility
Requires iOS 17.0 or later.
- iPhone
Requires iOS 17.0 or later. - iPad
Requires iPadOS 17.0 or later. - Apple Vision
Requires visionOS 1.0 or later.
- iPhone
- Languages
- English and Japanese
- Age Rating
4+
- 4+
- Contains
Advertising
- In-App Purchases
Yes
- Remove Ads and Unlock Features $39.99
- Bundle (Monthly) $3.99
- Support L $59.99
- Unlock All Features $34.99
- Support M $5.99
- Support S $0.49
- Remove Ads $7.99
- Unlock All Features $4.99
- Copyright
- © 2026 Kentaro Hirahara