Stray Scanner app icon.

RGB-D Datasets From Your iOS Device

Scan and access the raw output from your iPhone's or iPad's camera and lidar sensor.

Download the app on the app store.
Collecting datasets is tedious and time-consuming. We wanted to take all the friction out and make it as easy as possible. What is challenging about collecting RGB-D datasets, is that you need to bring your dedicated RGB-D camera, connect it to a computer, start command line scripts to start recording, convert between data formats and so forth.

Stray Scanner

Stray Scanner allows you to simply press a button on your phone to start recording.

Once you have scanned your datasets, you can easily access them by connecting your device to your computer and dragging them over.

The datasets contain:

  • RGB video with 1920x1440 resolution
  • Depth frames with 256x192 resolution
  • Depth confidence maps with 256x192 resolution
  • Estimated visual inertial odometry
  • IMU readings
  • Camera matrix

Available on the App Store.

Download the app on the app store.

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