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.

The scanner.

Collecting datasets is tedious and hard. We wanted to take all the friction out and make it as easy as possible.

What sucks 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.

We wanted to make it as easy as taking a video on your phone.

Stray Scanner app scanning a scene.

Stray Scanner allows you to simply press a button on your phone to start recording. Collecting a dataset of clamshells? No need to bring your scanning rig to the beach. Found an interesting corner case, but didn't bring your rig? No problem.

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

The best part? It's only 5 bucks.

Available on the App Store.

Download the app on the app store.