# Stray Scanner — Collect RGB-D Datasets

> Record and export RGB-D datasets with LiDAR sensor data for machine learning. (iPhone/iPad app by Kenneth Blomqvist.)

- Source: https://appshunter.io/ios/app/stray-scanner/id1557051662 (this page in markdown: same URL + `.md`)
- Developer: [Kenneth Blomqvist](https://appshunter.io/developer/1557051664)
- Category: Developer Tools, Photo & Video
- Price: Free
- Rating: 5.00/5 from 5 App Store ratings · 4 written reviews indexed
- Age rating: 4+
- Requires: iOS 18.6 · 1 MB
- Languages: American English
- Released: 2021-03-10
- Data updated: 2026-08-28
- Monetization: free
- User reviews in markdown: https://appshunter.io/ios/app/stray-scanner/id1557051662/reviews.md

## What is Stray Scanner?

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
- IMU measurements

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.

## Key features

- Record color images
- Capture depth frames
- Export IMU measurements
- Estimate camera position
- Access camera calibration matrix
- Transfer datasets to desktop

## Recent user reviews (4 of 4)

All indexed reviews: https://appshunter.io/ios/app/stray-scanner/id1557051662/reviews.md

### 5/5 — Great for collecting dataset for SFM and Nerf

*2026-06-24*

Great!!

### 5/5 — Works Great!

*2024-12-07*

Although there’s a some areas with an unintuitive UI, it does what it sets out to do. It generates a package that contains all the data it records and is well documented.

### 5/5 — Perfect app for recording rgbd dataset

*2022-04-27*

Fantanstic!

### 1/5 — Unsupported device

*2022-01-15*

My device was listed in the supported device page, but after purchasing and downloading the app it says that my 11 Pro isn’t supported.

## Frequently asked questions about Stray Scanner

### What devices are compatible with Stray Scanner?

Stray Scanner requires a device with a LiDAR sensor. Compatible devices include the iPad Pro, iPhone 12 Pro, and iPhone 12 Pro Max. It is also supported on iPhone and iPod devices.

### How do I transfer datasets from Stray Scanner to my computer?

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

### What kind of data does Stray Scanner collect?

Stray Scanner collects color images, depth frames from the LiDAR sensor, depth confidence maps, camera position estimates for each frame, the camera calibration matrix, and IMU measurements.

### Is Stray Scanner free to use?

Yes, Stray Scanner is available for free. The app does not have any in-app purchases or advertisements.

### How often is Stray Scanner updated?

The latest version of Stray Scanner is 1.3, which was last updated on February 22, 2022. This indicates a moderate update frequency.

### What is the age rating for Stray Scanner?

Stray Scanner has an age rating of 4+, making it suitable for a wide range of users.

### What are the main use cases for datasets collected by Stray Scanner?

The datasets collected by Stray Scanner are primarily intended for machine learning and dense mapping applications, providing essential data for these fields.

### Does Stray Scanner require an internet connection to record data?

The description does not specify internet requirements for recording. However, data transfer to a desktop computer requires a physical connection.

## Version history (last 5 releases)

### 1.4 — 2026-04-07

Sharing datasets via the iOS share menu. App now records camera distortion parameters if available.

### 1.3 — 2022-02-22

This version allows setting the frame rate in the record view. Depth frames are now saved as png which uses less storage than .npy.

### 1.2 — 2021-08-26

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.

### 1.1 — 2021-03-14

- Datasets now contain depth confidence maps
- Recording view layout bug fix for iPads
- Updated links

### 1.0 — 2021-03-10

No release notes.

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## Related topics

[rgb scanner](https://appshunter.io/ios/topics/rgb-scanner) · [stray scanner](https://appshunter.io/ios/topics/stray-scanner) · [tdlidar](https://appshunter.io/ios/topics/tdlidar)

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*Data collected daily from the US App Store and indexed by [AppsHunter](https://appshunter.io/). User reviews are verbatim App Store reviews. Ratings, prices and chart positions refresh continuously; this snapshot is from 2026-08-28.*