Stray Scanner vs MiSensorKit

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.

MiSensorKit is a multi-modal field recording application designed for iOS devices. It enables synchronized capture of multiple sensor streams within a single recording session, making it the ideal portable tool for building rich multi-modal datasets in the field. CAPTURE MULTIPLE MODALITIES RGB frames saved as high-resolution JPEGs (up to 1024px) LiDAR depth maps stored as UInt16 millimeter buffers Full camera intrinsics and 6-DoF extrinsic pose logged every frame as JSON Real-time 3D body skeleton tracking with joint positions via ARKit Front-facing selfie camera capture Gaze estimation and eye tracking data GPS location with latitude, longitude, altitude, speed, heading, and accuracy metrics IMU data including accelerometer, gyroscope, fused attitude (roll/pitch/yaw), and gravity vector Ambient light intensity and color temperature estimates Barometric pressure readings synchronized with every frame FLEXIBLE RECORDING SETUP Choose which modalities to record, configure sampling frequency from 1 to 60 Hz, and select output resolution from 224 to 1024 px. A built-in preflight check alerts you to missing permissions or hardware limitations before you start. Monitor sensor status, live FPS, stream health, and session size in real time while recording. BUILT-IN DATA VIEWER Browse and inspect recorded sessions directly on your device. Scrub through individual frames to view RGB images, depth maps, camera metadata, skeleton data, and sensor readings — without needing to transfer files to a computer. EXPORT AND SHARE Export any session as a ZIP archive directly from the app, or share the raw folder via Files and AirDrop. A session summary sheet appears automatically after each recording with key statistics and one-tap sharing options. STRUCTURED OUTPUT FORMAT Each recording session creates an organized folder structure with separate directories for RGB, depth, camera pose, skeleton, GPS, IMU, and metadata — ready for your processing pipeline. REQUIREMENTS iPhone or iPad with LiDAR sensor (required for depth recording only) iOS 26.0 or later Designed for researchers and developers who need a portable, easy-to-use tool for multi-modal data collection without external hardware or complex calibration setups.