Scan4D vs DepthCapture｜LiDAR Point Cloud

Scan4D is a professional-grade reality capture app for iPhone and iPad. It turns your device's LiDAR sensor and camera into a powerful 3D scanner, capturing detailed meshes, depth maps, and camera poses for downstream reconstruction, photogrammetry, and spatial computing. FULL MODE (LiDAR devices) • Real-time mesh reconstruction with live wireframe overlay • 16-bit depth maps captured at adaptive frame rates • Scan capacity metrics: polygon count, drift tracking, session duration • Interactive 3D mesh preview with camera-sampled vertex coloring • Privacy filtering: person segmentation removes humans from meshes, face blurring in RGB exports LITE MODE (all devices) • RGB frame capture with ARKit camera poses • Server-side photogrammetry via exported image bundles • Automatic detection — no configuration needed TIME-SERIES SCANNING • Group scans by Location and re-scan the same space over time • "Extend Scan" loads a red ghost-mesh overlay of previous captures • Adjacent stitching: scan neighboring areas with shared coordinate frames • ARWorldMap relocalization for precise alignment between sessions FLEXIBLE EXPORT FORMATS • Scan4D: Full bundle with metadata, relocalization map, images, depth, and camera data • Polycam: Raw data import compatible with Polycam • RAW: Nerfstudio/COLMAP-compatible transforms.json + images + depth • OBJ / PLY / USDZ: Native mesh formats for MeshLab, Blender, and iOS Quick Look SERVER INTEGRATION • Configure any HTTP(S) upload endpoint in Settings • Direct PUT upload with live progress tracking • Save to Files or AirDrop for offline workflows • Compatible with self-hosted reconstruction pipelines DEVELOPER MODE • Front/back camera switching for testing privacy features • Synthetic IMU, camera, and depth injection for Simulator testing • Vertex mapping diagnostics and debug overlays Designed for researchers, 3D scanning professionals, and spatial computing developers who need raw, high-fidelity sensor data with full control over the reconstruction pipeline. Requires ARKit-capable device. LiDAR-equipped iPhone or iPad Pro recommended for full functionality.

DepthCapture is an iPhone/iPad app for capturing and recording RGB images and depth data from multiple depth sources, including LiDAR, TrueDepth, supported stereo cameras, and AI-based depth estimation. View the RGB feed and depth map in real time while capturing, and visualize depth data immediately as a 3D point cloud. ―――――――――― ■ Multiple depth sources Choose from the sources supported by your device: ・LiDAR ・TrueDepth ・Stereo Depth ・AI Depth LiDAR-equipped devices can capture rear depth, while TrueDepth uses the front camera. Supported devices can also use stereo-camera depth. AI Depth estimates depth from a standard camera image using an AI model. ※ AI Depth provides relative estimates and is not calibrated to match the distance accuracy of hardware depth sources such as LiDAR or TrueDepth. ―――――――――― ■ Record RGB + Depth Use Snapshot Capture for still data or Stream Recording for continuous RGB-D capture. RGB: ・JPEG ・PNG Depth: ・BIN ・16-bit PNG ・TIFF ・EXR Snapshots store RGB, depth, and related capture information together. ―――――――――― ■ Real-time depth visualization View RGB and depth live while capturing. Color maps: ・Grayscale ・Blue-Red ・Viridis ・Inferno The displayed depth range can be automatic or fixed to a range you specify, so you can check data quality before saving. ―――――――――― ■ Live 3D point cloud Generate and display a 3D point cloud from the acquired depth data and camera information in real time. Point clouds can use RGB colors or depth-based coloring for direct spatial inspection. ―――――――――― ■ Export point clouds Export saved point clouds as: ・PLY ・GLB ・glTF ・PCD ・LAS ・CSV Export snapshots or individual Stream Recording frames for use with 3D software, point-cloud tools, Python, and other environments. ―――――――――― ■ Continuous RGB-D recording Stream Recording saves continuous RGB and depth data as either an RGB/depth file sequence or ROS2-compatible MCAP. MCAP can include RGB, Depth, CameraInfo, TF, and IMU / Device Motion for ROS2, robotics, and computer vision. ―――――――――― ■ Capture metadata Along with RGB and depth data, DepthCapture saves capture settings and camera information. When available, metadata includes: ・Camera Intrinsics ・Extrinsic Matrix ・Lens Distortion information ・RGB / Depth resolution ・Depth Source ・Depth Accuracy / Quality ・Depth Filtering ・Capture settings Snapshots and Recording Sessions also include manifest and metadata files describing the recorded data and capture conditions. ―――――――――― ■ Customize capture settings Adjust: ・Depth Filtering ・Depth FPS ・Depth Resolution ・RGB Resolution ・RGB / Depth Synchronization ・Depth Range ・Save Depth Preview Presets are also available for common capture settings. ―――――――――― ■ Review saved data Review Snapshots and Stream Recordings in Saved Data. Snapshots can show RGB, Depth, and 3D Point Cloud. Stream Recordings can be scrubbed and played back with RGB, Depth, and Point Cloud views. Sessions can be shared or accessed through the Files app. ―――――――――― ■ Example uses ・LiDAR and depth-sensor testing ・3D point-cloud capture and visualization ・RGB-D dataset collection ・Computer vision ・Machine-learning data collection ・Robotics and ROS2 ・AR and 3D-sensing data capture and validation ・Research, experiments, and prototyping ・Comparing depth acquisition methods Available sources, resolutions, and frame rates vary by device. Devices without LiDAR may still support TrueDepth, Stereo Depth, or AI Depth. DepthCapture records RGB-D data, lets you inspect it in 3D, and move it into your own workflow. Some advanced features require an in-app purchase or temporary access unlocked by watching a rewarded ad. ―――――――――― Terms of Use (Apple Standard EULA): https://www.apple.com/legal/internet-services/itunes/dev/stdeula/