Open-source iPhone LiDAR tools for robotics. Two iOS apps with Python tooling for real-time streaming and offline 3D scanning.
| App | Description | App Store |
|---|---|---|
| Record3DStream | Real-time LiDAR RGBD streaming to Python/ROS2 over WiFi or USB |  |
| Scanner3D | Offline 3D scanning with point cloud capture and fusion | |
iphone_sensor_suite/
├── Record3DStream/ # Real-time LiDAR RGBD streaming
│ ├── sdk/ # Python client library
│ ├── ros2-driver/ # ROS2 Jazzy package
│ └── calibration/ # ArUco-based camera-to-robot calibration
├── Scanner3D/ # Offline 3D scanning & point cloud fusion
└── images/ # Demo images
- iPhone: iPhone 12 Pro or newer (with LiDAR)
- Python: 3.10+ (for Python tools)
- ROS2: Jazzy on Ubuntu (for ROS2 streaming, Record3DStream only)
The iPhone LiDAR (dToF flash sensor) + RGB camera + IMU replaces multiple traditional robot sensors:
| iPhone Sensor | Replaces | Output |
|---|---|---|
| LiDAR + RGB + ML | Depth camera (RealSense) | PointCloud2, depth image |
| LiDAR (middle row) | 2D LiDAR (RPLIDAR, Hokuyo) | LaserScan |
| RGB camera | USB camera | Color image |
| IMU (accelerometer + gyroscope) | External IMU | IMU data |
See each app's README for detailed setup and usage instructions.