iLiDAR

An open-source iOS app for streaming synchronized LiDAR depth and RGB frames from an iPhone or iPad to a computer.

Overview

iLiDAR uses the LiDAR scanner on supported Apple devices as an RGB-D sensor. The iOS client captures depth and color frames and sends them over the local network to a Python receiver.

Synchronized RGB and LiDAR depth capture
Local Wi-Fi streaming over TCP
Adjustable transmission frequency and depth range
Output in JPG, BIN, and CSV formats
Swift client and Python receiver released under the MIT License

Quick start

1. Install the iOS client

Clone the repository and open iLiDAR.xcworkspace in Xcode.
Select your development team and a connected iPhone or iPad with LiDAR.
Build the app and allow Camera and Local Network access.

2. Start the Python receiver

git clone https://github.com/Galaxywalk/iLiDAR.git
cd iLiDAR/Server
conda create -n ilidar python=3.10 -y
conda activate ilidar
pip install -r requirements.txt
python ios_driver.py

3. Connect the devices

Connect the phone and computer to the same Wi-Fi network. Enter the computer's local IP address in iLiDAR, tap Connect, and start the transfer. The receiver listens on TCP port 5678.

Output files

Format	Content	Notes
`.jpg`	RGB frame	JPEG image
`.bin`	Depth map	320 × 240, float16
`.csv`	Camera parameters	One file per session

Requirements

An iPhone Pro or iPad Pro with a LiDAR scanner
A Mac with Xcode for installing the iOS client
Python 3.10 for the receiver
Both devices connected to the same local network

The iOS Simulator does not provide the required LiDAR depth data. See Apple's supported device list.

More information

See the full tutorial for detailed setup and usage, or browse the source code on GitHub. iLiDAR is available under the MIT License.