demo.mp4

ipad-lidar-stream

Stream Apple lidar data (e.g. iPad Pro / iPhone Pro) with open3d.

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Uses record3d to stream lidar data, and visualizes point clouds by open3d.

Installation

1. Clone the repository:

git clone https://github.com/kentaroy47/apple-lidar-stream.git
cd apple-lidar-stream

2. Install dependencies:

pip install -r requirements.txt

3. Install the Record3D app on your Apple device from the App Store

Usage

1. Connect your Apple device to the computer with a USB cable
2. Launch the Record3D app on your device
3. Run the streaming script:

python ipad_stream.py

Keyboard Controls

The application supports the following keyboard shortcuts:

• F: Toggle point cloud filtering
• R: Start/stop recording
• S: Save current frame
• E: End recording and save combined point cloud

Processing Options

You can customize point cloud processing by modifying these parameters in the code:

Statistical outlier removal:

• nb_neighbors: Number of neighboring points to consider (default: 20)
• std_ratio: Standard deviation ratio (default: 2.0)

Voxel downsampling:

• voxel_size: Size of voxel for downsampling (default: 0.01)

Normal estimation:

• radius: Search radius (default: 0.1)
• max_nn: Maximum nearest neighbors (default: 30)

Output Formats

• Individual frames: Saved as PLY files
• Recordings: Combined point clouds saved as PLY files
• All exports include:
  • 3D point coordinates
  • RGB colors
  • Normal vectors (when enabled)

Devices

Since I have only iPad Pro, I cannot test this on iPhone 12Pro or 13Pro.

Thanks to #2, it works on iPhone LiDARs too.