Stray Toolkit

Stray Scanner

Stray Scanner is an iOS app for collecting RGB-D datasets. It can be downloaded from the App Store.

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

They can be converted into our scene data format with the stray dataset import command.