pointcloud-lidar

iOS app for recording LiDAR depth data alongside RGB video on iPhone 12 Pro and later.

Repo: https://github.com/immanuel-lam/pointcloud-lidar Requires: iPhone with LiDAR (iPhone 12 Pro+), iOS 16+, Xcode 15+

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Branches

Branch	Status	Description
v1 (tag: alpha)	Archived	RGB point cloud video recorder — records the live scene as coloured 3D dots to MP4. Video rotation bug unresolved.
main	Active development	Records standard RGB camera video + separate greyscale depth map video as two synced MP4 files.

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main — Dual Video Recorder

Records two synced MP4 files simultaneously:

1. rgb_<timestamp>.mp4 — standard H.264 colour video from the camera
2. depth_<timestamp>.mp4 — greyscale depth map (white = near, black = far)

Both saved to Photos on stop.

After Effects usage

1. Import both MP4 files
2. RGB layer → main footage track
3. Depth layer → use as Luma Matte, Z-depth pass, or depth-of-field input

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v1 — Point Cloud Recorder (archived)

Records the LiDAR scene as an RGB-coloured point cloud rendered in real time using Metal, written to H.264 MP4. Black background.

After Effects usage (v1)

1. Import the MP4 (File → Import)
2. Set blending mode to Screen or Add to composite over footage
3. Use Keylight / Extract to key out black background
4. 3D Camera Tracker works — point positions are geometrically accurate

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Tech stack

• Swift, SwiftUI
• ARKit (ARWorldTrackingConfiguration + sceneDepth)
• Metal (v1 only)
• AVFoundation (AVAssetWriter)
• iOS 26.2+ deployment target