Develop with Depth

At Occipital, we're developers and computer vision researchers like you. We've always wanted real-time 3D vision on mobile devices, but with existing hardware it was impossible to achieve a great experience. That's why we took on the challenge of creating the Structure Sensor and SDK – a platform that makes this possible.

Got your sensor already? Check your email for an important message from us on how to get started.

The Structure SDK for iOS is our way of taking care of the basics so developers can get straight to publishing incredible applications. Need precise 6-DoF tracking? Volumetric reconstruction? Real world occlusion? Our APIs have you covered. Prefer to develop at a low level? You'll have direct access to the same raw data and low-level controls on the Structure Sensor that we do.

Just import Structure.framework, and initialize the Structure Sensor in Xcode...

STSensorController *_sensorController = [STSensorController sharedController];
if ([_sensorController initializeSensorConnection])
[_sensorController startStreamingWithConfig:CONFIG_QVGA_DEPTH];

... and you're ready to develop with depth.

With the Structure SDK you can create your app using Xcode, and launch it on the App Store. The Structure SDK contains full source code for sample apps such as Scanner (Object and person scanning), Room Capture (scanning spaces), and Fetch (augmented reality gaming) to get you started. We can't wait to see what you do with it!

Downloading The Structure SDK

The Structure SDK is currently available for download exclusively on the Structure Sensor & Structure SDK forums. If you have ordered and been shipped a Structure Sensor, you have already been invited to the forums. If you lost or missed your invitation, contact our support team and we'll make sure to get you in.

Born To Be Hacked

The Structure Sensor has been designed to be the perfect hackable sensor. We will be hosting open source drivers and CAD specs for the device itself, and we've even created an optional Hacker Cable to let you easily add the Structure Sensor to almost any platform.

Hacker Cable

(basically it's USB 2.0)

An available Hacker Cable lets you plug the Structure Sensor into any device that supports USB 2.0. It can even power the Structure Sensor and charge its internal battery. You can buy one in the store.

Open Source Drivers

We'll be posting open source drivers for a wide range of platforms which you can use with our hacker cable, hosted on GitHub.

Get news and updates on our open source drivers by signing up for our developers-only newsletter.

3D print your own attachments

Want to attach a Structure Sensor to something other than an iPad? No problem - just download the CAD specs and create your own custom bracket.

Get started

Download Starter CAD v1.1

246kb .zip with DWG, IGES, STL and STEP files. Last updated March 7th 2014.

Have your created your own? Show us your custom bracket, and if you're into sharing we'll help you get them in front of the Structure community. Fame and fortune will surely follow.

OpenNI Support

OpenNI is an open source SDK that lets developers easily create middleware libraries and applications for 3D sensors. The Structure Sensor will support most applications and middleware libraries that have been created for OpenNI 2. OpenNI 1 is not supported. For more information visit our OpenNI 2 page.


Length x Width x Height119.2 mm x 27.9 mm x 29 mm
Weight95 grams
Minimum Distance40 centimeters
Maximum Distance3.5+ meters
Precision0.5 mm at 40 cm (0.15%), 30 mm at 3 m (1%)
ResolutionVGA (640 x 480) / QVGA (320 x 240)
Framerate30 / 60 frames per second
Battery Life3-4 hours of active sensing, 1000+ hours of standby
IlluminationInfrared structured light projector, Uniform infrared LEDs
Field of ViewHorizontal: 58 degrees, Vertical: 45 degrees
Operating Temperature32° to 95° F (0° to 35° C)

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