For iOS

Structure SDK for iOS is Structure Sensor's best friend, and the most popular computer vision SDK for iPhones and iPads. Build apps leveraging the power of mobile devices and spatial computing.

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Works with:

Cross Platform

Structure SDK's cross-platform support with Structure Core goes beyond the tablet, bringing cutting-edge computer vision software to Android, Linux, Windows and macOS.

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Works with:

You’re invited! The Structure Sensor, Structure Core & Structure SDK Forums are where computer vision developers help each other out, show off their new work, and talk about technology.

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Structure SDK Features

Never developed with a 3D sensor before? Structure SDK includes high-level APIs that get you started quickly. Need precise 6-DoF positional 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 Structure Sensor that we do.

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3D Scanning & Texturing

Indoor Mapping

Positional Tracking

Augmented Reality

Structure SDK for iOS

Effortlessly Create iOS Apps with 3D Sensing

The Structure SDK provides developers with a stable, easy-to-use, flexible and constantly-improving framework for creating iOS applications in Xcode which leverage advanced computer vision capabilities and techniques.

Just drop Structure.framework into your Xcode project, initialize the Structure Sensor in your code... and you're ready to develop with depth. It's really that easy.

Download Structure SDK

Apps created with Structure SDK can be launched on the App Store. The Structure SDK contains source code for sample apps with 3D scanning, indoor mapping and more to get you started.

Initializing Structure Sensor in five lines of code:

[[STSensorController sharedController] initializeSensorConnection];

[STSensorController sharedController].delegate = self;

[[STSensorController sharedController] startStreamingWithOptions:
  @{ kSTStreamConfigKey    : @(STStreamConfigDepth640x480),
     kSTFrameSyncConfigKey : @(STFrameSyncDepthAndRgb) } error:nil];

Structure SDK (Cross-platform)

Powerful 3D Perception Beyond the Tablet

Structure Core takes Structure SDK's industry-leading depth processing to a wider array of devices and platforms than ever before.

Prototype here, run there

Structure SDK is optimized and natively compiled for great performance no matter if you’re using macOS, Windows, Linux (ARM and x64 are supported), or iOS (with Structure Sensor).

Everything is in sync

With the new Structure Core and Structure SDK, you can access perfectly-synced data from any combination of depth, visible, and IMU streams. No more need to write complex code to combine multiple sensors.

Initializing Structure Core for Android:

ST::CaptureSessionSettings settings;
settings.source = ST::CaptureSessionSourceId::StructureCore;
settings.structureCore.depthEnabled = true;
settings.structureCore.visibleEnabled = true;
settings.structureCore.infraredEnabled = true;
settings.structureCore.accelerometerEnabled = true;
settings.structureCore.gyroscopeEnabled = true;
settings.structureCore.depthResolution = ST::StructureCoreDepthResolution::SXGA;
settings.structureCore.imuUpdateRate = ST::StructureCoreIMUUpdateRate::AccelAndGyro_1000Hz;


Perception Engine

Perception is Occipital’s state-of-the-art inside-out positional tracking engine. It is available now for serious hardware integrators and partners. Apply for beta access to Perception Engine


Create mixed reality experiences

Bridge brings everything from Structure SDK, plus advanced mixed reality, into a compact developer-oriented headset that works with iPhone 7, 8, X, and XS. Learn more

Integrate with Popular 3D Engines

Structure SDK for iOS comes complete with drop-in prefabs for Unity, and a robust SceneKit sample for use with Structure Sensor. You can even create ultra-low-latency Mixed reality apps with Bridge Engine and the Bridge headset, currently available as a separate package.

Structure Core supports Unity through the Perception Engine, a new, powerful, inside-out positional tracking system from Occipital. Using the cross-platform build functionality, you can build high-fidelity experiences for Android, Windows, macOS, and Linux.

Want to use the original Structure Sensor with other platforms?

USB Hacker Cable

The USB Hacker Cable lets you plug Structure Sensor into any USB 2.0 device, and will charge your sensor battery more quickly than a power adapter.

Buy USB Hacker Cable

Create Your Own Attachments

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

Download Starter CAD

See Cases for iPhone 6 & 6 Plus

OpenNI 2

Occipital maintains OpenNI 2 which allows developers to easily create middleware libraries and applications for 3D sensors with Windows, Linux, macOS, and Android.

Visit our OpenNI 2 page

See How It Works

Check out Structure SDK tutorial and demo videos on YouTube.

View videos

The Forums

Find community answers, tips and inspiration from the Structure Sensor, Structure Core & Structure SDK Forums.

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Get Started

Explore your Structure Sensor’s capabilities and get the most out of your experience.

Get started with your sensor

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