iOS

Structure SDK (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.

Learn more

Works with:

Cross Platform

Structure SDK (Cross-Platform) supports Structure Core beyond the tablet, bringing cutting-edge computer vision software to Android, Linux, Windows and macOS.

Learn more

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.

Visit the forums


Structure SDK (iOS) Features

Never developed with a 3D sensor before? Structure SDK (iOS) 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.

Get Started

3D Scanning & Texturing

Indoor Mapping

Positional Tracking

Augmented Reality


Structure SDK (iOS)

Effortlessly Create iOS Apps with 3D Sensing

The Structure SDK (iOS) 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 SDKs

Apps created with Structure SDK (iOS) can be launched on the App Store. The 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];
                    
New

Structure SDK (Cross-Platform)

Powerful 3D Perception Beyond the Tablet

Structure Core takes the industry-leading depth processing of Structure SDK (Cross-Platform) to a wider array of devices and platforms than ever before.

Prototype here, run there

Structure SDK (Cross-Platform) is optimized and natively compiled for great performance no matter if you’re using macOS, Windows, Linux (ARM and x64) or Android.

Everything is in sync

With the new Structure Core and Structure SDK (Cross-Platform), 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;

session.startMonitoring(settings);
                    

Perception Engine

Perception Engine is Occipital's state-of-the-art inside-out positional tracking system for Structure Core (Monochrome). It offers low latency, high precision 6-DoF tracking on Windows and includes both native support + Unity integration. It is available in private beta now for hardware integrator and partners. Apply for beta access to Perception Engine

Want to use the original Structure Sensor with other platforms?

USB Hacker Cable

The USB Hacker Cable lets you plug original 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 an original 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

OpenNI 2

Occipital maintains OpenNI 2 for original Structure Sensor, which allows developers to 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.

Visit the forums

Get Started

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

Get started with your sensor

Structure SDK Developer Newsletter

Sign up and get the latest Structure news and SDK release updates first.