property-3d
Map a few thousand m² of land in 3D by walking it once with an iPhone Pro (LiDAR).
ios/ — WalkScan, a SwiftUI + ARKit app. Records LiDAR depth, camera poses, photos and
GPS to disk during one continuous walk, with a live coverage minimap (red = not yet seen) and
haptic warnings (too fast, tracking lost, pointing at the sky, heat, battery, storage).pipeline/ — Python (uv + Open3D) on the Mac: drift correction (fragment pose graph with
loop closures), coloured point cloud, TSDF mesh, ground height grid, GPS georeferencing, and a
three.js browser viewer. See pipeline/README.md.FORMAT.md — the on-disk walk format shared by the app and the pipeline.scripts/ — fetch/crop IDE Uruguay national orthophoto and elevation tiles for context.
Quick start
- Open
ios/WalkScan.xcodeproj, pick your team under Signing, run on an iPhone/iPad with LiDAR.
- Walk the area. Start and end on the same marked spot if you want an accuracy check.
- AirDrop the walk (share button in the app) or pull it with
xcrun devicectl (see pipeline README).
cd pipeline && uv run python process.py <walk.zip or walk folder>, then open the printed viewer URL.
Recordings (walks/), outputs (out/) and downloaded map data (data/) are git-ignored.
