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anyone with a recent (last five years) iphone or ipad has the means to generate point cloud data using the depth sensors.

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Theoretically this is the case, but in my testing with several apps on an iPhone 13 Pro the results are underwhelming.

Do you have an app to recommend? And does it work well on small objects? The apps I tried were not very impressive.

Sorry I don’t know any store apps for such, my only experience is through personal corespondance/demos with/by developers experimenting with the hardware feature and sdk. Quick googling turns up some contenders but I can’t vouch for them:

https://apps.apple.com/ca/app/point-cloud-ar/id1435700044

https://apps.apple.com/ca/app/point-precise/id1629822901

Polycam https://apps.apple.com/us/app/polycam-lidar-3d-scanner/id153... is good for outdoor scanning in my limited experience.

It generates nerfs (which have some advantages as well as disadvantages depending on application) but Luma AI is arguably SotA for photogrammetry on iPhones.

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