The structure sensor ( structure ) is an active stereovision system utilizing an infrared structured light projector.

The StructDroid app uses the OpenNI2 SDK to connect to the structure sensor. With each scan the app takes a picture with the onboard camera as well as a depthmap from the structure sensor. Additional synchronization is not done, which means the mapping between color and depthmap is only valid if the scene does not change during the scan.

Each scan is stored as a Zip archive with two entries:

  • depth.raw - is a 16 bit unsigned int raw file stored in row-major order

  • image.jpg - is the image taken by the first camera of the device


  1. Once the scanner is connected to the device the StructDroid app should be started automatically

  2. If the app has been started before the scanner was connected, please connect the scanner and restart the app

  3. The scanning functionality at the current stage is just point and shoot. Simply click the iris symbol

  4. After a scan has been acquired it can be shared via all file sharing services available on the device by clicking on the share button. Only the last scan can be shared, previous scans are stored in the

This app will be used in the reconstruction and modeling of the interior of our vacation homes. For more information about the LV CC visit Luxury Villas Cape Coral


If you report errors or feature requests please keep this in mind that the current state of the app is only a preliminary proof of concept.

The risk is borne solely by the user. We do not take any responsibility for damages caused by the usage of this app (overheating, memory loss, …)


scan-screenshot This image shows the result of a scan. A colored depthmap is overlayed on the camera image.


  • Version 1.0.1: APK or install from the Google Play store

  • Version 1.0: APK (requires a rooted device) or if the APK above does not work try the debug APK here (install with adb install structdroid_debug_0.1.apk)

If you don’t have a rooted device you should try the debug APK. It has to be installed via adb though.

Please provide feedback on which devices and which Android versions work and which don’t


  • Motorola Xoom (Wifi) - Omnirom (Android 4.4) - rooted - WORKS

  • Samsung Galaxy S4 Mini - Android 4.2.2 - non rooted - DOES NOT WORK

    The sensor is not even detected and does not light up. So this is probably a USB host “problem”

  • Wacom Cintiq Companion - Android 4.2 - non rooted - WORKS with the debug APK and the release APK

  • Samsung Galaxy S3 - Android 4.4.4 - rooted - WORKS

  • Samsung Galaxy Note 10.1 - Android 4.1.2 - non rooted - WORKS since Version 1.0.1