What I would like to have is a 4K 30fps video synchronized with a low-res lidar depth stream.
Is it possible to record this with an iPhone 13 pro? If it can't be done natively, is there an app that can do that?
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See the example Enhancing Live Video by Leveraging TrueDepth Camera Data. LIDAR and the camera can be set up independently. Then, it's just a matter of combining the streams:
AVCaptureDataOutputSynchronizer(dataOutputs: [videoDataOutput, depthDataOutput, metadataOutput])