diff --git a/src/com/android/devcamera/Api2Camera.java b/src/com/android/devcamera/Api2Camera.java
index 73e5c87..40b9be6 100644
--- a/src/com/android/devcamera/Api2Camera.java
+++ b/src/com/android/devcamera/Api2Camera.java
@@ -41,8 +41,11 @@
 import android.util.Log;
 import android.util.Size;
 import android.view.Surface;
+import android.media.Image.Plane;
 
 import java.nio.ByteBuffer;
+import java.nio.BufferUnderflowException;
+import java.lang.IndexOutOfBoundsException;
 import java.util.ArrayList;
 import java.util.LinkedList;
 import java.util.List;
@@ -120,6 +123,11 @@
     private int mYuv2ImageCounter;
     private ImageReader mRawImageReader;
     private int mRawImageCounter;
+    private boolean mIsDepthCloudSupported = false;
+    private ImageReader mDepthCloudImageReader;
+    private int mDepthCloudImageCounter = 0;
+    private static int STORE_NTH_DEPTH_CLOUD = 30;
+    private static boolean DEPTH_CLOUD_STORE_ENABLED = false;
 
     // Starting the preview requires each of these 3 to be true/non-null:
     volatile private Surface mPreviewSurface;
@@ -175,6 +183,10 @@
             mReprocessingNoiseMode = CameraCharacteristics.NOISE_REDUCTION_MODE_HIGH_QUALITY;
             mReprocessingEdgeMode = CameraCharacteristics.EDGE_MODE_HIGH_QUALITY;
         }
+
+        if (null != mCameraInfoCache.getDepthCloudSize()) {
+            mIsDepthCloudSupported = true;
+        }
     }
 
     // Ugh, why is this stuff so slow?
@@ -201,6 +213,14 @@
                 YUV1_IMAGEREADER_SIZE);
         mYuv1ImageReader.setOnImageAvailableListener(mYuv1ImageListener, mOpsHandler);
 
+        if (mIsDepthCloudSupported) {
+            mDepthCloudImageReader = ImageReader.newInstance(
+                    mCameraInfoCache.getDepthCloudSize().getWidth(),
+                    mCameraInfoCache.getDepthCloudSize().getHeight(),
+                    ImageFormat.DEPTH_POINT_CLOUD, 2);
+            mDepthCloudImageReader.setOnImageAvailableListener(mDepthCloudImageListener, mOpsHandler);
+        }
+
         if (SECOND_YUV_IMAGEREADER_STREAM) {
             // Create ImageReader to receive YUV image buffers.
             mYuv2ImageReader = ImageReader.newInstance(
@@ -382,7 +402,7 @@
         CameraTimer.t_session_go = SystemClock.elapsedRealtime();
 
         Log.v(TAG, "Configuring session..");
-        List<Surface> outputSurfaces = new ArrayList<Surface>(3);
+        List<Surface> outputSurfaces = new ArrayList<Surface>(4);
 
         outputSurfaces.add(mPreviewSurface);
         Log.v(TAG, "  .. added SurfaceView " + mCameraInfoCache.getPreviewSize().getWidth() +
@@ -392,6 +412,11 @@
         Log.v(TAG, "  .. added YUV ImageReader " + mCameraInfoCache.getYuvStream1Size().getWidth() +
                 " x " + mCameraInfoCache.getYuvStream1Size().getHeight());
 
+        if (mIsDepthCloudSupported) {
+            outputSurfaces.add(mDepthCloudImageReader.getSurface());
+            Log.v(TAG, "  .. added Depth cloud ImageReader");
+        }
+
         if (SECOND_YUV_IMAGEREADER_STREAM) {
             outputSurfaces.add(mYuv2ImageReader.getSurface());
             Log.v(TAG, "  .. added YUV ImageReader " + mCameraInfoCache.getYuvStream2Size().getWidth() +
@@ -531,6 +556,10 @@
 
             b1.addTarget(mPreviewSurface);
 
+            if (mIsDepthCloudSupported && !mCaptureYuv1 && !mCaptureYuv2 && !mCaptureRaw) {
+                b1.addTarget(mDepthCloudImageReader.getSurface());
+            }
+
             if (mCaptureYuv2) {
                 if (SECOND_SURFACE_TEXTURE_STREAM) {
                     b1.addTarget(mSurfaceTextureSurface);
@@ -601,6 +630,31 @@
                 }
             };
 
+    ImageReader.OnImageAvailableListener mDepthCloudImageListener =
+            new ImageReader.OnImageAvailableListener() {
+                @Override
+                public void onImageAvailable(ImageReader reader)
+                        throws BufferUnderflowException, IndexOutOfBoundsException {
+                    Image img = reader.acquireLatestImage();
+                    if (img == null) {
+                        Log.e(TAG, "Null image returned Depth");
+                        return;
+                    }
+                    Plane[] planes = img.getPlanes();
+                    if (0 < planes.length) {
+                        if (DEPTH_CLOUD_STORE_ENABLED) {
+                            if ((mDepthCloudImageCounter % STORE_NTH_DEPTH_CLOUD) == 0) {
+                                ByteBuffer b = planes[0].getBuffer();
+                                MediaSaver.saveDepth(mContext, b);
+                            }
+                        }
+                    } else {
+                        Log.e(TAG, "Depth buffer with empty planes!");
+                    }
+                    img.close();
+                    mDepthCloudImageCounter++;
+                }
+            };
 
     ImageReader.OnImageAvailableListener mJpegImageListener =
             new ImageReader.OnImageAvailableListener() {
diff --git a/src/com/android/devcamera/CameraInfoCache.java b/src/com/android/devcamera/CameraInfoCache.java
index 699fd97..7b97a4e 100644
--- a/src/com/android/devcamera/CameraInfoCache.java
+++ b/src/com/android/devcamera/CameraInfoCache.java
@@ -49,6 +49,7 @@
     private Integer mRawFormat;
     private int mBestFaceMode;
     private int mHardwareLevel;
+    private Size mDepthCloudSize = null;
 
     /**
      * Constructor.
@@ -95,6 +96,10 @@
                     lowestStall = stall;
                 }
             }
+            if (formats[i] == ImageFormat.DEPTH_POINT_CLOUD) {
+                Size size = returnLargestSize(map.getOutputSizes(formats[i]));
+                mDepthCloudSize = size;
+            }
         }
 
         mActiveArea = mCameraCharacteristics.get(CameraCharacteristics.SENSOR_INFO_ACTIVE_ARRAY_SIZE);
@@ -288,4 +293,7 @@
         return mRawSize;
     }
 
+    public Size getDepthCloudSize() {
+        return mDepthCloudSize;
+    }
 }
diff --git a/src/com/android/devcamera/MediaSaver.java b/src/com/android/devcamera/MediaSaver.java
index 4929e33..bf1ddba 100644
--- a/src/com/android/devcamera/MediaSaver.java
+++ b/src/com/android/devcamera/MediaSaver.java
@@ -27,6 +27,8 @@
 import java.io.FileOutputStream;
 import java.io.IOException;
 import java.io.OutputStream;
+import java.nio.ByteBuffer;
+import java.nio.channels.FileChannel;
 
 /**
  * This class has methods required to save a JPEG to disk as well as update the
@@ -42,17 +44,58 @@
     private static final boolean UDPATE_MEDIA_STORE = true;
 
 
-    public static int getNextInt(Context context) {
+    public static int getNextInt(Context context, String id) {
         SharedPreferences prefs = context.getSharedPreferences(MY_PREFS_NAME, Context.MODE_PRIVATE);
-        int i = prefs.getInt("counter", 1);
+        int i = prefs.getInt(id, 1);
         SharedPreferences.Editor editor = prefs.edit();
-        editor.putInt("counter", i+1);
+        editor.putInt(id, i+1);
         editor.commit();
         return i;
     }
 
     /**
      * @param context Application context.
+     * @param depthCloudData Depth cloud byte buffer.
+     */
+    public static String saveDepth(Context context, ByteBuffer depthCloudData) {
+        String filename = "";
+        try {
+            File file;
+            int i = getNextInt(context, "depthCounter");
+            filename = String.format("/sdcard/DCIM/Depth_%05d.img", i);
+            file = new File(filename);
+            if (!file.createNewFile()) {
+                throw new IOException(filename);
+            }
+
+            long t0 = SystemClock.uptimeMillis();
+            FileOutputStream fos = new FileOutputStream(file);
+            FileChannel channel = fos.getChannel();
+            int bytesWritten = 0;
+            int byteCount = 0;
+            while (depthCloudData.hasRemaining()) {
+                byteCount = channel.write(depthCloudData);
+                if (0 == byteCount) {
+                    throw new IOException(filename);
+                } else {
+                    bytesWritten += byteCount;
+                }
+            }
+            channel.close();
+            fos.flush();
+            fos.close();
+            long t1 = SystemClock.uptimeMillis();
+
+            Log.v(TAG, String.format("Wrote Depth %d bytes as %s in %.3f seconds",
+                    bytesWritten, file, (t1 - t0) * 0.001));
+        } catch (IOException e) {
+            Log.e(TAG, "Error creating new file: ", e);
+        }
+        return filename;
+    }
+
+    /**
+     * @param context Application context.
      * @param jpegData JPEG byte stream.
      */
     public static String saveJpeg(Context context, byte[] jpegData, ContentResolver resolver) {
@@ -60,7 +103,7 @@
         try {
             File file;
             while (true) {
-                int i = getNextInt(context);
+                int i = getNextInt(context, "counter");
                 filename = String.format("/sdcard/DCIM/Camera/SNAP_%05d.JPG", i);
                 file = new File(filename);
                 if (file.createNewFile()) {