Thanks for reply, but the thing is that when scale is right, it has error with in 5mm, in my experiments. I when doesn't scale right, too much difference, like few centimeters. I want to raise recall rate, and couldn't figure out what affects them.

Thanks for your answer. But what I want is to use builtInLiDARDepthCamera. And though not sure what I've missing, but when I give PhotogrammetrySample Color CVPixelBuffer and correct depth CVPixelBuffer(tried both DisparityFloat32 And DepthFloat32), not exact real scale model shows up. So, I guessed that's because metadata is missing. With HEIC Image took from ObjectCapturession has metadata including intrinsic parameter, So I think that's the reason why my App doesn't return real scale.

Can I achieve this with .. currentCamera = AVCaptureDevice.default(.builtInLiDARDepthCamera, for: .depthData, position: .back) ?

Same error Assert : in line 204 happened to me on PhotogrammetrySession. Did you have fixed it?