You don't have direct access to the lidar hardware, but Apple provides you with a mesh of scenes and a depth map of each frame so you can see them resolution. You can also use the app like "3D Scanner App"or "Record3D" to see the quality of the scan. This reply was translated.

iPhone's LiDAR's resolution is different with iPad Pro's. This reply was translated.

My Device is iPad Pro 2020. About 1mm with LiDAR,0.5mm with front True Depth Camera. This reply was translated.

https://developer.apple.com/forums/profile/Zachary+Girouard     func scheduleBuffer(_ sampleBuffer: CMSampleBuffer?) -> AVAudioPCMBuffer? {         var sDescr: CMFormatDescription? = nil         if let sampleBuffer = sampleBuffer {             sDescr = CMSampleBufferGetFormatDescription(sampleBuffer)         }         var numSamples: CMItemCount? = nil         if let sampleBuffer = sampleBuffer {             numSamples = CMSampleBufferGetNumSamples(sampleBuffer)         }         var avFmt: AVAudioFormat? = nil                avFmt = AVAudioFormat(cmAudioFormatDescription: sDescr!)                  var pcmBuffer: AVAudioPCMBuffer? = nil         if let avFmt = avFmt {             pcmBuffer = AVAudioPCMBuffer(pcmFormat: avFmt, frameCapacity: AVAudioFrameCount(UInt(numSamples ?? 0)))         }         pcmBuffer?.frameLength = AVAudioFrameCount(UInt(numSamples ?? 0))         if let sampleBuffer = sampleBuffer, let mutableAudioBufferList = pcmBuffer?.mutableAudioBufferList {             CMSampleBufferCopyPCMDataIntoAudioBufferList(sampleBuffer, at: 0, frameCount: Int32(numSamples ?? 0), into: mutableAudioBufferList)         }         return pcmBuffer     }

Using the code               Task {                     do {                         try await center.requestAuthorization(for: .individual)                     } catch {                         print("Failed to enroll Aniyah with error: \(error)")                     }                 } and follow this video the configuration your Xcode project