I'm working with same sample Capturing Depth Using the LiDAR Camera. I am trying to use the depthmap data, but in a very simple way. I am reading data from the Lidar. The data is somehow unexpected. When the iPhone 14 Pro is parallel to a flat wall, say in a distance of 0.3 meter, I would expect to read that 0,3 meter (the one exactly opposite to the camera.) But do not. All data is more than 0,3 meter, even 1.2 meter and more. Any insight would be highly appreciated. Here is my code to read data func depthDataOutput(syncedDepthData: AVCaptureSynchronizedDepthData) { let depthData = syncedDepthData.depthData.converting(toDepthDataType: kCVPixelFormatType_DepthFloat16) let depthMapWidth = CVPixelBufferGetWidthOfPlane(depthData.depthDataMap, 0) let depthMapHeight = CVPixelBufferGetHeightOfPlane(depthData.depthDataMap, 0) print("Depth quality: \(depthData.depthDataQuality) accuracy: \(depthData.depthDataAccuracy) pixelSize: \(String(describing: depthData.cameraCalibrationData?.pixelSize))") CVPixelBufferLockBaseAddress(depthData.depthDataMap, .readOnly) if let rowData = CVPixelBufferGetBaseAddress(depthData.depthDataMap)?.assumingMemoryBound(to: Float16.self) { let depthPoint = rowData[centerY * depthMapWidth + centerX] var depthArray = [Float16]() for y in 0...depthMapHeight-1 { var distancesLine = [Float16]() for x in 0...depthMapWidth-1 { let distanceAtXYPoint = rowData[y * depthMapWidth + x] distancesLine.append(distanceAtXYPoint) } let sum = distancesLine.reduce(0, +) let average = sum / Float16(distancesLine.count) let min_r = distancesLine.min() depthArray.append(Float16(min_r!)) } let sum2 = depthArray.reduce(0, +) let average2 = sum2 / Float16(depthArray.count) let min = depthArray.min() print("Depth value in meters: \(depthPoint) avg: \(average2) min: \(min!) meters") } CVPixelBufferUnlockBaseAddress(depthData.depthDataMap, .readOnly) }