Hello Community, I’m currently working with the sample code “CapturingDepthUsingTheLiDARCamera” and using it to capture the depth map of an image taken with the iPhone 14 Pro. From this depth map, I generate a point cloud using the intrinsic camera parameters. I've noticed that objects not facing the camera directly appear distorted in the resulting point cloud. For example: An object with surfaces that are perpendicular to each other appears with a sharper angle in the point cloud — around 60° instead of 90°. My question is: Is this due to the general accuracy limitations of the LiDAR sensor? Or could it be related to the sample code? To obtain the depth map, I’m using: AVCapturePhoto.depthData.converting(toDepthDataType: kCVPixelFormatType_DepthFloat32) Thanks in advance for your help!

Hello dear community, I have the sample code from Apple “CapturingDepthUsingLiDAR” to access the LiDAR on my iPhone 12 Pro. My goal is to use the “photo output” function to generate a point cloud from a single image and then save it as a ply file. So far I have tested different approaches to create a .ply file from the depthmap, the intrinsic camera data and the rgba values. Unfortunately, I have had no success so far and the result has always been an incorrect point cloud. My question now is whether there are already approaches to this and whether anyone has any experience with it. Thank you very much in advance!!!