I made a sample codes using the LiDAR sensor on iOS device. It also includes a sample that scans the real world to a 3D object. I hope this code helps someone who wants to use a LiDAR sensor.
I dug into the APIs a few months ago and found it pretty deceptive (on Apple's part) how much of that generated depth map is from the stereo cameras vs the LiDAR sensor. If you cover the cameras or use it in the dark, the quality decreases drastically.
