The depth data captured by iPhone 13 and later is significantly of lower quality than depth data captured with iPhone 12, iPad Pro 2020, 2021 and 2022. All these devices more-or-less support the same depth resolution and capture frame rates, and none of the configurations on AVCaptureDevice is able to give more accurate results.
I’ve attached screencaptures in which the difference in accuracy and noise between an iPhone 14 and an iPad Pro 2021 (11”) can be clearly seen. Captures have been made with a slightly adjusted version of Apple's TrueDepthStreamer app (https://developer.apple.com/documentation/avfoundation/additional_data_capture/streaming_depth_data_from_the_truedepth_camera). Is this expected bahavior?
iPhone14 depth stream: https://www.icloud.com/iclouddrive/07bYXtTCFqddpv2XaJQdwttWQ#depthStream-iPhone14
iPad Pro 2021 (11") depth stream: https://www.icloud.com/iclouddrive/0294BDECZziOBhS4wWTvtZAZw#depthStream-iPadPro2021-11inch
Enabling depth filtering, alleviates the issue to a small degree, but has as side affect that movement of the subject in the image created a ‘trail’ in the depth data. In our app, this makes the depth data unusable.
I've also created a Issue with Apple: FB12151444