How to attach point cloud(or depth data) to heic?

I'm developing 3D Scanner works on iPad.

I'm using AVCapturePhoto and Photogrammetry Session.

photoCaptureDelegate is like below:

extension PhotoCaptureDelegate: AVCapturePhotoCaptureDelegate {

	func photoOutput(_ output: AVCapturePhotoOutput, didFinishProcessingPhoto photo: AVCapturePhoto, error: Error?) {

		let fileUrl = CameraViewModel.instance.imageDir!.appendingPathComponent("\(PhotoCaptureDelegate.name)\(id).heic")
		let img = CIImage(cvPixelBuffer: photo.pixelBuffer!, options: [ .auxiliaryDepth: true, .properties: photo.metadata ])
		let depthData = photo.depthData!.converting(toDepthDataType: kCVPixelFormatType_DepthFloat32)
		let colorSpace = CGColorSpace(name: CGColorSpace.sRGB)
		let fileData = CIContext().heifRepresentation(of: img, format: .RGBA8, colorSpace: colorSpace!, options: [ .avDepthData: depthData ])
		try? fileData!.write(to: fileUrl, options: .atomic)
	}
}

But, Photogrammetry session spits warning messages:

Sample 0 missing LiDAR point cloud!
Sample 1 missing LiDAR point cloud!
Sample 2 missing LiDAR point cloud!
Sample 3 missing LiDAR point cloud!
Sample 4 missing LiDAR point cloud!
Sample 5 missing LiDAR point cloud!
Sample 6 missing LiDAR point cloud!
Sample 7 missing LiDAR point cloud!
Sample 8 missing LiDAR point cloud!
Sample 9 missing LiDAR point cloud!
Sample 10 missing LiDAR point cloud!

The session creates a usdz 3d model but scale is not correct.

I think the point cloud can help Photogrammetry session to find right scale, but I don't know how to attach point cloud.