PhotogrammetrySession on iPad Fails both url input and Sample Seq input

Question

I'm developing a 3D scanner that works on an iPad(pro 6th generation, 12.9-inch).

I tried ObjectCaptureSession and tried Photogrammetry with HEIC pictures made from ObjectCaptureSession, which was successful.

But using manually captured picture fails and I don't know how to do.

I tried to take a picture using AVCaptureSession and put the data into the PhotogrammetrySample structure, but it failed.

settings are:

• camera: back Lidar camera,
• image format: kCVPicelFormatType_32BGRA(failed with crash) or hevc(just failed) image
• depth format: kCVPixelFormatType_DisparityFloat32 or kCVPixelFormatType_DepthFloat32
• photoSetting: isDepthDataDeliveryEnabled = true, isDepthDataFiltered = false, embeded = true

So.. this time, I tried with HEIC image, but it also fails. It succeed only when the metaData is replaced with nil(AVCapturePhotoFileDataRepresentationCustomizer.replacementDepthData returns nil) but it seems to be no depthData or gravity data were used for the photogrammetry

And I also tested some sample codes provided by apple:

• https://developer.apple.com/documentation/realitykit/creating_a_photogrammetry_command-line_app
• https://developer.apple.com/documentation/avfoundation/additional_data_capture/capturing_depth_using_the_lidar_camera
• https://developer.apple.com/documentation/realitykit/taking_pictures_for_3d_object_capture

What should I do to make Photogrammetry successful?