Build a mobile app based on LiDAR file content from a iPhone or Galaxy phone

I want to have a mobile app display details of some readings captured within a LiDAR file generated on a mobile device. To do this the developer will need a detailed understanding of the nature and structure of a LiDAR file from an iPhone etc. The intent is to take a series of Lidar images, analyse them and provide a readout or report of some elements of them. Unless you understand the structure of a LiDAR file you will not be able to build the necessary output. The output needs to be accurate to 1 mm or less.