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Lidar scanning software that works with the modern iphones is only really good for scanning quite big things, like a room or a car.
Lidar doesn't have the accuracy for reverse engineering small parts.
@sacredhart can you share a picture of the badge? if it's not too complex it might be relatively simple to reverse engineer with verniers and CAD.
mcmyk
I'm pretty sure there is an iphone app that can do this, but dont know how well it works