All you need to know is whether your weight is trending how you want it to trend and, if not, adjust calories appropriately. I feel like a clever enough model could take pictures of food, your heart rate and your daily weigh in and suggest ways to achieve your weight goal, like "have less fries" etc.
First: the image recognition model is unlikely to have seen very many depth maps. Seeing one alongside a photo probably won't help it recognize the image any better.
Second: even if the model knew what to do with a depth map, there's no reason to suspect that it'd help in this application. The lack of accuracy in a image-to-calorie-count app doesn't come from problems which a depth map can answer like "is this plate sitting on the table or raised above it"; they come from problems which can't be answered visually like "is this a glass of whole milk or non-fat" or "are these vegetables glossy because they're damp or because they're covered in butter".
The labels on your food are +/-20%. If you are analyzing all of your meals via camera, it's probably not too far off that over a week.
And 20% per week is the difference between maintaining your wheight and gaining 1.6kg of pure fat a month. (Or losing that much)