Thanks a lot for your answer! I have now been able to use the sceneDepth api and also to access the resulting CVPixelBuffer. However, I still cannot access the 3D-points. I also studied the first example again and basically what I would like to access are the 3D-points that are stored in the particlesBuffer. I just do not see how that buffer is filled in the example. Where/How does that happen?

Thank you very much! I finally managed to do it, your answers have been very helpful!

I do not set the position explicitly. I tried objectNode.position = SCNVector3(self.sceneView.center.x, self.sceneView.center.y, 0), but that did not make any difference. Is there another way to set the position? There is not much more code apart from that in the question, the geometry is created from an array of points with x, y, z coordinates and rgb values. What code do you mean?

Sure! self.sceneView.center.x = 195.0 self.sceneView.center.y = 422.0 I did some experiments with the point cloud and my guess is that there could be one or more (but very few) outliers, which are not clearly visible when looking at illustration. Could that be? Also, is there some way to easily remove them?

I don't know, I would have expected them to be both 0, right? Well, I think if there exist some outliers which are very far away from the other points, then the bounding box of the node would become much bigger, meaning the node might actually be placed in the center of the view, only most of the points seem not to be aligned because of the outliers. Does that make sense? Is there some way to show/illustrate the bounding box? I couldn't find anything expect printing the values of the bounding box. No, I did not. What exactly do you mean by that? Also, thanks a lot for your help!! It is very much appreciated.