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@KTRosenberg From looking at the SDK it looks like SceneReconstructionProvider (https://developer.apple.com/documentation/arkit/scenereconstructionprovider) will be able to get you the raw detected geometry MeshAnchor (https://developer.apple.com/documentation/arkit/meshanchor).
This doesn't solve the issue of pixel data access, but gives an idea of the lowest level scene understanding you'll be able to get (so far).