ARKit Scan and Record

Just to clarify my question. I am not asking recording a scene like a 2D video, rather, I am looking for possibility of recording 3D point cloud, plus color information (and potentially audio) into a file (or files). Later on, I would like to be able to "replay" this information and maybe apply virtual objects into this replay (AR). Thanks.

Any help would be appreciated....

Is there any chance this ittybittyapps ARRecorder could be made official?

This project demonstrates how ARKit's private SPI can be used to record and replay AR sessions, thus enabling a convenient development workflow and test automation.

Thanks!