Since I am relatively new to the field of computer vision and augmented reality, I started by looking at the official code examples (e.g., Visualizing a Point Cloud Using Scene Depth) and the documentation of ARKit, SceneKit, Metal and so. However, I still do not understand how to get the LiDAR data.
I found another thread in this forum (Exporting Point Cloud as 3D PLY Model) and the given solution works so far. However, I do not understand that code in detail, unfortunately. So I am not sure if this gives me really the raw LiDAR data or if some (internal) fusion with other (camera) data is happening, since I could not figure out where the data comes from exactly in the example.
Could you please give me some tips or code examples on how to work with/access the LiDAR data? It would be very much appreciated!