Mapping an Environment

Hello,


Im new to ARKIt and apple APP development in general.


I want to know how to check if the entire map of the environment has been mapped and the camera has returned to its origianl position.


I rememeber seeing the cloud map they displayed in their keynote when they said they were looking to debug it, but i have no clue how to do that.


I know this might seem confusing, therefore please don't hesitate to ask any further questions for clarification.


Thank you,