Using LiDAR DepthData with ARKit and SceneKit

Greetings!

I have made use of Apple ARKit documentations to create a simple ARKit application which utilizes SceneKit (Tried Metal too)

I am currently unsure of how to make use of SmoothedSceneDepth(SceneDepth) in general to acquire the DepthData from the DataMap acquired in the View.

is there any particular method or way that I can access this data for displaying the depth.

would be grateful with any inputs or suggestions.

Thanks in advance

Using LiDAR DepthData with ARKit and SceneKit
 
 
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