Is it possible to both capture the images required for ObjectCapture and the scan data required to create an ARObjectAnchor (and be able to align the two to each other)?
Perhaps an extension of this WWDC 2020 example that also integrates usdz object capture (instead of just import external one)?
You can access the RoomCaptureSession's ARKit session or provide your own using APIs discussed here:
RoomCaptureSession https://developer.apple.com/documentation/roomplan/roomcapturesession
when doing so you can then acquire RGB framews during scanning using the following ARKit delegate callback:
session(_:didUpdate:) https://developer.apple.com/documentation/arkit/arsessiondelegate/2865611-session
Also note that the camera transforms from ARKit delegates are compatible with RoomPlan, meaning the pose given by ARCamera.transform is the pose of the camera in the scanned room.