ios – Methods to insert Mesh (.showSceneUnderstanding) whereas utilizing ARKit and Actuality Equipment to allow LiDAR Pointers

I’ve made use of Apple ARKit documentations to create a easy ARKit utility which makes use of SceneKit & RealityKit.

I’m at the moment confronted with the duty so as to add Pointers(Mesh: To insert .showSceneUnderstanding)

is there any specific methodology or one thing that i’m lacking to entry this knowledge for displaying the Mesh depth.

I’ve hooked up the code beneath (★signifies the road i’m at the moment going through an error at)

import UIKit
import SceneKit
import ARKit
import RealityKit

class ViewController: UIViewController, ARSessionDelegate {
  var trackingStateOK: Bool = false
  let sphereNode = SCNNode(geometry: SCNSphere(radius: 0.01))
  var tappedPointNodeOrigin: SCNNode?
  var tappedPointNodeDest: SCNNode?
  var lineNode = SCNNode()
  var objectNode: SCNNode!
  var distanceLabel = UILabel()
  let coachingOverlayView = UIView()
  //separating knowledge acquisition from show
  //var arProvider: ARProvider = ARProvider()
  @IBOutlet var sceneView: ARSCNView!
  //var sceneView:ARSCNView!
  override func viewDidLoad() {
    tremendous.viewDidLoad()
    //sceneView = ARSCNView(body: view.bounds)
    view.addSubview(sceneView)
    sceneView.scene.rootNode.addChildNode(lineNode)
    distanceLabel.textual content = ""
    distanceLabel.body = CGRect(x: 0, y: view.bounds.maxY - 200, width: view.bounds.width, top: 200)
    view.addSubview(distanceLabel)
    distanceLabel.textColor = .pink
    distanceLabel.textAlignment = .middle
    distanceLabel.numberOfLines = 3
    distanceLabel.font = .systemFont(ofSize: 40, weight: .daring)
    view.addGestureRecognizer(UITapGestureRecognizer(goal: self, motion: #selector(faucet(recognizer:))))
    //setupCoachingOverlay()
  }
  override func viewWillAppear(_ animated: Bool) {
    tremendous.viewWillAppear(animated)
    let worldtracking = ARWorldTrackingConfiguration()
    //varun added 28.12.2023
    //including the rules
    worldtracking.sceneReconstruction = .meshWithClassification
    worldtracking.environmentTexturing = .computerized
    worldtracking.planeDetection = [.horizontal, .vertical]
    //varun added code. requesting data of scene depth within the configuration.
    worldtracking.frameSemantics = [.sceneDepth, .smoothedSceneDepth]
    //sceneView.session.run(worldtracking, choices: [.removeExistingAnchors])
    sceneView.session.run(worldtracking)
    　★//sceneView.debugOptions.insert(.showSceneUnderstanding) ★
    sceneView.debugOptions = [.showPhysicsFields,.showCameras,.showFeaturePoints,.showSkeletons, .showWireframe , .showWorldOrigin]
    sceneView.session.delegate = self
  }
  //func session(_ session: ARSession, cameraDidChangeTrackingState digicam: ARCamera) {
  func session(_ session: ARSession, didUpdate body: ARFrame) {
    trackingStateOK = true
    if(body.sceneDepth != nil) && (body.smoothedSceneDepth != nil){
      //arData:
      guard let sceneDepth = body.smoothedSceneDepth ?? body.sceneDepth else{
        print("failed to amass scene depth")
        return
      }
      var pixelBuffer: CVPixelBuffer!
      pixelBuffer = sceneDepth.depthMap
      print(pixelBuffer)
    }

could be grateful with any inputs or ideas in the appropriate route.

Thanks upfront