Access to Raw Lidar point cloud

Question

Created Nov ’24

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Is it possible to access the raw lidar measurements before the sceneDepth calculation is done to combines the lidar measurements with visual data. In low light environments the lidar scanner should still work and provide depth info but I cannot figure out how to access those pure lidar depth measurements. I am currently using:

        guard let frame = arView.session.currentFrame,
              let depthData = frame.sceneDepth?.depthMap else {
            print("Depth data is unavailable.")
            return
        }

but this is the depth data after sensor fusion occurs and fails in low light conditions.

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Answer 1

CMDdev OP

Nov ’24

I don't think there's any API for that, but I'm not entirely sure (sso don't count on this). But either way, the sensor fusion algorithms are there to improve it, so I'm not sure if you would get better results from that.

and fails in low light conditions

Do you think raw depth data would be better than the sensor fusion-processed data?

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