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Step 1: I used sceneDepth?.depthMap to get my depthMap (https://developer.apple.com/documentation/arkit/ardepthdata/3566296-depthmap)

Step 2: I relied on the camera intrinsics parameter to find the point cloud of the current frame (Depth frame)

Step 3: Now I want to change the x,y,z value of the current frame (depthmap) to the coordinates of Arkit

see illustration below

enter image description here

how can I do this?

Thanks for reading.

AnhTuan
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