We are developing a LiDAR-based spatial capture application using ARKit and RealityKit. We are investigating whether PhotogrammetrySession can be used as part of a capture pipeline where we collect: RGB frames LiDAR depth camera intrinsics camera transforms IMU/device motion data and then reconstruct a textured 3D model. The documentation states that PhotogrammetrySample can include depthDataMap, depthConfidenceMap, gravity, and camera metadata. Could someone clarify how PhotogrammetrySession uses the depth information when supplied? Specifically: Is LiDAR depth used during reconstruction to improve geometry (for example as a constraint during reconstruction), or is it primarily used for scale/orientation metadata? When camera transforms and intrinsics are available from ARKit, does PhotogrammetrySession consume this information, or does it independently estimate camera poses from the image sequence? Is the recommended Apple workflow for RGB + LiDAR capture: ARKit capture → PhotogrammetrySample → PhotogrammetrySession or is ObjectCaptureSession the intended capture pipeline for photogrammetry workflows? We are trying to understand the intended relationship between ARKit, ObjectCaptureSession, and PhotogrammetrySession before choosing an architecture. Thanks.