Add Color Texture with ARMeshAnchor using LiDAR

I am looking for some solutions which can export ARMeshAnchor with real-world texture in a 3D model

I found some code to export anchors but it generated an OBJ file with grayscale.

Many iOS apps are doing the same.

Here is the apple source which I follow:
https://developer.apple.com/documentation/arkit/world_tracking/visualizing_and_interacting_with_a_reconstructed_scene

Also found this GitHub repo which exports OBJ file but it does not include any texture.
https://github.com/zeitraumdev/iPadLIDARScanExport

Is there any way to have such output for the 3D model that includes real-world texture?