Question Is it possible to "turn on" getting a depth map (sceneDepth) from LiDAR using AR Foundation (ARKit)?

How can I get the sceneDepth configuration on ARKit subsystem using AR Foundation?

From ARKit documentation:

Add the sceneDepth frame semantic to your configuration’s frameSemantics to instruct the framework to populate this value with ARDepthData captured by the LiDAR scanner.​

I would like to be able to grab the "sceneDepth", how do I configure this on?

Something like:

configuration.frameSemantics = ARFrameSemanticSceneDepth;

 

To enable depth texture, please add the AROcclusionManager to ARSessionOrigin and enable the 'Environment Depth Mode' setting. Then, you'll be able to access the depth texture on GPU via environmentDepthTexture property, or on CPU via TryAcquireEnvironmentDepthCpuImage method.

 

Thank you!