Unable to render a point cloud in my SwiftUI app

The project is building without any errors or warnings and when I run the app I'm able to see the camera view. But when I click on the start scanning button the camera view freezes and nothing happens. It is supposed to start plotting red points in the environment when I tap the start scanning button and when I tap the stop scanning button it should direct me to another screen to display the point cloud itself. The following are the different files in my project. Please let me know what I'm doing incorrectly.

ContentView.swift

import AVFoundation
import ARKit
import RealityKit
import SceneKit
import SwiftUI
import Foundation

struct ContentView: View {
    @StateObject var scanner = ScannerViewController()

    var body: some View {
        NavigationView {
            VStack {
                ARViewContainer().edgesIgnoringSafeArea(.all)

                HStack {
                    Spacer()
                    
                    Button(action: {
                        scanner.startScanning()
                    }, label: {
                        Text("Start Scanning")
                    })
                    .padding()
                    
                    Spacer()
                    
                    NavigationLink(destination: PointCloudView(pointCloud: scanner.pointCloud, pointSize: 5.0)) {
                        Text("Stop Scanning")
                    }
                    .padding()
                    
                    Spacer()
                }
            }
            .navigationBarTitle(Text("Scan an Object"))
        }
    }

    struct ARViewContainer: UIViewRepresentable {
        func makeUIView(context: Context) -> ARView {
            let arView = ARView(frame: .zero)
            return arView
        }
        
        func updateUIView(_ uiView: ARView, context: Context) {
            
        }
    }
}

PointCloudView.swift

import AVFoundation
import ARKit
import RealityKit
import SceneKit
import SwiftUI
import Foundation

struct PointCloudView: View {
    var pointCloud: [SIMD3<Float>]
    var pointSize: CGFloat
    
    var body: some View {
        ZStack {
            ForEach(pointCloud, id: \.self) { point in
                Sphere()
                    .frame(width: pointSize, height: pointSize, alignment: .center)
                    .position(CGPoint(x: CGFloat(point.x), y: CGFloat(point.y)))
                    .foregroundColor(.red)
            }
        }
    }
}

struct Sphere: Shape {
    func path(in rect: CGRect) -> Path {
        let center = CGPoint(x: rect.width / 2, y: rect.height / 2)
        let radius = min(rect.width, rect.height) / 2
        let path = Path { p in
            p.addArc(center: center, radius: radius, startAngle: .zero, endAngle: .degrees(360), clockwise: true)
        }
        return path
    }
}

ScannerViewController.swift

import AVFoundation
import ARKit
import RealityKit
import SceneKit
import SwiftUI
import Combine
import Foundation

class ScannerViewController: NSObject, ObservableObject {
    private var cancellables = Set<AnyCancellable>()

    @Published var isScanning = false
    @Published var pointCloud: [SIMD3<Float>] = []

    private let arSession = ARSession()
    private var arConfiguration: ARConfiguration {
        let configuration = ARWorldTrackingConfiguration()
        configuration.planeDetection = .horizontal
        configuration.environmentTexturing = .automatic
        return configuration
    }

    func startScanning() {
        print("started scanning")
        isScanning = true
        arSession.run(arConfiguration)
    }

    func stopScanning() {
        print("stopped scanning")
        isScanning = false
        arSession.pause()
    }

    func renderer(_ renderer: SCNSceneRenderer, updateAtTime time: TimeInterval) {
        print("continusoyl called")
        guard isScanning else { return }

        // Get the current ARFrame
        guard let currentFrame = self.arSession.currentFrame else { return }

        // Generate the point cloud data from the ARFrame
        guard let pointCloud = currentFrame.rawFeaturePoints?.points else { return }

        // Convert the point cloud data to a format that can be displayed in the PointCloudView
        let convertedPointCloud = pointCloud.map { point in
            SIMD3<Float>(point.x, point.y, point.z)
        }

        // Pass the converted point cloud data to the PointCloudView
        DispatchQueue.main.async {
            self.pointCloud = convertedPointCloud
        }
    }
}

I've tried using both SceneKit and Metal to render the point cloud and referred to apple's documentation: https://developer.apple.com/documentation/arkit/environmental_analysis/displaying_a_point_cloud_using_scene_depth

I've also tried building a storyboard project but storyboard and SceneKit have been creating a lot of errors. Using metal and swiftui builds without errors at the very least but still doesn't function.