Best approach for high-quality textured room reconstruction using ARKit / RoomPlan / Object Capture?

I am developing an IOS App that allow users to scan rooms, view the scans on device, and add notes. I need to preserve actual geometry (odd angles, chamfers, fixtures), not simplified RoomPlan boxes.

Are there any easy ways to incorporate high quality texture mapping or PBR? Where is the documentation for scene reconstruction?

you can use raw lidar data and intrinsic/extrinsic with images to reconstruct a point cloud.

Best approach for high-quality textured room reconstruction using ARKit / RoomPlan / Object Capture?
 
 
Q