We want to play with the depth map. Is it possible to get the LiDAR camera position with the depth map? We've tried using the wide camera position and it doesn't work, because the wide camera position is not the same as the depth map's camera position.
The depth map surfaced through the Scene Depth API does align with the wide angle camera and should correspond to the camera transform available through the ARFrame.
Here is a sample code that generates a colored point cloud by combining the wide angle camera image and depth map:
Displaying a Point Cloud Using Scene Depth
If you still see some issues, I recommend filing a bug through the feedback assistant at Bug Reporting