Are there resources on how to generate a texture for the mesh generated by ARKit ?

We do not have any resources for this.

You should be able to use the wide angle camera and camera transform to generate texture maps for the meshes but unfortunately we do not have any resources or sample code showing that.

We do have this sample code showing how to generate colored point clouds using the scene depth API, hope it is of some help.

Displaying a Point Cloud Using Scene Depth

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