I am currently using the LiDAR mode on iOS in Polycam to capture scenes and export raw data. While I know that I can directly export point clouds, what I want to do now is generate a point cloud for each image using camera parameters and depth maps, and then simply overlay them to create a complete scene point cloud. I have successfully generated a point cloud for each image, but I encounter a problem when trying to align them, because they are not in world coordinates.