Add real life texture to .obj model

Question

I have seen that there are a few older questions on here asking if adding a real life texture to a .obj file is possible using the in build Lidar scanner on newer devices, using RealityKit. Yet, there is still no solid answer to the solution. I am able to capture the camera image pretty easily using my ARView and ARSessionDelegate didUpdateFrame method. I am just looking for a solution on how to combine all the images generated into a texture map that relates to my .obj file and display it in my SCNView for approval. Any help on this will be greatly appreciated. Together we will solve this hidden mystery around real world texturing. I have read through all solutions on here already and even some that are suggesting it just isn't possible.