Access to spatial data as either point cloud or bounding box or any other form

I have been using quest pro for a while. Although it doesn't have a depth sensor like LiDAR, it has spatial understanding of its environment. Like if you create a roomscale boundary, you will see objects being detected with red dots and blue lines. If you place a new object inside your boundary, it will be detected as well. My question is , do devs have access to this spatial data? If yes, through which API?