Realtime Occlusion with Meta Quest Pro and Passthrough

Hello There

Is there any way to get depth information in addition to the Color Passthrough form the Meta Quest Pro? Or maybe even an Mesh of the environment?

I want it to be able to occlude my virtual assets in realtime, eg. when people are walking in front of it. When setting up the Guardian there seems to be some kind of obstacle recognition going on, how are they doing this and can i do the same? I'm using Unity and the latest version of the OculusSDK (v46)

Using Room Setup and drawing everything in by hand is not an option, since some stuff is moving around.

Thanks for your advice!