ARFrame.sceneDepth not correctly registered with ARFrame.capturedImage for iPad Pro (6th Gen) for high resolution capture.

Hi team,

I believe I’ve found a registration issue between ARFrame.sceneDepth and ARFrame.capturedImage when using high-resolution frame capture on a 2022 iPad Pro (6th gen).

When enabling high-resolution capture:

if let highResFormat = ARWorldTrackingConfiguration.recommendedVideoFormatForHighResolutionFrameCapturing {
    config.videoFormat = highResFormat
}
…
arView.session.captureHighResolutionFrame { ... }

the depth map provided by ARFrame.sceneDepth no longer aligns correctly with the corresponding high-resolution capturedImage. This misalignment results in consistently over-estimated distance measurements in my app (which relies on mapping depth to 2D pixel coordinates).

iPad Pro (6th gen): misalignment occurs only when capturing high-resolution frames.

iPhone 16 Pro: depth is correctly registered for both standard and high-resolution captures.

It appears the camera intrinsics, specifically the FOV, change between the “regular” resolution stream and the high-resolution capture on the iPad. My suspicion is that the depth data continues using the intrinsics of the lower resolution stream, resulting in an unregistered depth-to-RGB mapping.

Once I have the iPad in hand again, I will confirm whether camera.intrinsics or FOV differ between the low-res and high-res frames.

Is this a known issue with high-resolution frame capture on the 2022 iPad Pro? If not, I’m happy to provide some more thorough sample code.

Thanks for your time!