0 I’m using ARKit + SceneKit (Swift) with ARWorldTrackingConfiguration and detectionImages to place a 3D object (USDZ via SCNScene(named:)) when a reference image is detected. While the image is tracked, the object stays correctly aligned. Goal: When the tracked image is no longer visible, I want the placed node to remain visible and fixed at its last known pose (no drifting) as I move the camera. What works so far: Detect image → add node → track updates When the image disappears → keep showing the node at its last pose Problem: After the image is no longer tracked, the node drifts as I move the device/camera. It looks like it’s still influenced by the (now unreliable) image anchor or accumulating small world-tracking errors. Question: What’s the correct way in ARKit to “freeze” the node at its last known world transform once ARImageAnchor stops tracking, so it doesn’t drift?

i'd like to have a little bit control over the transparency of the videomaterial. is there any way to prepare a shadergraph unlit shader and use it with the videomaterial.

I am using AccessoryTrackingProvider from ARKit to get the transform of the PSVR2 controller via originFromAnchorTransform of the AccessoryAnchor. I also am trying to use AnchorEntity on the controller using RealityKit However, none of the three options for Accessory.LocationName, which should be used to define the AnchorEntity target, seem to match the position on the controller which is being sent from ARKit. The picture attached is showing two transforms: RealityKit - using .gripSurface to define the AnchoringComponent.Target.accesssory location. ARKit - using originFromAnchorTransform for AccessoryTrackingProvider. They are not aligned at the same point. As for the other options of Accessory.LocationName, using .aim is located at the tip of the controller and .grip is the same position as .gripSurface but with a different orientation. I am wondering why there is not an option for Accessory.LocationName that actually matches the transform captured by ARKit?

We are working on a world scale AR app that leverages the device location and heading to place objects in the streets, so that they are correctly and stably anchored to certain locations. Since the geo-tracking imagery is only available in certain cities and areas, we are trying to figure out how to fallback when geo-tracking is not available as the device move away, to still retain good AR camera accuracy. We might need to come up with some algorithm using the device GPS, to line up the ARCamera with our objects. Question: Does geo-tracking always provide greater than or equal to the accuracy of world tracking, for a GPS outdoor AR experience? If so, we can simply use the ARGeoTrackingConfiguration for the entire time, and rely on the ARView keeping itself aligned. Otherwise, we need to switch between it and ARWorldTrackingConfiguration when geo-tracking is not available and/or its accuracy is low, then roll our own algorithm to keep the camera aligned. Thanks.

I am working with MeshAnchors, and I am having troubles getting to the classification of the triangles/faces. This post references the MeshAnchor.Geometry, and that struct does have a property named "classifications", but it is of type GeometrySource. I cannot find any classification information in GeometrySource. Am I missing something there? I think I am looking for something of type MeshAnchor.MeshClassification, but I cannot find any structs with this as a property.

Devices running iOS 18 using RealityKit do not seem to receive lighting supplied via ARKit Environment Texturing (https://developer.apple.com/documentation/arkit/arworldtrackingconfiguration/2977509-environmenttexturing). Instead just a default IBL is used by RealityKit. This happens with RealityView as well as ARView. It also happens when I explicitly opt-in to environment texturing: let worldTrackingConfig = ARWorldTrackingConfiguration() worldTrackingConfig.environmentTexturing = .automatic arView.session.run(worldTrackingConfig) Even the Xcode AR Template has this issue. I'm attaching a screenshot of the sample app running on iOS 18 where it's broken and from iOS 17 where it works as expected. I hope this can get resolved quickly since I see it as a major regression. Feedback ID: FB15091335 UPDATE: It works on my older iPhone XS (iOS 18 22A5282m) Broken on iPad Pro (11-inch) (3rd generation) (iPadOS 18.0 (22A5350a)) Maybe it's related to LiDAR? Thank you! iOS 17 (works): iOS 18 (broken):

I was watching the Developer videos, and there was mention that RealityView handles persistent world data differently and also automatically for us. I am having an issue finding the material I need to get up to speed on that. In ARKit, I was able to place a model with the world data and recall that .map data. It even stored a reference image for the scene to help match the world data. I'm looking for the information on how to implement and work with those same features with RealityView, as it seems to be better/automatically integrated? I need help being pointed in the right direction. Sample code would be amazing.

I'm trying to implement a prototype to render virtual objects in a mixed immersive space on the camer frames captured by CameraFrameProvider. Here are what I have done: Get camera's instrinsics from frame.primarySample.parameters.intrinsics Get camera's extrinsics from frame.primarySample.parameters.extrinsics Get the device anchor by worldTrackingProvider.queryDeviceAnchor(atTimestamp: CACurrentMediaTime()) Setup a RealityKit.RealityRenderer to render virtual objects on the captured camera frames let realityRenderer = try RealityKit.RealityRenderer() realityRenderer.cameraSettings.colorBackground = .outputTexture() let cameraEntity = PerspectiveCamera() // see https://developer.apple.com/forums/thread/770235 let cameraTransform = deviceAnchor.originFromAnchorTransform * extrinsics.inverse cameraEntity.setTransformMatrix(cameraTransform, relativeTo: nil) cameraEntity.camera.near = 0.01 cameraEntity.camera.far = 100 cameraEntity.camera.fieldOfViewOrientation = .horizontal // manually calculated based on camera intrinsics cameraEntity.camera.fieldOfViewInDegrees = 105 realityRenderer.entities.append(cameraEntity) realityRenderer.activeCamera = cameraEntity Virtual objects, which should be seen in the camera frames, are clipped out by the camera transform. If I use deviceAnchor.originFromAnchorTransform as the camera transform, virtual objects can be rendered on camera frames at wrong positions (I think it is because the camera extrinsics isn't used to adjust the camera to the correct position). My question is how to use the camera extrinsic matrix for this purpose? Does the camera extrinsics point to a similar orientation of the device anchor with some minor rotation and postion change? Here is an extrinsics from a camera frame. It seems that the direction of Y-axis and Z-axis are flipped by the extrinsics. So the camera is point to a wrong direction. simd_float4x4([[0.9914258, 0.012555369, -0.13006608, 0.0], // X-axis [-0.0009778949, -0.9946325, -0.10346654, 0.0], // Y-axis [-0.13066702, 0.10270659, -0.98609203, 0.0], // Z-axis [0.024519, -0.019568002, -0.058280986, 1.0]]) // translation

I'm working on creating a panorama view in AVP. When I got to this line of code Xcode says that "Type 'Entity' does not conform to protocol 'View'": private var realityView: RealityView! as well as this line, with the same error message: private func setupPanoramaScene(for content: RealityView.Content) What should I put as a argument for reality view? It doesn't work without arguments either.

We’re using the enterprise API for spatial barcode/QR code scanning in the Vision Pro app, but we often get invalid values for the barcode anchor from the API, leading to jittery barcode positions in the UI. The code we’re using is attached below. import SwiftUI import RealityKit import ARKit import Combine struct ImmersiveView: View { @State private var arkitSession = ARKitSession() @State private var root = Entity() @State private var fadeCompleteSubscriptions: Set = [] var body: some View { RealityView { content in content.add(root) } .task { // Check if barcode detection is supported; otherwise handle this case. guard BarcodeDetectionProvider.isSupported else { return } // Specify the symbologies you want to detect. let barcodeDetection = BarcodeDetectionProvider(symbologies: [.code128, .qr, .upce, .ean13, .ean8]) do { try await arkitSession.requestAuthorization(for: [.worldSensing]) try await arkitSession.run([barcodeDetection]) print("Barcode scanning started") for await update in barcodeDetection.anchorUpdates where update.event == .added { let anchor = update.anchor // Play an animation to indicate the system detected a barcode. playAnimation(for: anchor) // Use the anchor's decoded contents and symbology to take action. print( """ Payload: \(anchor.payloadString ?? "") Symbology: \(anchor.symbology) """) } } catch { // Handle the error. print(error) } } } // Define this function in ImmersiveView. func playAnimation(for anchor: BarcodeAnchor) { guard let scene = root.scene else { return } // Create a plane sized to match the barcode. let extent = anchor.extent let entity = ModelEntity(mesh: .generatePlane(width: extent.x, depth: extent.z), materials: [UnlitMaterial(color: .green)]) entity.components.set(OpacityComponent(opacity: 0)) // Position the plane over the barcode. entity.transform = Transform(matrix: anchor.originFromAnchorTransform) root.addChild(entity) // Fade the plane in and out. do { let duration = 0.5 let fadeIn = try AnimationResource.generate(with: FromToByAnimation<Float>( from: 0, to: 1.0, duration: duration, isAdditive: true, bindTarget: .opacity) ) let fadeOut = try AnimationResource.generate(with: FromToByAnimation<Float>( from: 1.0, to: 0, duration: duration, isAdditive: true, bindTarget: .opacity)) let fadeAnimation = try AnimationResource.sequence(with: [fadeIn, fadeOut]) _ = scene.subscribe(to: AnimationEvents.PlaybackCompleted.self, on: entity, { _ in // Remove the plane after the animation completes. entity.removeFromParent() }).store(in: &fadeCompleteSubscriptions) entity.playAnimation(fadeAnimation) } catch { print("Error") } } }

Hi there, I'm trying to merge the mesh anchor into a single mesh, but couldn't find any resources on this. Here is the code where I make the mesh from each mesh anchor, and assigned it to a model component with a shader graph material. func run(_ sceneRec: SceneReconstructionProvider) async { for await update in sceneRec.anchorUpdates { switch update.event { case .added, .updated: // Get or create entity for this anchor let anchorEntity = anchors[update.anchor.id] ?? { let entity = ModelEntity() root?.addChild(entity) anchors[update.anchor.id] = entity return entity }() // Remove any existing children for child in anchorEntity.children { child.removeFromParent() } // Generate the mesh from the anchor guard let mesh = try? await MeshResource(from: update.anchor) else { return } guard let shape = try? await ShapeResource.generateStaticMesh(from: update.anchor) else { continue } print("Mesh added, vertices: \(update.anchor.geometry.vertices.count), bounds: \(mesh.bounds)") // Get the material to use var material: RealityKit.Material if isMaterialLoaded, let loadedMaterial = self.shaderMaterial { material = loadedMaterial } else { // Use a temporary material until the shader loads var tempMaterial = UnlitMaterial() tempMaterial.color = .init(tint: .purple.withAlphaComponent(0.5)) material = tempMaterial } await MainActor.run { anchorEntity.components.set(ModelComponent(mesh: mesh, materials: [material])) anchorEntity.setTransformMatrix(update.anchor.originFromAnchorTransform, relativeTo: nil) // Add collision component with static flag - required for spatial interactions anchorEntity.components.set(CollisionComponent( shapes: [shape], isStatic: true, filter: .default )) // Make entity interactive - enables spatial taps, drags, etc. anchorEntity.components.set(InputTargetComponent()) let shadowComponent = GroundingShadowComponent( castsShadow: true, receivesShadow: true ) anchorEntity.components.set(shadowComponent) } I then use a spatial tap gesture to set the position parameter in the shader graph material that creates a nice gradient from the tap position on the mesh to the rest of the mesh. SpatialTapGesture() .targetedToAnyEntity() .onEnded { value in let tappedEntity = value.entity // Check if the tapped entity is a child of tracking.meshAnchors if isChildOfMeshAnchors(entity: tappedEntity) { // Get local position (in the entity's coordinate space) let localPosition = value.location3D // Convert to world position (scene coordinate space) let worldPosition = value.convert(localPosition, from: .local, to: .scene) print("Tapped mesh anchor at local position: \(localPosition)") print("Tapped mesh anchor at world position: \(worldPosition)") // Update the material parameter with the tap position updateMaterialTapPosition(entity: tappedEntity, position: worldPosition) } else { print("Tapped entity is not a mesh anchor") } } } My issue is that because there are several mesh anchors, the gradient often gets cut off by the edge of the mesh generated from the mesh anchor as suppose to a nice continuous gradient across the entire scene reconstructed mesh I couldn't find any documentations on how to merge mesh from mesh anchors, any tips would be helpful! Thank you!

The goal is to achieve precise joint tracking for clinical assessment. The Doctor is wearing the AVP and observing the Patients movement. Do you have any recommended best practices for integrating real-time joint tracking and displaying them on the patient within visionOS? We attempted to use VNHumanBodyPose3DObservation, which theoretically should work, but we are unable to display the detected joints in an Immersive Space for real-time validation. This makes it difficult for the doctor to ensure accurate tracking and if possible a photo or video of the Range of Motion assessment would be needed for the patient record. Are there alternative methods to achieve precise real-time joint tracking without requiring main camera access (com.apple.developer.arkit.main-camera-access.allow)?

Hi! I attempted to run a sample project for detecting human pose in photos, which can be found here: https://developer.apple.com/documentation/vision/detecting-human-body-poses-in-3d-with-vision The project works perfectly when run on my Macbook Pro M1, but it fails on Apple Vision Pro. After selecting the photo an endless loading screen is presented and the following output is produced in the console: Failed to initialize 2D Detection Algorithm. Failed to initialize 2D Pose Estimation Algorithm. Failed to initialize algorithm modules Network path is nil: (null) Failed to initialize 2D Detection Algorithm. Failed to initialize 2D Pose Estimation Algorithm. Failed to initialize algorithm modules Unable to perform the request: Error Domain=com.apple.Vision Code=9 "Async status object reported as failed but without an error" UserInfo={NSLocalizedDescription=Async status object reported as failed but without an error}. de-activating session 70138 after timeout It seems that VNDetectHumanBodyPose3DRequest is failing on Vision Pro for some reason. Are there any additional requirements for running Vision framework on VisionOS, that I might be missing?

I'm using ARKitSession and PlaneDetectionProvider to detect planes. I have a basics process to create an entity for each detected plane. Each one will get a random color for the material. Each plane is sized based on the bounds of the anchor provided by ARKit. let mesh = MeshResource.generatePlane( width: anchor.geometry.extent.width, depth: anchor.geometry.extent.height ) Then I'm using this to position each entity. entity.transform = Transform(matrix: anchor.originFromAnchorTransform) This seems to be the right method, but many (not all) planes are not where they should be. The sizes look OK, but the X and Y positions off. Take this large green plane on the wall. It should span the entire wall, but it is offset along the X position so that it is pushed to the left from where the center of the anchor is. When I visualize surfaces using the Xcode debugging tools, that tool reports the planes where I'd expect them to be. Can you see what I'm getting wrong here? Full code below struct Example068: View { @State var session = ARKitSession() @State private var planeAnchors: [UUID: Entity] = [:] @State private var planeColors: [UUID: Color] = [:] var body: some View { RealityView { content in } update: { content in for (_, entity) in planeAnchors { if !content.entities.contains(entity) { content.add(entity) } } } .task { try! await setupAndRunPlaneDetection() } } func setupAndRunPlaneDetection() async throws { let planeData = PlaneDetectionProvider(alignments: [.horizontal, .vertical, .slanted]) if PlaneDetectionProvider.isSupported { do { try await session.run([planeData]) for await update in planeData.anchorUpdates { switch update.event { case .added, .updated: let anchor = update.anchor if planeColors[anchor.id] == nil { planeColors[anchor.id] = generatePastelColor() } let planeEntity = createPlaneEntity(for: anchor, color: planeColors[anchor.id]!) planeAnchors[anchor.id] = planeEntity case .removed: let anchor = update.anchor planeAnchors.removeValue(forKey: anchor.id) planeColors.removeValue(forKey: anchor.id) } } } catch { print("ARKit session error \(error)") } } } private func generatePastelColor() -> Color { let hue = Double.random(in: 0...1) let saturation = Double.random(in: 0.2...0.4) let brightness = Double.random(in: 0.8...1.0) return Color(hue: hue, saturation: saturation, brightness: brightness) } private func createPlaneEntity(for anchor: PlaneAnchor, color: Color) -> Entity { let mesh = MeshResource.generatePlane( width: anchor.geometry.extent.width, depth: anchor.geometry.extent.height ) var material = PhysicallyBasedMaterial() material.baseColor.tint = UIColor(color) let entity = ModelEntity(mesh: mesh, materials: [material]) entity.transform = Transform(matrix: anchor.originFromAnchorTransform) return entity } }

In several visionOS apps, we readjust our scenes to the user's eye level (their heads). But, we have encountered issues whereby the WorldTrackingProvider returns bad/incorrect positions for the first x number of frames. See below code which you can copy paste in any Immersive Space. Relaunch the space and observe the numberOfBadWorldInfos value is inconsistent. a. what is the most reliable way to get the devices's position? b. is this indeed a bug? c. are we using worldInfo improperly? d. as a workaround, in our apps we set to 10 the number of frames to let pass before using worldInfo, should we set our threshold differently? import ARKit import Combine import OSLog import SwiftUI import RealityKit import RealityKitContent let SUBSYSTEM = Bundle.main.bundleIdentifier! struct ImmersiveView: View { let logger = Logger(subsystem: SUBSYSTEM, category: "ImmersiveView") let session = ARKitSession() let worldInfo = WorldTrackingProvider() @State var sceneUpdateSubscription: EventSubscription? = nil @State var deviceTransform: simd_float4x4? = nil @State var numberOfBadWorldInfos = 0 @State var isBadWorldInfoLoged = false var body: some View { RealityView { content in try? await session.run([worldInfo]) sceneUpdateSubscription = content.subscribe(to: SceneEvents.Update.self) { event in guard let pose = worldInfo.queryDeviceAnchor(atTimestamp: CACurrentMediaTime()) else { return } // `worldInfo` does not return correct values for the first few frames (exact number of frames is unknown) // - known SO: https://stackoverflow.com/questions/78396187/how-to-determine-the-first-reliable-position-of-the-apple-vision-pro-device deviceTransform = pose.originFromAnchorTransform if deviceTransform!.columns.3.y < 1.6 { numberOfBadWorldInfos += 1 logger.warning("\(#function) \(#line) deviceTransform.columns.3.y \(deviceTransform!.columns.3.y), numberOfBadWorldInfos \(numberOfBadWorldInfos)") } else { if !isBadWorldInfoLoged { logger.info("\(#function) \(#line) deviceTransform.columns.3.y \(deviceTransform!.columns.3.y), numberOfBadWorldInfos \(numberOfBadWorldInfos)") } isBadWorldInfoLoged = true // stop logging. } } } } }

I am trying to create an object in immersive space that is partially transparent (~50% opacity). I have implemented this in a few different ways including creating a model entity and setting its opacity component to 0.5, and creating a custom material with blending set to a transparent opacity of 0.5. These both work partially, as they behaved as intended for many cases, but seemingly randomly would act like occlusion material and block any other immersive content behind them, showing the real world instead. Some notes: I am using RealityKit to render the semi-transparent object and an opaque object that is behind the semi-transparent object. I am using VisionOS 2.1, and am updating the location of the semi-transparent object often. Both objects are ModelEntities. I would appreciate any guidance on how to implement this. Please let me know if there are any other questions.

My ARViewContainer code is not working. I don't know how to debug the issue and I don't know or see where my results is going to. I need help to resolve this issue. please help debug. See code below:

Hi all, I'm running into an issue with an app that previously worked fine on device using visionOS 2.0. After updating to visionOS 26, the same code runs fine in the simulator but crashes on the device with the following error: -[MTLDebugComputeCommandEncoder _validateThreadsPerThreadgroup:]:1330: failed assertion `(threadsPerThreadgroup.width(32) * threadsPerThreadgroup.height(32) * threadsPerThreadgroup.depth(1))(1024) must be <= 832. (kernel threadgroup size limit)` Is there any documented way to check or increase the allowed threadsPerThreadgroup size on Apple Vision Pro? Or any recommended workaround for this regression? Thanks in advance!

Hello RemoteDeviceIdentifier returns nil and therefore it crashes the HoverEffect sample project. I have vision26 beta 2 on both devices what the correct method of running this code sample ?

Hi, I called it "perspective problem", but I'm not quite sure what it is. I have a tag that I track with builtin camera. I calculate its pose, then use extrinsics and device anchor to calculate where to place entity with model. When I place an entity that overlaps with physical object and start to look at it from different angles, the virtual object begins to move. Initially I thought that it's something wrong with calculations, or some image distortion closer to camera edges is affecting tag detection. To check, I calculated the position only once and displayed entity there, the physical tracked object is not moving. Now, when I move my head, so the object is more to the left, or right in my field of view, the virtual object becomes misaligned to the left, or right. It feels like a parallax effect, but distance from me to entity and to physical object are exactly the same. Is that expected, because of some passthrough correction magic? And if so, can I somehow correct it back, so the entity always overlaps with object? I'm currently on v26 beta 5. I also don't quite understand the camera extrinsics, because it seems that I need to flip it around X by 180 degrees to make it work in deviceAnchor * extrinsics.inverse * tag (shouldn't it be in same coordinates as all other RealityKit things?).