In visionOS. mix mode, I place a virtual object on the floor and a chair in front of it, but the chair does not obstruct the virtual object, making the effect unrealistic. How to make chairs and other objects in reality cover virtual objects

I was executing some code from Incorporating real-world surroundings in an immersive experience func processReconstructionUpdates() async { for await update in sceneReconstruction.anchorUpdates { let meshAnchor = update.anchor guard let shape = try? await ShapeResource.generateStaticMesh(from: meshAnchor) else { continue } switch update.event { case .added: let entity = ModelEntity() entity.transform = Transform(matrix: meshAnchor.originFromAnchorTransform) entity.collision = CollisionComponent(shapes: [shape], isStatic: true) entity.components.set(InputTargetComponent()) entity.physicsBody = PhysicsBodyComponent(mode: .static) meshEntities[meshAnchor.id] = entity contentEntity.addChild(entity) case .updated: guard let entity = meshEntities[meshAnchor.id] else { continue } entity.transform = Transform(matrix: meshAnchor.originFromAnchorTransform) entity.collision?.shapes = [shape] case .removed: meshEntities[meshAnchor.id]?.removeFromParent() meshEntities.removeValue(forKey: meshAnchor.id) } } } I would like to toggle the Occlusion mesh available on the dev tools below, but programmatically. I would like to have a button, that would activate and deactivate that. I was checking .showSceneUnderstanding but it does not seem to work in visionOS. I get the following error 'ARView' is unavailable in visionOS when I try what is available Visualizing and Interacting with a Reconstructed Scene

We have a random issue that when ARKitSession.run() is called, monitorSessionEvents() receives .paused and it never transitions to .running If we exit Immersive Space and do ARKitSesssion.run() again it works fine. Unfortunately this is very difficult to manage in the flow of our App.

I am trying to map the 3D skeleton joint positions of an ARBodyAnchor to the real body on the camera image. I know I could simply use the "detectedBody" of the ARFrame, which would already deliver the normalized 2D position of each joint, but what I am mostly interested in is the z-axis (the distance of each joint to the camera). I am starting a ARBodyTrackingConfiguration, setting the world alignment to ARWorldAlignmentCamera (in which case the camera transform is an identity matrix) and multiplying each joint transform in model space (via modelTransformForJointName:) with the transform of the ARBodyAnchor. And then tried many different ways to get the joints to line up with the image, by for example multiplying the transforms with the projectionMatrix of the ARCamera. But whatever I do, it never lines up correctly. For example, the doesn't really seem to be a scale factor in the projectionMatrix or the ARBodyAnchor transform, no matter the distance of the camera to the detected body, the scale of the body is always the same. Which means I am missing something important, and I haven't figured out what. So does anyone have an example of how I can get the body align to the camera image? (or get the distance to each joint in any other way?) Thanks!

Seeing a flurry of these in Xcode 15 Beta 8 while debugging an ARKit app <<<< AVPointCloudData >>>> Fig assert: "_dataBuffer" at bail (AVPointCloudData.m:217) - (err=0)

I'm creating a custom scanning solution for iOS and using RealityKit Object Capture PhotogrammetrySession API to build a 3D model. I'm finding the data I'm sending to it is ignoring the depth and not building the model to scale. The documentation is a little light on how to format the depth so I'm wondering if someone could take a look at some example files I send to the PhotogrammetrySession. Would you be able to tell me what I'm not doing correctly? https://drive.google.com/file/d/1-GoeR_KMhX_i7-y8M8ElDRrySasOdoHy/view?usp=sharing Thank you!

I am generating a USD file with RealityKit and ARKit. I want to, within the same app, open the USD file and display it as if it was a USDZ file. For the user to see, without having to send it to another device. Is this possible? Thanks

I am trying to determine the corners of a RoomPlan-detected wall using the information available in the ARView session's frame, but can't quite figure out what I'm doing wrong. The corners appear to be correct relative to each other, but the wall appears too large when I render it. (I'm also not sure I'm handling the image rotation correctly either, which may be compounding my problem). Here is the code I currently have, along with a sample image, and the resulting image when I pass it through the perspective filter. it is close but isn't cropping the walls and floors correctly. func captureSession(_ session: RoomCaptureSession, didChange room: CapturedRoom) { for surface in room.walls { if let frame = self.arView.session.currentFrame { var image: CGImage? = nil VTCreateCGImageFromCVPixelBuffer(frame.capturedImage, options: nil, imageOut: &image) let wallTransform = surface.transform let cameraTransform = frame.camera.transform let intrinsics = frame.camera.intrinsics let projectionMatrix = frame.camera.projectionMatrix let width = surface.dimensions.y let height = surface.dimensions.x let inverseCameraTransform = simd_inverse(cameraTransform) let wallTopRight = simd_float4(width/2, height/2, 0, 1) let wallTopLeft = simd_float4(-width/2, height/2, 0, 1) let wallBottomRight = simd_float4(width/2, -height/2, 0, 1) let wallBottomLeft = simd_float4(-width/2, -height/2, 0, 1) let worldTopRight = wallTransform * wallTopRight let worldTopLeft = wallTransform * wallTopLeft let worldBottomRight = wallTransform * wallBottomRight let worldBottomLeft = wallTransform * wallBottomLeft let cameraTopRight = projectionMatrix * inverseCameraTransform * worldTopRight let cameraTopLeft = projectionMatrix * inverseCameraTransform * worldTopLeft let cameraBottomRight = projectionMatrix * inverseCameraTransform * worldBottomRight let cameraBottomLeft = projectionMatrix * inverseCameraTransform * worldBottomLeft let imageTopRight = intrinsics * simd_float3(cameraTopRight.x / cameraTopRight.w, cameraTopRight.y / cameraTopRight.w, cameraTopRight.z / cameraTopRight.w) let imageTopLeft = intrinsics * simd_float3(cameraTopLeft.x / cameraTopLeft.w, cameraTopLeft.y / cameraTopLeft.w, cameraTopLeft.z / cameraTopLeft.w) let imageBottomRight = intrinsics * simd_float3(cameraBottomRight.x / cameraBottomRight.w, cameraBottomRight.y / cameraBottomRight.w, cameraBottomRight.z / cameraBottomRight.w) let imageBottomLeft = intrinsics * simd_float3(cameraBottomLeft.x / cameraBottomLeft.w, cameraBottomLeft.y / cameraBottomLeft.w, cameraBottomLeft.z / cameraBottomLeft.w) let topRight = CGPoint(x: CGFloat(imageTopRight.x), y: CGFloat(imageTopRight.y)) let topLeft = CGPoint(x: CGFloat(imageTopLeft.x), y: CGFloat(imageTopLeft.y)) let bottomRight = CGPoint(x: CGFloat(imageBottomRight.x), y: CGFloat(imageBottomRight.y)) let bottomLeft = CGPoint(x: CGFloat(imageBottomLeft.x), y: CGFloat(imageBottomLeft.y)) if let image { let filter = CIFilter.perspectiveCorrection() filter.inputImage = CIImage(image: UIImage(cgImage: image)) filter.topRight = topRight filter.topLeft = topLeft filter.bottomRight = bottomRight filter.bottomLeft = bottomLeft let transformedImage = filter.outputImage if let transformedImage { let context = CIContext() if let outputImage = context.createCGImage(transformedImage, from: transformedImage.extent) { let wall = Wall(id: surface.identifier, image: outputImage, surface: surface) self.walls.append(wall) } } } } } }

I'm developing a 3D scanner works on a iPad(6th gen, 12-inch). Photogrammetry with ObjectCaptureSession was successful, but other trials are not. I've tried Photogrammetry with URL inputs, these are pictures from AVCapturePhoto. It is strange... if metadata is not replaced, photogrammetry would be finished but it seems to be no depthData or gravity info were used. (depth and gravity is separated files). but if metadata is injected, this trial are fails. and this time i tried to Photogrammetry with PhotogrammetrySamples sequence and it also failed. the settings are: camera: back Lidar camera, image format: kCVPicelFormatType_32BGRA(failed with crash) or hevc(just failed) image depth format: kCVPixelFormatType_DisparityFloat32 or kCVPixelFormatType_DepthFloat32 photoSetting: isDepthDataDeliveryEnabled = true, isDepthDataFiltered = false, embeded = true I wonder iPad supports Photogrammetry with PhotogrammetrySamples I've already tested some sample codes provided by apple: https://developer.apple.com/documentation/realitykit/creating_a_photogrammetry_command-line_app https://developer.apple.com/documentation/avfoundation/additional_data_capture/capturing_depth_using_the_lidar_camera https://developer.apple.com/documentation/realitykit/taking_pictures_for_3d_object_capture What should I do to make Photogrammetry successful?

I am trying to change the color of usdz asset provide by my designer. But I am unable to do. Can some help me with some sample code

When isAutoFocusEnabled is set to true, the entity in the scene keeps shaking. No focus when isAutoFocusEnabled is set to false. How to set up to solve this problem. override func viewDidLoad() { super.viewDidLoad() arView.session.delegate = self guard let arCGImage = UIImage(named: "111", in: .main, with: .none)?.cgImage else { return } let arReferenceImage = ARReferenceImage(arCGImage, orientation: .up, physicalWidth: CGFloat(0.1)) let arImages: Set<ARReferenceImage> = [arReferenceImage] let configuration = ARImageTrackingConfiguration() configuration.trackingImages = arImages configuration.maximumNumberOfTrackedImages = 1 configuration.isAutoFocusEnabled = false arView.session.run(configuration) } func session(_ session: ARSession, didAdd anchors: [ARAnchor]) { anchors.compactMap { $0 as? ARImageAnchor }.forEach { let anchor = AnchorEntity(anchor: $0) let mesh = MeshResource.generateBox(size: 0.1, cornerRadius: 0.005) let material = SimpleMaterial(color: .gray, roughness: 0.15, isMetallic: true) let model = ModelEntity(mesh: mesh, materials: [material]) model.transform.translation.y = 0.05 anchor.children.append(model) arView.scene.addAnchor(anchor) } }

I am developing an iOS app intended to be used only a specific location (a campus). In this case, I'd like to use ARGeoAnchor to anchor content across a relatively large space, though in the pedestrian-only areas this is not supported and tracking begins to fail. Is it possible to additionally use ARReferenceObject to re-localize to a specific location when I am walking in an unsupported area. (FB13719373)

I am planning to build a VisionOS app and need to get access to the persona (avatar). I have not found any information regarding integration possibilities in the docs. Does anyone know if and how I can access the user's persona? Other applications like Zoom and Teams for VisionOS use the persona, so I think it is basically possible. Apparently (if it's not fake) there is also a chess game with integrated persona: https://www.youtube.com/watch?v=mMzK8C3t14I Any help is very welcome, thanks.

Flow: User enters app and starts an arkit session with worldtracking and scene reconstruction. User closes app so we stop the session. User re-enters app and we try to run the session but app crashes with error: "It is not possible to re-run a stopped data provider. If we remove code to stop the session, when the user re-enters the app the scene reconstruction doesn't work properly and shows inaccurate meshing data. Is this a bug or am I doing something wrong here? Any ideas or insight are appreciated

It appears that when a class like the following: " class RoomCaptureViewController: UIViewController, RoomCaptureViewDelegate,ARSCNViewDelegate, MTKViewDelegate, ARSessionDelegate, RoomCaptureSessionDelegate. " has multiple delegates, the ordering of the priority of each message is delivered to a delegate by a priority sensitive order based algorithm and that one message can be processed by only one delegate and not passed off to other delegates if they don't have the proper entry points. Specifically I noted that changing the order seems to result in a delegate not getting a message that it should be seeing. Is there a "handoff" call that can be made after a delegate has seen a message but needs to pass it off to another delegate for processing? This is a protocol typically utilized in Interrupt handlers for PCIe and other messaging protocols and I have not been able to find a similar capability In the voluminous documentation available for IOS and Mac systems. I would also like to know how a message is dispatched by a class to the particular delegate for which the message was intended. Is there a detailed document that explains how the messaging protocol works that is not so fragmented as to require having multiple monitors open in order to form a coherent picture of the messaging interface for Delegates belonging to a class?

While WorldTrackingProvider.removeAnchor() completes without error, the WorldAnchor might be back the next time the App is run. This can easily be replicated by the ObjectPlacement sample. Just add 10 objects, Remove All, then run App again. The first run the anchors might be gone, but run the App a couple more times and the anchors will come back. This becomes a big problem when paired with the issue that anchors are not always found when the App enter Immersive mode. When an anchor is not found our App will add an anchor. That usually works fine for that run. The next run, however, the other anchors will show up. Anchors accumulate and it becomes difficult to track.