https://developer.apple.com/documentation/arkit/arpointcloud https://developer.apple.com/documentation/arkit/arframe/rawfeaturepoints The point cloud (collection of points/features) main intention is a debug visualization to what the underlying tracking algorithm processes and is not designed for additional algorithms on top of that. But, we are utilizing information contained in the points/features collected by ARKit. Currently, the range of rawfeaturepoints is limited to about 10 meter from the device. We see a great chance if the range is unlock. The global localization will be more robust and accurate. ARPointCloud - Apple ARKit - FindSurface YouTube SIdQRiLj2jY

A bit of background on what our app is doing: We have a RealityKit ARView session running. During this period we place objects in RealityKit. At some point user can "take photo" and we use session.captureHighResolutionFrame to capture a frame. We then use captured frame and frame.camera.projectPoint to project my objects back to 2D Issue we found is that on devices that have iOS26, first photo user takes and the first frame received from session.captureHighResolutionFrame gives incorrect CGPoint for frame.camera.projectPoint. If user takes the second photo with the same camera phostion, second frame received from session.captureHighResolutionFrame gives correct CGPoint for frame.camera.projectPoint I notices some difference between first and subsequent frames that i believe is corresponding with the issue. Yaw value of camera (frame.camera.eulerAngles.y) on first frame is not correct ( inconsistent with any subsequent frame) I also created a small example app and i followed Building an Immersive Experience with RealityKit example to create it. The issue exists in this app for iOS26, while iOS18.* has consistent values between first and subsequent captured frames. Note: The yaw value seems to differ more if we start session in portrait but take photo in landscape. Example result for 3 captured frames: Frame captured with yaw: 1.4855177402496338 Frame captured with yaw: -0.08803760260343552 Frame captured with yaw: -0.08179682493209839 Example code: class CustomARView: ARView, ARSessionDelegate { required init(frame: CGRect) { super.init(frame: frame) } required init?(coder decoder: NSCoder) { fatalError("init(coder:) has not been implemented")} func setup() { let singleTap = UITapGestureRecognizer(target: self, action: #selector(handleTap)) addGestureRecognizer(singleTap) } @objc func handleTap(_ gestureRecognizer: UIGestureRecognizer) { Task { do { let frame = try await session.captureHighResolutionFrame() print("Frame captured with yaw: \(Double(frame.camera.eulerAngles.y))") } catch { } } } } struct CustomARViewUIViewRepresentable: UIViewRepresentable { func makeUIView(context: Context) -> some UIView { let arView = CustomARView(frame: .zero) arView.setup() return arView } func updateUIView(_ uiView: UIViewType, context: Context) { } } struct ContentView: View { var body: some View { CustomARViewUIViewRepresentable() .frame(maxWidth: .infinity, maxHeight: .infinity) .ignoresSafeArea() } }

This is related to the WWDC presentation, What's new in Metal rendering for immersive apps.. Specifically, the macOS spatial streaming to visionOS feature: For reference: the page in the docs. The presentation demonstrates it using a full immersive space and Metal rendering using compositor services. I'd like clarity on a few things: Is the remote device wireless, or must the visionOS device be connected via a wired connected? Is there a limit to the number of remote devices, and if not, could macOS render different things per remote device simultaneously? Can I also use mixed mode with passthrough enabled, instead of just a fully-immersive mode? Can I use RealityKit instead of Metal? If so, may I have an example, or would someone point to an example?

I'm placing sphere at finger tip and updating its position as hand move. Finger joint tracking functions correctly, but I’ve observed noticeable latency in hand tracking updates whenever a UITextView becomes active. This lag happens intermittently during app usage, lasting about 5–10 seconds, after which the latency disappears and the sphere starts following the finger joints immediately. When I open the immersive space for the first time, the profiler shows a large performance spike upto 328%. After that, it stabilizes and runs smoothly. Note: I don’t observe any lag when CPU usage spikes to 300% (upon immersive view load) yet the lag still occurs even when CPU usage remains below 100%. I’m using the following code for hand tracking: private func processHandTrackingUpdates() async { for await update in handTracking.anchorUpdates { let handAnchor = update.anchor if handAnchor.isTracked { switch handAnchor.chirality { case .left: leftHandAnchor = handAnchor updateHandJoints(for: handAnchor, with: leftHandJointEntities) case .right: rightHandAnchor = handAnchor updateHandJoints(for: handAnchor, with: rightHandJointEntities) } } else { switch handAnchor.chirality { case .left: leftHandAnchor = nil hideAllJoints(in: leftHandJointEntities) case .right: rightHandAnchor = nil hideAllJoints(in: rightHandJointEntities) } } await MainActor.run { handTrackingData.processNewHandAnchors( leftHand: self.leftHandAnchor, rightHand: self.rightHandAnchor ) } } } And here’s the function I’m using to update the joint positions: private func updateHandJoints( for handAnchor: HandAnchor, with jointEntities: [HandSkeleton.JointName: Entity] ) { guard handAnchor.isTracked else { hideAllJoints(in: jointEntities) return } // Check if the little finger tip and intermediate base are both tracked. if let tipJoint = handAnchor.handSkeleton?.joint(.littleFingerTip), let intermediateBaseJoint = handAnchor.handSkeleton?.joint(.littleFingerIntermediateTip), tipJoint.isTracked, intermediateBaseJoint.isTracked, let pinkySphere = jointEntities[.littleFingerTip] { // Convert joint transforms to world space. let tipTransform = handAnchor.originFromAnchorTransform * tipJoint.anchorFromJointTransform let intermediateBaseTransform = handAnchor.originFromAnchorTransform * intermediateBaseJoint.anchorFromJointTransform // Extract positions from the transforms. let tipPosition = SIMD3<Float>(tipTransform.columns.3.x, tipTransform.columns.3.y, tipTransform.columns.3.z) let intermediateBasePosition = SIMD3<Float>(intermediateBaseTransform.columns.3.x, intermediateBaseTransform.columns.3.y, intermediateBaseTransform.columns.3.z) // Calculate the midpoint. let midpointPosition = (tipPosition + intermediateBasePosition) / 2.0 // Position the sphere at the midpoint and make it visible. pinkySphere.isEnabled = true pinkySphere.transform.translation = midpointPosition } else { // If either joint is not tracked, hide the sphere. jointEntities[.littleFingerTip]?.isEnabled = false } // Update the positions of all other hand joint spheres. for (jointName, entity) in jointEntities { if jointName == .littleFingerTip { // Already handled the pinky above. continue } guard let joint = handAnchor.handSkeleton?.joint(jointName), joint.isTracked else { entity.isEnabled = false continue } entity.isEnabled = true let jointTransform = handAnchor.originFromAnchorTransform * joint.anchorFromJointTransform entity.transform.translation = SIMD3<Float>(jointTransform.columns.3.x, jointTransform.columns.3.y, jointTransform.columns.3.z) } } I’ve attached both a profiler trace and a video recording from Vision Pro that clearly demonstrate the issue. Profiler: https://drive.google.com/file/d/1fDWyGj_fgxud2ngkGH_IVmuH_kO-z0XZ Vision Pro Recordings: https://drive.google.com/file/d/17qo3U9ivwYBsbaSm26fjaOokkJApbkz- https://drive.google.com/file/d/1LxTxgudMvWDhOqKVuhc3QaHfY_1x8iA0 Has anyone else experienced this behavior? My thought is that there might be some background calculations happening at the OS level causing this latency. Any guidance would be greatly appreciated. Thanks!

I have a problem with the wall plane detection using visionOS/ARKit: I am using ARKitSession's PlaneDetectionProvider detection.wall in the space of visionOS. I recorded the position and rotation information of the first detected plane, but found that the rotation value will be facing when the user starts the space. There is a deviation in different directions. That is to say, even if the plane is located on the same wall, the rotation quaternion will be different. I hope that no matter from which direction the user enters the scan, the real direction of the wall can be correctly obtained so that the virtual content can be accurately aligned with the wall. I have tried to use anchor.originFromAnchorTransform or Transform.rotation directly, but the rotation value is still affected by the user's initial orientation. In addition, I would like to know whether the user's initial orientation will affect the location information. If so, please provide a solution. Thank you!

Hi everyone, I’m encountering a memory overflow issue in my visionOS app and I’d like to confirm if this is expected behavior or if I’m missing something in cleanup. App Context The app showcases apartments in real scale using AR. Apartments are heavy USDZ models (hundreds of thousands of triangles, high-resolution textures). Users can walk inside the apartments, and performance is good even close to hardware limits. Flow The app starts in a full immersive space (RealityView) for selecting the apartment. When an apartment is selected, a new ImmersiveSpace opens and the apartment scene loads. The scene includes multiple USDZ models, EnvironmentResources, and dynamic textures for skyboxes. When the user dismisses the experience, we attempt cleanup: Nulling out all entity references. Removing ModelComponents. Clearing cached textures and skyboxes. Forcing dictionaries/collections to empty. Despite this cleanup, memory usage remains very high. Problem After dismissing the ImmersiveSpace, memory does not return to baseline. Check the attached screenshot of the profiling made using Instruments: Initial state: ~30MB (main menu). After loading models sequentially: ~3.3GB. Skybox textures bring it near ~4GB. After dismissing the experience (at ~01:00 mark): memory only drops slightly (to ~2.66GB). When loading the second apartment, memory continues to increase until ~5GB, at which point the app crashes due to memory pressure. The issue is consistently visible under VM: IOSurface in Instruments. No leaks are detected. So it looks like RealityKit (or lower-level frameworks) keeps caching meshes and textures, and does not free them when RealityView is ended. But for my use case, these resources should be fully released once the ImmersiveSpace is dismissed, since new apartments will load entirely different models and textures. Cleanup Code Example Here’s a simplified version of the cleanup I’m doing: func clearAllRoomEntities() { for (entityName, entity) in entityFromMarker { entity.removeFromParent() if let modelEntity = entity as? ModelEntity { modelEntity.components.removeAll() modelEntity.children.forEach { $0.removeFromParent() } modelEntity.clearTexturesAndMaterials() } entityFromMarker[entityName] = nil removeSkyboxPortals(from: entityName) } entityFromMarker.removeAll() } extension ModelEntity { func clearTexturesAndMaterials() { guard var modelComponent = self.model else { return } for index in modelComponent.materials.indices { removeTextures(from: &modelComponent.materials[index]) } modelComponent.materials.removeAll() self.model = modelComponent self.model = nil } private func removeTextures(from material: inout any Material) { if var pbr = material as? PhysicallyBasedMaterial { pbr.baseColor.texture = nil pbr.emissiveColor.texture = nil pbr.metallic.texture = nil pbr.roughness.texture = nil pbr.normal.texture = nil pbr.ambientOcclusion.texture = nil pbr.clearcoat.texture = nil material = pbr } else if var simple = material as? SimpleMaterial { simple.color.texture = nil material = simple } } } Questions Is this expected RealityKit behavior (textures/meshes cached internally)? Is there a way to force RealityKit to release GPU resources tied to USDZ models when they’re no longer used? Should dismissing the ImmersiveSpace automatically free those IOSurfaces, or do I need to handle this differently? Any guidance, best practices, or confirmation would be hugely appreciated. Thanks in advance!

In the CanyonCrosser example project, some RealityKit systems are implemented as classes while others are structs. What’s the reason for using different types?

Hi, I've been trying to submit an app, without much success. Describing the app in general terms, its an Augmented Reality app (for phone or tablet) that depends on a QR code to be used. The QR code is provided during a live training session (engineers go to exhibitions and provide the QR code), where the user can point the camera at and an interactive 3D object, related to the piping industry, appears. I was signaled about "minimum functionality" for the case of users who download and don't have the QR code (in which case, the app is indeed useless). Something that I've previously seen in AppStore for other apps, btw Please, could anyone provide me a suggestion of what to do in this case? Is an initial warning describing the condition enough? Should it have something more complex than that at the start? The latest feedback was: "Hello, Thank you for your resubmission. Upon further review, we identified additional issues that need your attention. See below for more information. If you have any questions, we are here to help. Reply to this message in App Store Connect and let us know. Review Environment Guideline 4.2 - Design - Minimum Functionality We noticed that your app includes an AR or QR scanner but does not include any additional content or functionality unless the user has access to the AR marker or QR code. While we understand that your app displays additional content when an AR marker or QR code is scanned, to users who do not have access to the AR markers or QR codes, your app only appears to display a camera view. Next Steps We encourage you to provide your users with additional content in your app, including directions on how to use your app and information on how to obtain any necessary AR markers or QR codes. To ensure users have the best experience, apps should provide valuable utility or entertainment, draw people in by offering compelling capabilities or content, or enable people to do something they couldn't do before or in a way they couldn't do it before."

I downloaded Xcode 16 and updated my macOS to 15, but I keep getting this error when trying to build the game in simulator or in device [xrsimulator] Exception thrown: The operation couldn’t be completed. (realitytool.RKAssetsCompiler.RKAssetsCompilerError error 3.)

Hey there, since SceneView has been marked as „deprecated“ for SwiftUI, I‘m wondering which alternatives should be considered for the following situation: I have a SwiftUI app (for iOS and iPadOS) where users can view (with rotate, scale, move gestures) 3D models (USDZ) in a scene. The models will be downloaded from web backend and called via local URL paths. What I tested: I‘ve tried ARView in .nonAR mode, RealityView, however I didn‘t get the expected response -> User can rotate, scale the 3D models in a virtual space. ARView in nonAR mode still shows the object like in normal AR mode without camera stream. I tried to add Gestures to the RealityView on iOS - loading USDZ 3D models worked but the gestures didn’t). Model3D is only available for visionOS (that would be amazing to have it for iOS) I also checked QuickLook Preview however it works pretty strange via Filepicker etc, which is not the way how the user should load the 3D models in my app. Maybe I missed something, I couldn’t find anything which can help me. I‘m pretty much stucked adopting the latest and greatest frameworks/APIs in my App and taking the next steps porting my app to visionOS. Long story short 😃: Does someone have an idea what is the alternative to SceneView for USDZ 3D models? I appreciate your support!! Thanks in advance!

Apple, please provide access to face tracking blend shapes on vision os, just like you do on iOS. You have the best eye and face tracking implementation on the market, please let us use it. There is a sizable audience who will buy the headset just for it. I personally know multiple people who are not buying the headset simply because you locked those features out. No raw camera access is needed, just abstracted blendshapes values. You will make the headset so much more useful if you do this simple thing.

We're using RealityKit to create a science education AR app for iOS, iPadOS, and visionOS. In the WWDC25 session video "Bring your SceneKit project to RealityKit" https://developer.apple.com/videos/play/wwdc2025/288 at 8:15, it's explained that when using RealityKit, RealityView should be used in all cases, whereas in the past, SceneKit required SCNView, SceneView, or ARSCNView, depending on an app's requirements. Because the initial development of our app on iOS predates iOS 18's RealityView, our app currently uses ARView to render RealityKit AR content on iOS and iPadOS. Is it recommended that we migrate to RealityView, or can we safely continue using our existing ARView implementation? We'd prefer to avoid unnecessary development cost. If migrating from ARView to RealityView is recommended, what specific benefits should we expect from this transition? Thank you.

Hello everyone, I'm a new developer and I'm still learning the foundations of Swift and SwiftUI while building my first app. Today I wanted to ask you how to implement AR Quixck Views inside my app. I wanna be able to dynamically preview AR objects in a dedicated view, however, I don't seem to have understood where and how to locate AR objects inside my project. I tried including them in the Assets folder of the project, or in the Recources folder, or within the main folder of my project alongside the MyAppApp.swift file. None of the methods I used seemed have worked in that none of the objects was ever located. I made sure to specify the path to the files every time, but somehow the location isn't recognized. I also tried giving no path so that the app would search for the files in their default location (which I apparently haven't grasped yet), but still my attempt failed. I don't have the code sample on me at the moment, but I will write a followup comment on this post to show you what I wrote in case anyone was interested in debugging my code. Meanwhile, if anyone would be so kind to point me at the support article or to comment below the sample code they used in their app, I would very much appreciate it, so that I can start debugging. Thank you for reading this, I appreciate you.

Hi, I have a SwiftUI View, that is attached to a 3D object in Reality View. This is supposed to be a HUD for the user to select a few things. I wanted a sub menu for one of the top level buttons. But looks like none of the reasonable choices like Menu, Sheet or Popover work. Is there a known limitation of RealityKit Views where full SwiftUI cannot be used? Or am I doing something wrong? For example, Button { SLogger.info("Toggled") withAnimation { showHudPositionMenu.toggle() } } label: { HStack { Image(systemName: "rectangle.3.group") Text("My Button") } } .popover(isPresented: $showHudPositionMenu, attachmentAnchor: attachmentAnchor) { HudPositionMenuItems(showHudPositionMenu: $showHudPositionMenu, currentHudPosition: $currentHudPosition) } This will print "Toggled" but will not display the MenuItems Popover. If it makes any difference, this is attached to a child of a head tracked entity.

I saw this demo on the website. Do you have the address for the demo? If not, how is the following image content implemented? Can you tell me which style of WindowGroup is used to create this custom window, and the buttons to move and close the window are located at the bottom of the menu bar. Thank you, thank [you]

Hello, we have a requirement where clicking a button will highlight the model, similar to the effect seen by the eyes. However, the eyes do not see it and it is achieved by clicking a button. What should we do? Thank you for your reply

I have two RealityView: ParentView and When click the button in ParentView, ChildView will be shown as full screen cover, but the camera feed in ChildView will not be shown, only black screen. If I show ChildView directly, it works with camera feed. Please help me on this issue? Thanks. import RealityKit import SwiftUI struct ParentView: View{ @State private var showIt = false var body: some View{ ZStack{ RealityView{content in content.camera = .virtual let box = ModelEntity(mesh: MeshResource.generateSphere(radius: 0.2),materials: [createSimpleMaterial(color: .red)]) content.add(box) } Button("Click here"){ showIt = true } } .fullScreenCover(isPresented: $showIt){ ChildView() .overlay( Button("Close"){ showIt = false }.padding(20), alignment: .bottomLeading ) } .ignoresSafeArea(.all) } } import ARKit import RealityKit import SwiftUI struct ChildView: View{ var body: some View{ RealityView{content in content.camera = .spatialTracking } } }

Hi everyone, I'm developing an ARKit app using RealityKit and encountering an issue where a video displayed on a 3D plane shows up as a pink screen instead of the actual video content. Here's a simplified version of my setup: func createVideoScreen(video: AVPlayerItem, canvasWidth: Float, canvasHeight: Float, aspectRatio: Float, fitsWidth: Bool = true) -> ModelEntity { let width = (fitsWidth) ? canvasWidth : canvasHeight * aspectRatio let height = (fitsWidth) ? canvasWidth * (1/aspectRatio) : canvasHeight let screenPlane = MeshResource.generatePlane(width: width, depth: height) let videoMaterial: Material = createVideoMaterial(videoItem: video) let videoScreenModel = ModelEntity(mesh: screenPlane, materials: [videoMaterial]) return videoScreenModel } func createVideoMaterial(videoItem: AVPlayerItem) -> VideoMaterial { let player = AVPlayer(playerItem: videoItem) let videoMaterial = VideoMaterial(avPlayer: player) player.play() return videoMaterial } Despite following the standard process, the video plane renders pink. Has anyone encountered this before, or does anyone know what might be causing it? Thanks in advance!

Hi there I'm using Reality Composer Pro to anchor virtual content to a .referenceobject. However moving the referenceobject quickly causes tracking to stop. (I know this is a limitation and I am trying to embrace it as a feature) Is there a way to play a USDZ animation at the last known location, after detecting that the reference object is no longer tracked? is it possible to set this up in Reality Composer pro? I'm trying to get the USDZ to play before the Virtual Content disappears (due to reference object not being located). So that it smooths out the vanishing of the content. Nearly everything is set up in Reality Composer pro with my immersive.scene just adding virtual content to the reference object which anchors it in the RCP Scene, so my immersive view just does this - if let immersiveContentEntity = try? await Entity(named: "Immersive", in: realityKitContentBundle) { content.add(immersiveContentEntity) & this .onAppear { appModel.immersiveSpaceState = .open } .onDisappear { appModel.immersiveSpaceState = .closed } I have tried Using SpatialTracking & WorldTrackingProvider, but I'm still quite new to Swift and coding in general so im unsure how to implement in conjunction with my RCP scene and/or if this is the right way to go about it. Also I have implemented this at the beginning of object tracking. All I had to do was add a onAppear behavior to the object to play a USDZ and that works. Doing it for disappearing (due to loss of reference object) seems to be a lot harder.

I can't create any breakpoint in my Xcode after I upgraded to macOS 15.4 macOS: Version 15.4 (24E248) visionOS Simulator: 2.3 Xcode: Version 16.2 (16C5032a) My app works well without any breakpoints. But if I create any breakpoint it shows me this: Couldn't find the Objective-C runtime library in loaded images. Message from debugger: The LLDB RPC server has crashed. You may need to manually terminate your process. The crash log is located in ~/Library/Logs/DiagnosticReports and has a prefix 'lldb-rpc-server'. Please file a bug and attach the most recent crash log.