I want to let users place 2D/3D “artworks” on detected walls and have them reappear in exactly the same real‑world spot after quitting and relaunching the app (like widgets do, but for my own entities).Environment: Xcode 26, visionOS 2.0, RealityKit + ARKitSession/WorldTrackingProvider Entities are parented to a holder that’s aligned to a wall via plane/mesh raycasts. What I’ve tried: Create a WorldAnchor at placement, save UUID + full 4×4 transform On next launch, re-create the WorldAnchor (or set the saved transform) and attach the entity Gate restore on relocalization/mesh updates and disable all raycast/search after restore Issue: After relaunch, placement still resolves relative to current device pose, not the same wall position. Questions: Is there a public API in visionOS 2.0 to persist app‑managed world anchors across sessions (room‑fixed), e.g., AnchorStore or equivalent? If not, what’s the recommended pattern to reliably restore wall‑anchored content? Are persistence features mentioned for widgets/windows available to third‑party RealityKit entities?

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?

We enabled ARKit replay data and chose a .mov file from reality composer. However, the app does not launch after build and run in Xcode. It stays stuck saying "Attaching to app on iPad". Does anyone have this problem? System Information: macOS Version 14.6.1 (Build 23G93)

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.

When scanning multiple rooms (10+) in a single structure using ARWorldMap for coordinate space consistency, RoomCaptureSession throws CaptureError.exceedSceneSizeLimit. The instructions here (https://developer.apple.com/documentation/roomplan/scanning-the-rooms-of-a-single-structure) provide exactly what I am doing to keep the underlying ARSession alive (by calling captureSession.stop(pause: false)) and save the results before a user moves to the next room. Scanning 11 or so rooms will cause the user to hit the exceedSceneSizeLimit error. The ARWorldMap is about 58 MB and always is around this size when hitting this issue. No anchors are present and all the data seems to be from tracking data. On iPad devices (where I do not see this issue) the ARWorldMap grows as a significantly slower rate in size. I save the ARWorldMap after each room is scanned and confirmed by the user. If I use the ARMap to initialize the ARSession (as described in the docs) the session will immediately error with "exceedSceneSizeLimit" once the captureSession.run() is executed. Occasionally it will allow me/the user to scan again, but either breaks mid scan or the following. This has been working fine for the past 2 years and users have been able to scan dozens of rooms without issue. It seems only lately that it has been a problem. I would expect the ARWorldMap to be allowed for much bigger sizes. At this point I can just about scan more area of my house with a single scan than I can when I use different captureSessions. Few observations: This happens on my iPhone 15 Pro Max, my iPhone 17 Pro, but not my iPad M4 (maybe memory related?). It is possible if scanning many more rooms it would happen on the iPad too. I have tried things such as resetting the ARConfig on the underlying ARSession to reset some, but this doesn't work. I have tried to create a new ARWorldMap and move the origin to the older map to clear out tracking data. This almost works but causes a mess of issues when a user moves at all due to the unshared coordinate space. I believe there are three active issues regarding this: FB14454922, FB15035788, FB20642944 Could we get an update for this issue? It is a production issue and severely limits my user experience in my production application.

Hi Apple Developer Community, I'm developing an eye-tracking application using ARKit's ARFaceTrackingConfiguration and ARFaceAnchor.blendShapes for gaze detection using Xcode. I'm experiencing several calibration and accuracy issues and would appreciate insights from the community. Current Implementation Using ARFaceAnchor.blendShapes (.eyeLookUpLeft, .eyeLookDownLeft, .eyeLookInLeft, .eyeLookOutLeft, etc.) Implementing custom sensitivity curves and smoothing algorithms Applying baseline correction and coordinate mapping Using quadratic regression for calibration point mapping Issues I'm Facing 1. Calibration Mismatch Red dot position doesn't align with where I'm actually looking Significant offset between intended gaze point and actual cursor position Calibration seems to drift or become inaccurate over time 2. Extreme Eye Movement Requirements Need to make exaggerated eye movements to reach screen edges/corners Natural eye movements don't translate to proportional cursor movement Difficulty reaching certain screen regions even with calibration 3. Sensitivity and Stability Issues Cursor jitters or jumps around when looking at center Too much sensitivity to micro-movements Inconsistent behavior between calibration and normal operation 4. I also noticed that tracking on calibration screen as well as tracking on reading screen works better as expected when head movement is there, but I do not want much head movement. I want tracking with normal eye movement while reading an Ebook. Primary Question: Word-Level Eye Tracking Feasibility Is word-level eye tracking (tracking gaze as users read through individual words in an ebook) technically feasible with current iPhone/iPad hardware? I understand that Apple's built-in eye tracking is primarily an accessibility feature for UI navigation. However, I'm wondering if the TrueDepth camera and ARKit's eye tracking capabilities are sufficient for: Tracking natural reading patterns (left-to-right, line-by-line progression) Detecting which specific words a user is looking at Maintaining accuracy for sustained reading sessions (15-30 minutes) Working reliably across different users and lighting conditions Questions for the Community Hardware Limitations: Are iPhone/iPad TrueDepth cameras capable of the precision needed for word-level tracking, or is this beyond current hardware capabilities? Calibration Best Practices: What calibration strategies have worked best for accurate gaze mapping? How many calibration points are typically needed? Reading-Specific Challenges: Are there particular challenges when tracking reading behavior vs. general gaze tracking? Alternative Approaches: Are there better approaches than ARKit blend shapes for this use case? Current Setup Devices: iPhone 14 Pro iOS Version: iOS 18.3 ARKit Version: Latest available Any insights, experiences, or technical guidance would be greatly appreciated. I'm particularly interested in hearing from developers who have worked on similar eye tracking applications or have experience with the limitations and capabilities of ARKit's eye tracking features. Thank you for your time and expertise!

Hello Apple team, I'm working on an iOS AR app using SwiftUI and RealityKit, and I was wondering if the Cinematic API can be used with a RealityKit scene. I’d like to achieve a shallow depth of field while keeping the 3D asset in focus, and vice versa. Thanks!

Hi, I am in the process of implementing SharePlay into our app. The shared experience opens an Immersive Space and we set systemCoordinator.configuration.supportsGroupImmersiveSpace = true Now visionOS establishes a shared coordinate space for the immersive space. From the docs: To achieve consistent positioning of RealityKit entities across multiple devices in an immersive space during a SharePlay session There are cases where we want to position content in front of the user (independent of the shared session, and for each user individually). Normally to do that we use the transform retrieved via worldTrackingProvider.queryDeviceAnchor.originFromAnchorTransform to position content in front of the user (plus some Z Offset and smooth interpolation). This works fine in non-SharePlay instances and the device transform is where I would expect it to be but during the FaceTime call deviceAnchor.originFromAnchorTransform seems to use the shared origin of the immersive space and then I end up with a transform that might be offset. Here is a video of the issue in action: https://streamable.com/205r2p The blue rect is place using AnchorEntity(.head, trackingMode: .continuous). This works regardless of the call and the entity is always placed based on the head position. The green rect is adjusted on every frame using the transform I get from worldTrackingProvider.queryDeviceAnchor. As you can see it's offset. Is there any way I can query query this transform locally for the user during a FaceTime call? Also I would like to know if it's possible to disable this automatic entity transform syncing behavior? Setting entity.synchronization = nil results in the entity not showing up at all. https://developer.apple.com/documentation/realitykit/synchronizationcomponent Is SynchronizationComponent only relevant for the legacy MultiPeerConnectivity approach? Thank you!

I am using Xcode 16 to test ARGeoTracking in India with a recorded session from the U.S. (where ARGeotracking is supported), the app remains stuck at "Attaching to App" on my iPad. I've tried two different methods to include the AR session video: placing it in the project folder and adding it to the Shared folder, but neither has resolved the issue.

Hi, I’m trying to configure camera feed in ARKit to be in Apple Log color space. I can change Capture Device’s format to one that has Apple Log and I see one frame being in proper log-gray colors but then all AR tracking stops and tracking state hangs at “initializing”. In other combinations I see error “sensor failed to initialize” and session restarts with default format. I suspect that this is because normal AR capture formats are 420f, whereas ones that have Apple Log are 422. Could someone confirm if it’s even possible to run ARKit session with camera feed in a different pixel format? I’m trying it on iphone 15 pro

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() } }

Hello, I'm trying to use Xcode's ARKit Session replay functionality. I have a capture I made using Reality Composer and when trying to use it with Xcode's replay functionality the installation and debugging process seems stalled forever. I've gotten it to work once so I know the capture file is functional but I have never gotten it to work a second time, even though I didn't change any settings. No amount of restarting Xcode, the Mac, or the iPhone seem to work. I have also tried cleaning build folders, reinstalling the app, and clearing DerivedData. I can confirm from the Xcode logs that the app installs correctly but the app never launches. If I unselect the checkbox for "ARKit Replay Data", the app launches and debugs nearly instantly. I have tried letting it "attach" for up to 10 minutes to no avail.

Basically, take just the Xcode 26 AR App template, where we put the ContentView as the detail end of a NavigationStack. Opening app, the app uses < 20MB of memory. Tapping on Open AR the memory usage goes up to ~700MB for the AR Scene. Tapping back, the memory stays up at ~700MB. Checking with Debug memory graph I can still see all the RealityKit classes in the memory, like ARView, ARRenderView, ARSessionManager. Here's the sample app to illustrate the issue. PS: To keep memory pressure on the system low, there should be a way of freeing all the memory the AR uses for apps that only occasionally show AR scenes.

Hello, I'm currently trying to make a collaborative app. But it just works only on Reality View, when I tried to use Compositor Layer like below, the personas disappeared. ImmersiveSpace(id: "ImmersiveSpace-Metal") { CompositorLayer(configuration: MetalLayerConfiguration()) { layerRenderer in SpatialRenderer_InitAndRun(layerRenderer) } } Is there any potential solution too see Personas in Metal view? Thanks in advance!

Hello Community, I'm encountering an issue with the latest iOS 17 update, specifically related to RoomPlan version-2. In iOS 16, when using RoomPlan version-1, we were able to display stairs in our app. However, after upgrading to iOS 17 and implementing RoomPlan version-2, the stairs are no longer visible. Despite thorough investigation, I couldn't find any option within the code to show or hide stairs, or any other objects for that matter. It seems like a specific issue with the update rather than a coding error on our part. Has anyone else encountered a similar problem? If so, I would greatly appreciate any insights or solutions you might have. It's crucial for our app functionality to have stairs displayed accurately, and we're currently at a loss on how to address this issue. Thank you in advance for any assistance you can provide. Best regards

I tested the accuracy of the depth map on iPhone 12, 13, 14, 15, and 16, and found that the variance of the depth map after iPhone 12 is significantly greater than that of iPhone 12. Enabling depth filtering will cause the depth data to be affected by the previous frame, adding more unnecessary noise, especially when the phone is moving. This is not friendly for high-precision reconstruction. I tried to add depth map smoothing in post-processing to solve the problem of large depth map deviation, but the performance is still poor. Is there any depth map smoothing solutions already announced by Apple?

Hello, Does anyone have a recipe on how to raycast VNFaceLandmarkRegion2D points obtained from a frame's capturedImage? More specifically, how to construct the "from" parameter of the frame's raycastQuery from a VNFaceLandmarkRegion2D point? Do the points need to be flipped vertically? Is there any other transformation that needs to be performed on the points prior to passing them to raycastQuery?

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!

The AR based app I am working on right now is experiencing an issue. Sometimes, the AR session fails with a call to my ARSessionObserver's session(_ session: ARSession, didFailWithError error: Error) with the following error: Error Domain=com.apple.arkit.error Code=102 "Required sensor failed." NSLocalizedFailureReason="A sensor failed to deliver the required input.," NSLocalizedRecoverySuggestion="Make sure that the application has the required privacy settings." The underlying error seems to point to the CoreMotion framework: Domain=CMErrorDomain Code=102 "(null) Some people seem to have experienced this issue and solved it by making sure that the Compass Calibration switch is ON in Settings > Privacy > Location Services > System Services. For context, the ARWorldTrackingConfiguration.worldAlignment is set to .gravity The thing is it is already ON when I experience this issue. I also noticed that this issue happens way more often on the iPhone 16e than in any other device. Has anyone had similar experiences? I am looking for a way to prevent this error from happening (ideally) or handling in a way that does not affect the user. Any help is appreciated

In a simple test, I'm observing ~30% higher CPU usage with the ARWorldTrackingConfiguration compared to the ARBodyTrackingConfiguration when both configurations have AREnvironmentTexturing enabled. In Instruments, I observe Recon3D consuming ~5.5 seconds of CPU time with the ARWorldTrackingConfiguration vs <0.3 second with the ARBodyTrackingConfiguration in two separate 30 seconds samples. This is on an iPhone 12 Pro equipped with lidar. Is there a reason why two separate configurations, both having the same features enabled would have a different CPU overhead?