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") } } }

I can add a WorldAnchor to a WorldTrackingProvider. The next time I start my app, the WorldAnchor is added back, and then is immediately removed: dataProviderStateChanged(dataProviders: [WorldTrackingProvider(0x0000000300bc8370, state: running)], newState: running, error: nil) AnchorUpdate(event: added, timestamp: 43025.248134708, anchor: WorldAnchor(id: C0A1AE95-F156-45F5-9030-895CAABF16E9, isTracked: true, originFromAnchorTransform: <translation=(0.048458 0.000108 -0.317565) rotation=(0.00° 15.44° -0.00°)>)) AnchorUpdate(event: removed, timestamp: 43025.348131208, anchor: WorldAnchor(id: C0A1AE95-F156-45F5-9030-895CAABF16E9, isTracked: false, originFromAnchorTransform: <translation=(0.000000 0.000000 0.000000) rotation=(-0.00° 0.00° 0.00°)>)) It always leaves me with zero anchors in .allAnchors...the ARKitSession is still active at this point

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

PLATFORM AND VERSION Vision OS Development environment: Xcode 16.2, macOS 15.2 Run-time configuration: visionOS 2.3 (On Real Device, Not simulator) Please someone confirm I'm not crazy and this issue is actually out of my control. Spent hours trying to fix my app and running profiles because thought it was an issue related to my apps performance. Finally considered chance it was issue with API itself and made sample app to isolate problem, and it still existed in it. The issue is when a model entity moves around in a full space that was launched when the system environment immersion was turned up before opening it, the entities looks very choppy as they move around. If you take off the headset while still in the space, and put it back on, this fixes it and then they move smoothly as they should. In addition, you can also leave the space, and then turn the system environment immersion all the way down before launching the full space again, this will also make the entity moves smoothly as it should. If you launch a mixed immersion style instead of a full immersion style, this issue never arrises. The issue only arrises if you launch the space with either a full style, or progressive style, while the system immersion level is turned on. STEPS TO REPRODUCE https://github.com/nathan-707/ChoppyEntitySample Open my test project, its a small, modified vision os project template that shows it clearly. otherwise: create immersive space with either full or progressive immersion style. setup a entity in kinematic mode, apply a velocity to it to make it pass over your head when the space appears. if you opened the space while the Apple Vision Pros system environment was turned up, the entity will look choppy. if you take the headset off while in the same space, and put it back on, it will fix the issue and it will look smooth. alternatively if you open the space with the system immersion environment all the way down, you will also not run into the issue. Again, issue also does not happen if space launched is in mixed style.

Subject: Combining ARKit Face Tracking with High-Resolution AVCapture and Perspective Rendering on Front Camera Message: Hello Apple Developer Community, We’re developing an application using the front camera that requires both real-time ARKit face tracking/guidance and the capture of high-resolution still images via AVCaptureSession. Our goal is to leverage ARKit’s depth and face data to render a captured image from another perspective post-capture, maintaining high image quality. Our Approach: Real-Time ARKit Guidance: Utilize ARKit (e.g., ARFaceTrackingConfiguration) for continuous face tracking, depth, and scene understanding to guide the user in real time. High-Resolution Capture Transition: At the moment of capture, we plan to pause the ARKit session and switch to an AVCaptureSession to take a high-resolution image. We assume that for a front-facing image, the subject’s face is directly front-on, and the relative pose between the face and camera remains the same during the transition. The only variation we expect is a change in distance. Our intention is to minimize the delay between the last ARKit frame and the high-res capture to maintain temporal consistency, assuming that aside from distance, the face-camera relative pose remains unchanged. Post-Processing Perspective Rendering: Using the last ARKit face data (depth, pose, and landmarks) along with the high-resolution 2D image, we aim to render the scene from another perspective. We want to correct the perspective of the 2D image using SceneKit or RealityKit, leveraging the collected ARKit scene information to achieve a natural, high-quality rendering from a different viewpoint. The rendering should match the quality of a normally captured high-resolution image, adjusting for the difference in distance while using the stored ARKit data to correct perspective. Our Questions: Session Transition Best Practices: What are the recommended best practices to seamlessly pause ARKit and switch to a high-resolution AVCapture session on the front camera How can we minimize user movement or other issues during this brief transition, given our assumption that the face-camera pose remains largely consistent except for distance changes? Data Integration for Perspective Rendering: How can we effectively integrate stored ARKit face, depth, and pose data with the high-res image to perform accurate perspective correction or rendering from another viewpoint? Given that we assume the relative pose is constant except for distance, are there strategies or APIs to leverage this assumption for simplifying the perspective transformation? Perspective Correction with SceneKit/RealityKit: What techniques or workflows using SceneKit or RealityKit are recommended for correcting the perspective of a captured 2D image based on ARKit scene data? How can we use these frameworks to render the high-resolution image from an alternative perspective, while maintaining image quality and fidelity? 4. Pitfalls and Guidelines: What common pitfalls should we be aware of when combining ARKit tracking data with high-res capture and post-processing for perspective rendering? Are there performance considerations, recommended thresholds for acceptable temporal consistency, or validation techniques to ensure the ARKit data remains applicable at the moment of high-res capture? We appreciate any advice, sample code references, or documentation pointers that could assist us in implementing this workflow effectively. Thank you!

I have recently started testing ARKit on an iPhone 16 Pro and I have noticed that the AutoFocus reaction on this device is much slower than other devices. For example, if I point the camera to a close object AutoFocus takes 4-5 seconds to stabilize, the focal length is adjusted very very slowly. In some cases (although this is rare) AutoFocus seems almost stuck and requires a bit of device movement to trigger. This is quite problematic when using some ARKit features like Image and Object detection as the detection algorithms struggle with out-of-focus images. This problem is limited to ARKit. AutoFocus is significantly more responsive when the standard AVFoundation Camera API is used. This behavior is easy to reproduce with any of the ARKit samples like https://developer.apple.com/documentation/arkit/arkit_in_ios/content_anchors/tracking_and_visualizing_planes Is anybody else experiencing this problem?

After upgrading to Xcode 16 my app, which utilizes imported project files from my iPad's Reality Composer app, now has two issues that I have found so far. I am using an ARView as a UIViewRepresentable with SwiftUI. (Prior to upgading to Xcode 16 everything worked well.) First, there are now several duplicate rcp_export.usdz resources in the "Copy Bundle Resources" build phase section. Even though each file is in a separate folder with a unique UUID, it was causing a compile error saying there are duplicate files. I was able to open the RC project folder and delete the older rcp_project versions which now allows the app to compile. I mention it as it may or may not be related to the second issue. Second, Xcode isn't generating the project code for rcproject, so when I call the RCProject.loadSceneAsync function I am getting an error that says "Cannot find 'RCProject' in scope"

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.

I have been digging through the docs and the developer videos, and I have noticed a mention to RealityView having som potential limitations with anchors and world tracking. However, I haven’t been able to locate my answers. Does anyone know (or point me to) if RealityView supports everything ARView does, and if not what are the difference? I was fooling around with RealityView today with a simple plane anchor, and the stability of that anchor didn’t seem to be as steady as I recall ARView being In the past on iPhone. I’m trying to determine if I should be rolling over into RealityView or stay with ARView on this little educational project. I would imagine the answer is to go RealityView, but I want to make sure I’m not setting myself up for failure based on any current limitations For anchors and world data.

Hello Apple Team, I am working on a RealityKit project for iOS, where I need to place a 3D asset far away from the camera (approximately 15 to 30 meters). When enabling people occlusion, the 3D asset gets clipped when moved far away. Is it possible to enable people occlusion for assets at close range (less than 10 meters) while disabling it for assets farther away to prevent clipping? I understand that it is possible to switch configurations at runtime. However, I would like to place assets both close to and far from the camera simultaneously. Thank you for your help! Kind regards

In the WWDC session titled "Deep dive into volumes and immersive spaces", the developers discussed adding a Spatial Tracking Session and an Anchor Entity to detect the floor. They then glossed over some important details. They added a spatial tap gesture to let the user place content relative to the floor anchor, but they left a lot of information. .gesture( SpatialTapGesture( coordinateSpace: .immersiveSpace ) .targetedToAnyEntity() .onEnded { value in handleTapOnFloor(value: value) } ) My understanding is that an entity has to have input and collision components for gestures like this to work. How can we add a collision to an AnchorEntity when we don't know its size or shape? I've been trying for days to understand what is happening here and I just don't get it. It is even more frustrating that the example project that Apple released does not contain any of these features. I would like to be able Detect the floor plane Get the position/transform of the floor plane Add a collider to the floor plane Enable collisions and physics on the floor plane Enable gestures on the floor plane It seems to me that the Anchor Entity is placed as an entirely arbitrary position. It has absolutely no relationship to the rectangle with the floor label that I can see in the Xcode visualization. It is just a point, not a plane or rect that I can use. I've tried manually calculating the collision shape after the anchor is detected, but nothing that I have tried works. I can't tap on the floor with gestures. I can't drop entities onto the floor. I can't seem to do ANYTHING at all with this floor anchor other than place entity at the totally arbitrary location somewhere on the floor. Is there anyway at all with Spatial Tracking Session and Anchor Entity to get the actual plane that was detected? struct FloorExample: View { @State var trackingSession: SpatialTrackingSession = SpatialTrackingSession() @State var subject: Entity? @State var floor: AnchorEntity? var body: some View { RealityView { content, attachments in let session = SpatialTrackingSession() let configuration = SpatialTrackingSession.Configuration(tracking: [.plane]) _ = await session.run(configuration) self.trackingSession = session let floorAnchor = AnchorEntity(.plane(.horizontal, classification: .floor, minimumBounds: SIMD2(x: 0.1, y: 0.1))) floorAnchor.anchoring.physicsSimulation = .none floorAnchor.name = "FloorAnchorEntity" floorAnchor.components.set(InputTargetComponent()) floorAnchor.components.set(CollisionComponent(shapes: .init())) content.add(floorAnchor) self.floor = floorAnchor // This is just here to let me see where visinoOS decided to "place" the floor anchor. let floorPlaced = ModelEntity( mesh: .generateSphere(radius: 0.1), materials: [SimpleMaterial(color: .black, isMetallic: false)]) floorAnchor.addChild(floorPlaced) if let scene = try? await Entity(named: "AnchorLabsFloor", in: realityKitContentBundle) { content.add(scene) if let subject = scene.findEntity(named: "StepSphereRed") { self.subject = subject } // I can see when the anchor is added _ = content.subscribe(to: SceneEvents.AnchoredStateChanged.self) { event in event.anchor.generateCollisionShapes(recursive: true) // this doesn't seem to work print("**anchor changed** \(event)") print("**anchor** \(event.anchor)") } // place the reset button near the user if let panel = attachments.entity(for: "Panel") { panel.position = [0, 1, -0.5] content.add(panel) } } } update: { content, attachments in } attachments: { Attachment(id: "Panel", { Button(action: { print("**button pressed**") if let subject = self.subject { subject.position = [-0.5, 1.5, -1.5] // Remove the physics body and assign a new one - hack to remove momentum if let physics = subject.components[PhysicsBodyComponent.self] { subject.components.remove(PhysicsBodyComponent.self) subject.components.set(physics) } } }, label: { Text("Reset Sphere") }) }) } } }

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):

the following documentation tells me that the CameraFrame.Sample.Parameters.extrinsics is of type simd_float4x4, great! https://developer.apple.com/documentation/arkit/cameraframe/sample/parameters/4443449-extrinsics I have read in the answer of another post that this extrinsics represents the pose of the physical camera relative to the device anchor. Did I understand correctly that the device anchor is where the scene is rendered from onto the user's display? What is the coordinate system in which this offset is defined, which axis is left, which one is up, which one is forward? The last column of the extrinsics seems to define a translation of approximately 2 cm along the x axis, -2cm along the y axis and -5 cm along the z axis. I tried to measure the physical distance between the main left and right cameras in order to find out if it's rather 2cm or 5 cm from the "middle", it looks more like 5, so I assume that the z axis is looking towards the right (from the user's perspective). Is that so? For x and y, I assume that the physical camera is approximately 2 cm to the front of the user and 2cm to the bottom, which of x and y is horizontal, which on vertical? How is the camera image indexed, is it row-major and is the origin on the top left? I am looking forward to learning about all the details on these extrinsics in order to make use of it.

Hey Everyone, Happy New Year! I wanted to see if you have seen this before. I have added an attachment to the RealityView as a child on an entity that has a Billboard component set on it. I wanted to create the effect that the attachment is offset by .5 meters from center and follows the device as you move around it. IT works great until you try click a button. The attachment moves with the billboard, but the collision box around the attachment is not following it. If I position myself perfectly it works. Video Example: https://youtu.be/4d9Vx7K8MmU // // ImmersiveView.swift // Billboard Attachment // // Created by Justin Leger on 1/3/25. // import SwiftUI import RealityKit import RealityKitContent struct ImmersiveView: View { var rootEntity = Entity() var body: some View { RealityView { content, attachments in // Add the initial RealityKit content let sphereEntity = ModelEntity(mesh: .generateSphere(radius: 0.1), materials: [SimpleMaterial(color: .red, roughness: 1, isMetallic: false)]) sphereEntity.position = [0.0, 1.0, -2.0] let controlsPivotEntity = Entity() controlsPivotEntity.components[BillboardComponent.self] = .init() // Extract the attachemnt entity and disable it before its used. if let controlsViewAttachmentEntity = attachments.entity(for: PlacedThingControls.attachmentId) { controlsViewAttachmentEntity.position.z = 0.5 controlsPivotEntity.addChild(controlsViewAttachmentEntity) sphereEntity.addChild(controlsPivotEntity) } content.add(sphereEntity) } attachments: { Attachment(id: PlacedThingControls.attachmentId) { PlacedThingControls() } } } } #Preview(immersionStyle: .mixed) { ImmersiveView() .environment(AppModel()) } struct PlacedThingControls: View { static let attachmentId = "placed-thing-3D-controls" var body: some View { VStack { HStack(spacing: 0) { Button { print("🗺️🗺️🗺️ Map selected pieces") } label: { Text("\(Image(systemName: "plus.square.dashed")) Manage Mesh Maps") .fontWeight(.semibold) .frame(maxWidth: .infinity) } .padding(.leading, 20) Spacer() Button(role: .destructive) { print("🗑️🗑️🗑️ Delete selected pieces") } label: { Label { Text("Delete") } icon: { Image(systemName: "trash") } .labelStyle(.iconOnly) } .padding(.trailing, 20) } .padding(.vertical) .frame(minWidth: 320, maxWidth: 480) } .glassBackgroundEffect() } }

Platform: iOS18 Tech: RealityView Hi! I was wondering if RealityView now provides ways for their session to persist Anchor data in a world such that the anchor locations in one session can be saved and loaded in a another session that persists the exact same anchor positions. I know that ARWorldMap in ARKit does that, but I was not able to find a way to use it with RealityView. I think it's because RealityView has ARKit under its hood but does not expose the ARKit session info publicly to the client code. So I was wondering if there's a SwiftUI + RealityView approach that can help me to achieve a similar goal: Come back to the same location and see the object in exactly the same place. Thanks!

I want a sentence custom hover effect, not a button. I want a hover effect when you look at one sentence out of many sentences. So I searched for reference videos https://youtu.be/DftRTx1oX6E , https://developer.apple.com/videos/play/wwdc2023/10110/ on apple youtube and visionOS documentation. But I haven't gotten anywhere near my wish feature yet. I respectfully request someone to help me. :)

Is this behaviour expected? For example, if I'm using let materials = [SimpleMaterial(color: .red, isMetallic: false)] occlusion works normally, but with let materials = [SimpleMaterial(color: .red.withAlphaComponent(0.5), isMetallic: false)] i can see my cube through real-world objects, like tables, columns, etc. I'm getting the same behaviour if using CustomMaterial from shader and applying customMaterial.blending = .opaque and customMaterial.blending = .transparent(opacity: ) respectively

Dear Apple Engineers, I am working on a project in visionOS and need to implement a curved surface effect for video playback, where the width of the surface can be dynamically adjusted. Specifically, I want the video to be displayed on a curved surface (similar to a scroll unfolding), and the user should be able to adjust the width of this surface. I have the following specific questions: How can I implement a curved surface for video playback and ensure the video content is not stretched or distorted on the surface? How can I create a dynamic curved surface (such as a bending plane) in RealityKit or visionOS, where the width can be adjusted by the user? Is it possible to achieve more complex curved surface effects (such as scroll unfolding or bending) using Shaders or other techniques? Thank you very much for your help!

FYI. The source code of the FindSurface demo app for Apple Vision Pro (visionOS) is available now. The Swift package of FindSurface™ library is required to build the source code into the demo app. https://github.com/CurvSurf/FindSurface-visionOS After starting the app, the floating panels (below) will appear on your right side, and you will see wireframe meshes that approximately describe your environments. Performing a spatial tap (pinching with your thumb and index finger) with staring at a location on the meshes will invoke FindSurface, with an indicator (blue disk) appearing on the surface you've gazed. Voice commands: “Tap” – Spatial tap (gazing & pinching). Invoke FindSurface. “Tap plane” – Plane selection. “Tap sphere” or “Tap ball” – Sphere selection. “Tap cylinder” – Cylinder selection. “Tap cone” – Cone selection. “Tap torus” or “Tap donut” – Torus selection. “Tap accuracy” or “Tap measurement accuracy” – Accuracy selection. “Tap mean distance”, “Tap average distance”, or “Tap distance” – Avg. Distance selection. “Tap touch radius” or “Tap seed radius” – Touch Radius selection. “Tap Inlier” – “Show inlier points” toggle. “Tap outline” – “Show geometry outline” toggle. “Tap clear” – “Clear Scene” click.

Hello All, We're going to do a scene now, kind of like a time travel door. When the user selects the scene, the user passes through the door to show the current scene. The changes in the middle need to be more natural. It's even better if you can walk through an immersive space... There is very little information now. How can I start doing this? Is there any information I can refer to thanks