Integrate iOS device camera and motion features to produce augmented reality experiences in your app or game using ARKit.

ARKit Documentation

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ARKit sessionInterruptionEnded never called in Window Mode.
Hi 26 beta guys, I have apps using ARKit. In iPadOS 26 beta, ARKit stops working after switching to other apps. how to: Enable WindowMode in iPadOS 26 Launch my app and start ARSession Switch to another app (preference app, etc.) Switch back to my app AR stops updating camerafeed. I debug printed ARSessionDelegate, and found that after sessionWasInterrupted was called, sessionInterruptionEnded was never called. sessionInterruptionEnded is called if WindowMode disabled. Is this just a bug for 26 beta? I suspect there is similar problem with non-AR camera. Any idea?
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Jun ’25
Projecting a Cube with a Number in ARKit
I'm a novice in RealityKit and ARKit. I'm using ARKit in SwiftUI to show a cube with a number as shown below. import SwiftUI import RealityKit import ARKit struct ContentView : View { var body: some View { return ARViewContainer() } } #Preview { ContentView() } struct ARViewContainer: UIViewRepresentable { typealias UIViewType = ARView func makeUIView(context: UIViewRepresentableContext<ARViewContainer>) -> ARView { let arView = ARView(frame: .zero, cameraMode: .ar, automaticallyConfigureSession: true) arView.enableTapGesture() return arView } func updateUIView(_ uiView: ARView, context: UIViewRepresentableContext<ARViewContainer>) { } } extension ARView { func enableTapGesture() { let tapGestureRecognizer = UITapGestureRecognizer(target: self, action: #selector(handleTap(recognizer:))) self.addGestureRecognizer(tapGestureRecognizer) } @objc func handleTap(recognizer: UITapGestureRecognizer) { let tapLocation = recognizer.location(in: self) // print("Tap location: \(tapLocation)") guard let rayResult = self.ray(through: tapLocation) else { return } let results = self.raycast(from: tapLocation, allowing: .estimatedPlane, alignment: .any) if let firstResult = results.first { let position = simd_make_float3(firstResult.worldTransform.columns.3) placeObject(at: position) } } func placeObject(at position: SIMD3<Float>) { let mesh = MeshResource.generateBox(size: 0.3) let material = SimpleMaterial(color: UIColor.systemRed, roughness: 0.3, isMetallic: true) let modelEntity = ModelEntity(mesh: mesh, materials: [material]) var unlitMaterial = UnlitMaterial() if let textureResource = generateTextResource(text: "1", textColor: UIColor.white) { unlitMaterial.color = .init(tint: .white, texture: .init(textureResource)) modelEntity.model?.materials = [unlitMaterial] let id = UUID().uuidString modelEntity.name = id modelEntity.transform.scale = [0.3, 0.1, 0.3] modelEntity.generateCollisionShapes(recursive: true) let anchorEntity = AnchorEntity(world: position) anchorEntity.addChild(modelEntity) self.scene.addAnchor(anchorEntity) } } func generateTextResource(text: String, textColor: UIColor) -> TextureResource? { if let image = text.image(withAttributes: [NSAttributedString.Key.foregroundColor: textColor], size: CGSize(width: 18, height: 18)), let cgImage = image.cgImage { let textureResource = try? TextureResource(image: cgImage, options: TextureResource.CreateOptions.init(semantic: nil)) return textureResource } return nil } } I tap the floor and get a cube with '1' as shown below. The background color of the cube is black, I guess. Where does this color come from and how can I change it into, say, red? Thanks.
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132
Jul ’25
Keyboard Tracking
Hi! I'm currently experimenting on Apple Vision Pro with hand and head anchors. Is there a way to get an anchor linked to the apple magic keyboard (as the detection is already done to display inputs at the top)? Thanks in advance, Have a good day!
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Jul ’25
Perspective problem
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?).
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Aug ’25
visionOS plane anchor rotation and wall direction are inconsistent
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!
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466
Sep ’25
Rendering scene in RealityView to an Image
Is there any way to render a RealityView to an Image/UIImage like we used to be able to do using SCNView.snapshot() ? ImageRenderer doesn't work because it renders a SwiftUI view hierarchy, and I need the currently presented RealityView with camera background and 3D scene content the way the user sees it I tried UIHostingController and UIGraphicsImageRenderer like extension View { func snapshot() -> UIImage { let controller = UIHostingController(rootView: self) let view = controller.view let targetSize = controller.view.intrinsicContentSize view?.bounds = CGRect(origin: .zero, size: targetSize) view?.backgroundColor = .clear let renderer = UIGraphicsImageRenderer(size: targetSize) return renderer.image { _ in view?.drawHierarchy(in: view!.bounds, afterScreenUpdates: true) } } } but that leads to the app freezing and sending an infinite loop of [CAMetalLayer nextDrawable] returning nil because allocation failed. Same thing happens when I try return renderer.image { ctx in view.layer.render(in: ctx.cgContext) } Now that SceneKit is deprecated, I didn't want to start a new app using deprecated APIs.
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1k
Sep ’25
How to best manage ARKitSession in concurrent code
I have a visionOS app where I instantiate ARKitSession and various providers (HandTrackingProvider and WorldTrackingProvider) in my appModel. That way, I can pass these providers to a Task which runs a gRPC server for sending the data from these providers to a client. When the users enters the immersive space of the app, the ARKitSession will run the providers if they are not running already. I am now trying to implement the AccessoryTrackingProvider with the PSVR sense controllers but it does not fit with my current framework because the controllers may not be connected when the ARKitSession.run function is called. So I need to find a new place to start the session. My question is, if I already have a session which is running the hand and world tracking providers, can I start another session to run the accessory tracking? Should they all be running on the same session? Is there a way to stop the session and restart it when the controllers are connected? When I tried this, I get an error that says "It is not possible to re-run a stopped data provider (<ar_hand_tracking_provider_t: " but if I instantiate a new HandTrackingProvider, then the one that got passed to the gRPC task would no longer be the one running in the new session. Any advice on how best to manage the various providers and ARKit sessions would be greatly appreciated.
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Access Main Camera not working in VisionOS 26.1
I downloaded the official sample project “Accessing the Main Camera”, but I found that it’s not able to retrieve the camera feed on visionOS 26.1. After checking the debug logs, it seems the issue is caused by the system being unable to find the expected format. I tested on a device running visionOS 2, and the camera feed worked correctly — but only when using the sample code from the visionOS 2 version, not the current one. I also noticed that some of the APIs have changed between versions. Has anyone managed to successfully access the camera feed on visionOS 26.1?
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What causes »ARSessionDelegate is retaining X ARFrames« console warning?
Hi, since iOS 15 I've repeatedly noticed the console warning »ARSessionDelegate is retaining X ARFrames. This can lead to future camera frames being dropped« even for rather simple projects using RealityKit and ARKit. Could someone from the ARKit team please elaborate what causes this warning and what can be done to avoid it? If I remember correctly I didn't even assign an ARSessionDelegate. Thank you!
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3.3k
Feb ’25
Roomplan exceeded scene size limit error. (RoomCaptureSession.CaptureError.exceedSceneSizeLimit)
Error: RoomCaptureSession.CaptureError.exceedSceneSizeLimit Apple Documentation Explanation: An error that indicates when the scene size grows past the framework’s limitations. Issue: This error is popping up in my iPhone 14 Pro (128 GB) after a few roomplan scans are done. This error shows up even if the room size is small. It occurs immediately after I start the RoomCaptureSession after the relocalisation of previous AR session (in world tracking configuration). I am having trouble understanding exactly why this error shows and how to debug/solve it. Does anyone have any idea on how to approach to this issue?
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Oct ’25
Getting to MeshAnchor.MeshClassification from MeshAnchor?
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.
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1.2k
Feb ’25
RoomPlan Framework v2 - Stairs missing
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
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1.1k
Sep ’25
RealityKit/ARKit Environment Texturing broken on iOS 18
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):
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Jan ’25
Issue with tracking multiple images using ARKit on VisionOS
We are using the ARKit image tracking feature on visionOS 2.0 with three pre-registered images. The image tracking works, but only one image is actively tracked at a time. When more than one target image is visible to the camera, it has difficulty detecting and tracking the other images. Is this the expected behavior in visionOS, or is there something we need to do to resolve this issue?
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Mar ’25
Attaching VideoMaterial to DockingRegion
I have a VideoMaterial inside a RealityView and want to attach this to a DockingRegion inside an immersive environment. It appears that adding the VideoMaterial entity as a child of the docking region somewhat works, but there are no lighting effects (specular, diffuse) from the playing video. So essentially, how can you add a VideoMaterial to a DockingRegion and achieve the same reflections/behavior as using AVPlayerViewController. The latter is not an option as I need custom controls.
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Dec ’24
raycast during RoomCaptureSession
I created an app where the user: first scans a room using RoomCaptureView (RoomPlan) then taps on physical elements (objects, walls...) using an ARView to record some 3d positions I can handle taps in an ARView using a UITapGestureRecognizer and the ARView raycast(from:, allowing:, alignment:) method. This works fine, so I thought I could do the same using the ARView used by RoomCaptureView., so the user can scan a room and record some 3d positions at the same time. Sadly, this approach does not work, as the raycast method always returns nil. What I actually need is mapping a tap on screen to a real-world position during RoomCaptureSession. Does anyone know how to do this?
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605
Nov ’24
ARView vs RealityView (iOS, iPadOS)
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.
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Jan ’25
Persisting Anchors in RealityView with ARMode on iOS
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!
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525
Jan ’25
ARKit: Prevent Asset Clipping
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
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Jan ’25