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?

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

When I run my app from Xcode on a device running iOS 26, the roomplan capture is corrupted and the recording is green and purple. This issue does not occur when I use an older version of iOS or when I run the app via testFlight or the App Store.

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.

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

I'm working on a project that uses imageTrackingProvider through ARKit on VisionPro, and I want to detect multiple images(about 5) and show info at the same time. However, I found that it seems only 1 image could be detected by device at one time. And the api of maximumNumberOfTrackedImages doing this seems not available for visionOS but only iOS. Anyone knows possible ways to detect multiple images at the same time on VisionPro?

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, I have a hand model that is in FBX and I'm exporting it to USD in Blender. I get a skinned mesh and while I can track the whole hand how do I track each joint and assign it and animate the skinned mesh itself. All my attempts say this is not possible in RealityKit as of now. True?

Since updating to iOS 26.0 (and confirmed on 26.1), ARBodyTrackingConfiguration no longer detects a valid ARBodyAnchor on devices with LiDAR (e.g., iPhone 15 Pro, iPhone 17 Pro Max). This issue reproduces in custom projects and Apple’s official sample “Capturing Body Motion in 3D”. The AR session runs normally, but the delegate call: func session(_ session: ARSession, didUpdate anchors: [ARAnchor]) never yields an ARBodyAnchor with valid joint transforms. All joints return nil when calling: body.skeleton.modelTransform(for: jointName) resulting in 0 valid joints per frame. Environment • Device: iPhone 17 Pro Max (LiDAR) • iOS: 26.0 / 26.1 • Xcode: 16.0 (stable) • Framework: ARKit + RealityKit • Configuration used: config.worldAlignment = .gravityAndHeading config.isAutoFocusEnabled = true config.environmentTexturing = .none session.run(config) Also tested: with and without frameSemantics = .bodyDetection Expected Behavior ARBodyAnchor should be detected and body.skeleton should contain ~89 valid joints with continuous updates.

I am developing an IOS App that allow users to scan rooms, view the scans on device, and add notes. I need to preserve actual geometry (odd angles, chamfers, fixtures), not simplified RoomPlan boxes. Are there any easy ways to incorporate high quality texture mapping or PBR? Where is the documentation for scene reconstruction?

Hi there, I received an enterprise license file to include enhanced object tracking configuration for the Vision Pro. My account is part of the team which got the allowance from Apple to use this capability. Unfortunately, although I followed the guide, I do not find the Object Tracking capability when I try to add it to my project. There are other capabilities like Main Camera on the Vision Pro, but not for Object Tracking. I am using Xcode 26.1 and visionOS 26.1. What am I missing here? Thanks in advance, Matthias

Hi team, I believe I’ve found a registration issue between ARFrame.sceneDepth and ARFrame.capturedImage when using high-resolution frame capture on a 2022 iPad Pro (6th gen). When enabling high-resolution capture: if let highResFormat = ARWorldTrackingConfiguration.recommendedVideoFormatForHighResolutionFrameCapturing { config.videoFormat = highResFormat } … arView.session.captureHighResolutionFrame { ... } the depth map provided by ARFrame.sceneDepth no longer aligns correctly with the corresponding high-resolution capturedImage. This misalignment results in consistently over-estimated distance measurements in my app (which relies on mapping depth to 2D pixel coordinates). iPad Pro (6th gen): misalignment occurs only when capturing high-resolution frames. iPhone 16 Pro: depth is correctly registered for both standard and high-resolution captures. It appears the camera intrinsics, specifically the FOV, change between the “regular” resolution stream and the high-resolution capture on the iPad. My suspicion is that the depth data continues using the intrinsics of the lower resolution stream, resulting in an unregistered depth-to-RGB mapping. Once I have the iPad in hand again, I will confirm whether camera.intrinsics or FOV differ between the low-res and high-res frames. Is this a known issue with high-resolution frame capture on the 2022 iPad Pro? If not, I’m happy to provide some more thorough sample code. Thanks for your time!

I have an iOS app that can display a USDZ model downloaded from the Internet (and cached locally) via an ARView. I would like to light that model with an image based light (IBL) also downloaded from the Internet. However, as far as I can tell, ARView can only create an IBL from a resource that has been compiled into the Xcode project and loaded with EnvironmentResource(named:in:) or EnvironmentResource.load(named:in:). Is there a way to create an EnvironmentResource from an HDRI via a file URL to use in ARView in iOS?