arScnView = ARSCNView(frame: CGRect.zero, options: nil) arScnView.delegate = self arScnView.automaticallyUpdatesLighting = true arScnView.allowsCameraControl = true addSubview(arScnView) arSession = arScnView.session arSession.delegate = self config = ARWorldTrackingConfiguration() config.sceneReconstruction = .meshWithClassification config.environmentTexturing = .automatic func session(_ session: ARSession, didAdd anchors: [ARAnchor]) { anchors.forEach({ anchor in if let meshAnchor = anchor as? ARMeshAnchor { let node = meshAnchor.toSCNNode() self.arScnView.scene.rootNode.addChildNode(node) } if let environmentProbeAnchor = anchor as? AREnvironmentProbeAnchor { // Can I retrieve the texture map corresponding to ARMeshAnchor from Environment Probe Anchor? // Or how can I retrieve the texture map corresponding to ARMeshAnchor? } }) } How can I scan a 3D scene and save it as USDZ? I want to achieve the following scenario?

In larger scenes, I need to record motion trajectories. RoomCaptureSession always starts from (0,0,0), and I use the last tracked point as the offset value to connect multiple trajectory points, just like StructureBuilder merging models But when StructureBuilder merged, it eliminated some of the models, which would make the trajectory points I saved lose accuracy, and I cannot know how much scene size was specifically eliminated between them Is there any way you can help me?

invalidValue(-nan, Swift.EncodingError.Context(codingPath: [CapturedVolumeCodingKeys(stringValue: "rooms", intValue: nil), _JSONKey(stringValue: "Index 0", intValue: 0), CapturedVolumeCodingKeys(stringValue: "openings", intValue: nil), _JSONKey(stringValue: "Index 0", intValue: 0), CodingKeys(stringValue: "dimensions", intValue: nil), _JSONKey(stringValue: "Index 0", intValue: 0)], debugDescription: "Unable to encode Float.nan directly in JSON.", underlyingError: nil)) Why does this exception occur during encoding? All scan data is CapturedRoom and has not been modified