Hello! I want to create an indoor mapping application in Swift, using the LiDAR scanner. I searched among frameworks and I found that ARKit, RealityKit and RoomPlan would be useful. Which is the proper way to create a 2D indoor mapping app? And which is the proper way to create a 3D indoor mapping app? Are there any modifications I have to make on my code in order to have both?

How is it possible to add a schema for ar to a usd file using the python tools (or any other way). Following the instructions in: https://developer.apple.com/documentation/arkit/arkit_in_ios/usdz_schemas_for_ar/actions_and_triggers/preliminary_behavior The steps are to have the following declaration: class Preliminary_Behavior "Preliminary_Behavior" ( inherits = </Typed> ) and a usd file #usda 1.0 def Preliminary_Behavior "TapAndFlip" { rel triggers = [ <Tap> ] rel actions = [ <Entry> ] def Preliminary_Trigger "Tap" ( inherits = </TapGestureTrigger> ) { rel affectedObjects = [ </Cube> ] } def Preliminary_Action "Entry" ( inherits = </GroupAction> ) { uniform token type = "parallel" rel actions = [ <Flip> ] } def Preliminary_Action "Flip" ( inherits = </EmphasizeAction> ) { rel affectedObjects = [ </Cube> ] uniform token motionType = "flip" } } def Cube "Cube" { } How do these parts fit together? I saved the usda file, but it didn't have any interactions. Obviously, I have to add that declaration, but how do I do this? is this all in an AR Xcode project? Or can I do this with python tools (I would prefer something very lightweight).

I built two parts of my app a bit disjointed: my physics component, which controls all SceneReconstruction, HandTracking, and WorldTracking. my spatial GroupActivities component that allows you to see personas of those that join the activity. My problem: When trying to use any DataProvider in a spatial experience, I get the ARKit Session Event: dataProviderStateChanged, which disables all of my providers. My question: Has anyone successfully been able to find a workaround for this? I think it would be amazing to have one user be able to be the "host" for the activity and the scene reconstruction provider still continue to run for them.

Hello, I am working on an AR application to visualize a life-size room. I am working with Unity 2023.3, Apple ARKIT XR Plugin 6.0.0-pre.8 and a 2021 5th gen iPad. First I scan a room with roomplan to get a usdz file. I open it with Blender to make sure I have the right data (I do) and I export it to fbx to use it in Unity. Then I import the fbx to Unity and I use it as a prefab to instantiate it when I click on a detected floor. I build my application in Unity, then in Xcode to use it on my iPad. But when the room is displayed, it is way too small. I tried adding a slider to scale up the room's gameobject and I added a plugin to visualize my Unity scene in my built application. The room is scalling up in the Unity scene but not in the application. Does anyone ever had this issue and if so how did you fix that? Best regards, Angel Garcia

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?

Hi all, I am generating some USDZ files that will be used in quicklook and be accessible with the Vision Pro. I was wondering are there any examples with USDZ files with actions? like the ability to change a state of assesses by tapping on them? I know this works with .reality files, but I would like to use Python to create some automatically generated USDZ files that allow some interaction. I'm currently stuck! So an example of the capabilities would be great - or pointing to some code that has done this in python. Thanks!

Hi! I was trying to port our sdk for visionOS. I was going through the documentation and saw this video: https://developer.apple.com/videos/play/wwdc2023/10089/ Is there any working code sample for it, same goes for arkit c api ? Couldn't find any links. Thanks in advance. Sahil

I am developing an immersive application featured with hands interacting my virtual objects. When my hand passes through the object, the rendered color of my hand is like blending hand color with object's color together, both semi transparent. I wonder if it is possible to make my hand be always "opaque", or say the alpha value of rendered hand (coz it's VST) is always 1, but the object's alpha value could be varied in terms of whether it is interacting with hand. (I was thinking this kind of feature might be supported by a specific component (just like HoverEffectComponent), but I didn't find that out)

Hi, We are having problems with IOs Quick Look not working. Specifically, the AR button being greyed out after having opened the Scene / AR model previously. This is all running off our Web-App. What we have figured out is clearing the device's cache solves the issue and the greyed out button turns blue and clickable again. We are receiving this issue very inconsistently though - on iPad as well as iPhone and on both newer and older IOs versions. Very happy for any responses and advice to solve this issue as its behaviour makes the quick look function - even if it's great (when it works) unviable for Production (because it doesn't work consistently). Best Regards

Currently in an app I am working on, we are adding collision shapes/components to objects by using the ShapeResource.generateConvex method to generate the shape from the mesh of our ModelEntity. Unfortunately, this does not result in a totally accurate collision shape. The following example is how the collision component looks currently. Is there anyway to generate a collision shape that fits the exact bounds of the ModelEntity?

Im trying to use a RealityView with attachments and this error is being thowen. Am i using the RealityView wrong? I've seen other people use a RealityView with Attachments in visionOS... Please let this be a bug... RealityView { content, attachments in contentEntity = ModelEntity(mesh: .generatePlane(width: 0.3, height: 0.5)) content.add(contentEntity!) } attachments: { Text("Hello!") }.task { await loadImage() await runSession() await processImageTrackingUpdates() }

I am fairly new to 3D model rendering and do not know where to start. I am trying to, ideally with ARKit & RealityKit or SceneKit, do a scan of an environment. This includes: Applying realistic textures to the model. Being able to save it as a .usdz file (to be able to open it within the App itself) Once it is save do post-processing measurements within the model. I would prefer to accomplish this feature by using a mesh, instead of the pointCloud that is used in the sample project of apple. Would this be doable using Apple's APIs and on a mobile device or would it be necessary to use a third party program? I have managed to create a USDZ file using SceneKit's .scene.write(to:,delegate:) method. However the saved file is a "single object" and it is not possible to use raycasting to do post-processing measurements in the model.

Hi all, I need some help debugging some code I wrote. Just as a preface, I'm an extremely new VR/AR developer and also very new to using ARKit + RealityKit. So please bear with me :) I'm just trying to make a simple program that will track an image and place an entity on it. The image is tracked correctly, but the moment the program recognizes the image and tries to place an entity on it, the program crashes. Here’s my code: VIEWMODEL CODE: Observable class ImageTrackingModel { var session = ARKitSession() // ARSession used to manage AR content var imageAnchors = [UUID: Bool]() // Tracks whether specific anchors have been processed var entityMap = [UUID: ModelEntity]() // Maps anchors to their corresponding ModelEntity var rootEntity = Entity() // Root entity to which all other entities are added let imageInfo = ImageTrackingProvider( referenceImages: ReferenceImage.loadReferenceImages(inGroupNamed: "referancePaper") ) init() { setupImageTracking() } func setupImageTracking() { if ImageTrackingProvider.isSupported { Task { try await session.run([imageInfo]) for await update in imageInfo.anchorUpdates { updateImage(update.anchor) } } } } func updateImage(_ anchor: ImageAnchor) { let entity = ModelEntity(mesh: .generateSphere(radius: 0.05)) // THIS IS WHERE THE CODE CRASHES if imageAnchors[anchor.id] == nil { rootEntity.addChild(entity) imageAnchors[anchor.id] = true print("Added new entity for anchor \(anchor.id)") } if anchor.isTracked { entity.transform = Transform(matrix: anchor.originFromAnchorTransform) print("Updated transform for anchor \(anchor.id)") } } } APP: @main struct MyApp: App { @State var session = ARKitSession() @State var immersionState: ImmersionStyle = .mixed private var viewModel = ImageTrackingModel() var body: some Scene { WindowGroup { ModeSelectView() } ImmersiveSpace(id: "appSpace") { ModeSelectView() } .immersionStyle(selection: $immersionState, in: .mixed) } } Content View: RealityView { content in Task { viewModel.setupImageTracking() } } //Im serioulsy so clueless on how to use this view

In visionOS. mix mode, I place a virtual object on the floor and a chair in front of it, but the chair does not obstruct the virtual object, making the effect unrealistic. How to make chairs and other objects in reality cover virtual objects

I was executing some code from Incorporating real-world surroundings in an immersive experience func processReconstructionUpdates() async { for await update in sceneReconstruction.anchorUpdates { let meshAnchor = update.anchor guard let shape = try? await ShapeResource.generateStaticMesh(from: meshAnchor) else { continue } switch update.event { case .added: let entity = ModelEntity() entity.transform = Transform(matrix: meshAnchor.originFromAnchorTransform) entity.collision = CollisionComponent(shapes: [shape], isStatic: true) entity.components.set(InputTargetComponent()) entity.physicsBody = PhysicsBodyComponent(mode: .static) meshEntities[meshAnchor.id] = entity contentEntity.addChild(entity) case .updated: guard let entity = meshEntities[meshAnchor.id] else { continue } entity.transform = Transform(matrix: meshAnchor.originFromAnchorTransform) entity.collision?.shapes = [shape] case .removed: meshEntities[meshAnchor.id]?.removeFromParent() meshEntities.removeValue(forKey: meshAnchor.id) } } } I would like to toggle the Occlusion mesh available on the dev tools below, but programmatically. I would like to have a button, that would activate and deactivate that. I was checking .showSceneUnderstanding but it does not seem to work in visionOS. I get the following error 'ARView' is unavailable in visionOS when I try what is available Visualizing and Interacting with a Reconstructed Scene

I am trying to map the 3D skeleton joint positions of an ARBodyAnchor to the real body on the camera image. I know I could simply use the "detectedBody" of the ARFrame, which would already deliver the normalized 2D position of each joint, but what I am mostly interested in is the z-axis (the distance of each joint to the camera). I am starting a ARBodyTrackingConfiguration, setting the world alignment to ARWorldAlignmentCamera (in which case the camera transform is an identity matrix) and multiplying each joint transform in model space (via modelTransformForJointName:) with the transform of the ARBodyAnchor. And then tried many different ways to get the joints to line up with the image, by for example multiplying the transforms with the projectionMatrix of the ARCamera. But whatever I do, it never lines up correctly. For example, the doesn't really seem to be a scale factor in the projectionMatrix or the ARBodyAnchor transform, no matter the distance of the camera to the detected body, the scale of the body is always the same. Which means I am missing something important, and I haven't figured out what. So does anyone have an example of how I can get the body align to the camera image? (or get the distance to each joint in any other way?) Thanks!

We have a random issue that when ARKitSession.run() is called, monitorSessionEvents() receives .paused and it never transitions to .running If we exit Immersive Space and do ARKitSesssion.run() again it works fine. Unfortunately this is very difficult to manage in the flow of our App.

I am trying to determine the corners of a RoomPlan-detected wall using the information available in the ARView session's frame, but can't quite figure out what I'm doing wrong. The corners appear to be correct relative to each other, but the wall appears too large when I render it. (I'm also not sure I'm handling the image rotation correctly either, which may be compounding my problem). Here is the code I currently have, along with a sample image, and the resulting image when I pass it through the perspective filter. it is close but isn't cropping the walls and floors correctly. func captureSession(_ session: RoomCaptureSession, didChange room: CapturedRoom) { for surface in room.walls { if let frame = self.arView.session.currentFrame { var image: CGImage? = nil VTCreateCGImageFromCVPixelBuffer(frame.capturedImage, options: nil, imageOut: &image) let wallTransform = surface.transform let cameraTransform = frame.camera.transform let intrinsics = frame.camera.intrinsics let projectionMatrix = frame.camera.projectionMatrix let width = surface.dimensions.y let height = surface.dimensions.x let inverseCameraTransform = simd_inverse(cameraTransform) let wallTopRight = simd_float4(width/2, height/2, 0, 1) let wallTopLeft = simd_float4(-width/2, height/2, 0, 1) let wallBottomRight = simd_float4(width/2, -height/2, 0, 1) let wallBottomLeft = simd_float4(-width/2, -height/2, 0, 1) let worldTopRight = wallTransform * wallTopRight let worldTopLeft = wallTransform * wallTopLeft let worldBottomRight = wallTransform * wallBottomRight let worldBottomLeft = wallTransform * wallBottomLeft let cameraTopRight = projectionMatrix * inverseCameraTransform * worldTopRight let cameraTopLeft = projectionMatrix * inverseCameraTransform * worldTopLeft let cameraBottomRight = projectionMatrix * inverseCameraTransform * worldBottomRight let cameraBottomLeft = projectionMatrix * inverseCameraTransform * worldBottomLeft let imageTopRight = intrinsics * simd_float3(cameraTopRight.x / cameraTopRight.w, cameraTopRight.y / cameraTopRight.w, cameraTopRight.z / cameraTopRight.w) let imageTopLeft = intrinsics * simd_float3(cameraTopLeft.x / cameraTopLeft.w, cameraTopLeft.y / cameraTopLeft.w, cameraTopLeft.z / cameraTopLeft.w) let imageBottomRight = intrinsics * simd_float3(cameraBottomRight.x / cameraBottomRight.w, cameraBottomRight.y / cameraBottomRight.w, cameraBottomRight.z / cameraBottomRight.w) let imageBottomLeft = intrinsics * simd_float3(cameraBottomLeft.x / cameraBottomLeft.w, cameraBottomLeft.y / cameraBottomLeft.w, cameraBottomLeft.z / cameraBottomLeft.w) let topRight = CGPoint(x: CGFloat(imageTopRight.x), y: CGFloat(imageTopRight.y)) let topLeft = CGPoint(x: CGFloat(imageTopLeft.x), y: CGFloat(imageTopLeft.y)) let bottomRight = CGPoint(x: CGFloat(imageBottomRight.x), y: CGFloat(imageBottomRight.y)) let bottomLeft = CGPoint(x: CGFloat(imageBottomLeft.x), y: CGFloat(imageBottomLeft.y)) if let image { let filter = CIFilter.perspectiveCorrection() filter.inputImage = CIImage(image: UIImage(cgImage: image)) filter.topRight = topRight filter.topLeft = topLeft filter.bottomRight = bottomRight filter.bottomLeft = bottomLeft let transformedImage = filter.outputImage if let transformedImage { let context = CIContext() if let outputImage = context.createCGImage(transformedImage, from: transformedImage.extent) { let wall = Wall(id: surface.identifier, image: outputImage, surface: surface) self.walls.append(wall) } } } } } }

When isAutoFocusEnabled is set to true, the entity in the scene keeps shaking. No focus when isAutoFocusEnabled is set to false. How to set up to solve this problem. override func viewDidLoad() { super.viewDidLoad() arView.session.delegate = self guard let arCGImage = UIImage(named: "111", in: .main, with: .none)?.cgImage else { return } let arReferenceImage = ARReferenceImage(arCGImage, orientation: .up, physicalWidth: CGFloat(0.1)) let arImages: Set<ARReferenceImage> = [arReferenceImage] let configuration = ARImageTrackingConfiguration() configuration.trackingImages = arImages configuration.maximumNumberOfTrackedImages = 1 configuration.isAutoFocusEnabled = false arView.session.run(configuration) } func session(_ session: ARSession, didAdd anchors: [ARAnchor]) { anchors.compactMap { $0 as? ARImageAnchor }.forEach { let anchor = AnchorEntity(anchor: $0) let mesh = MeshResource.generateBox(size: 0.1, cornerRadius: 0.005) let material = SimpleMaterial(color: .gray, roughness: 0.15, isMetallic: true) let model = ModelEntity(mesh: mesh, materials: [material]) model.transform.translation.y = 0.05 anchor.children.append(model) arView.scene.addAnchor(anchor) } }

I am trying to change the color of usdz asset provide by my designer. But I am unable to do. Can some help me with some sample code