SceneUnderstanding missing from SceneKit?

Unfortunately, SceneKit doesn't support any features of the LiDAR scanner. So, you'll have to apply information from the scene mesh (ARMeshAnchors) in SceneKit yourself.

Thanks for the response.

Well that's a shame, i suppose it's only a matter of time before SceneKit becomes obsolete.

Do you know of any guides or articles explaining how to create SCNGeometry using the ARMeshAnchors?

ARMeshAnchors use ARGeometrySource & ARGeometryElement and so far i haven't been able to convert them into SCNGeometrySource and SCNGeometryElement.

Here is a convenient class which wraps ARMeshGeometry to provide an SCNGeometry of the mesh (note this does not include the normals):

class ARSCNMeshGeometry {

let scnGeometry: SCNGeometry

init(meshAnchor: ARMeshAnchor) {

let meshGeometry = meshAnchor.geometry

// Vertices source

let vertices = meshGeometry.vertices

let verticesSource = SCNGeometrySource(buffer: vertices.buffer, vertexFormat: vertices.format, semantic: .vertex, vertexCount: vertices.count, dataOffset: vertices.offset, dataStride: vertices.stride)

// Indices Element

let faces = meshGeometry.faces

let facesData = Data(bytes: faces.buffer.contents(), count: faces.buffer.length)

let facesElement = SCNGeometryElement(data: facesData, primitiveType: .triangles, primitiveCount: faces.count, bytesPerIndex: faces.bytesPerIndex)

scnGeometry = SCNGeometry(sources: [verticesSource], elements: [facesElement])

}

}

Using that class, you can get the SCNGeometry from the ARMeshGeometry for each mesh anchor.

Whenever an ARMeshAnchor is added to the session (use session(_:didAdd:) to check) you should create an SCNNode and add the geometry to it.

Then add the SCNNode to an SCNScene.

Whenever an ARMeshAnchor is updated (use session(_:didUpdate:) to check) you should update the corresponding node’s geometry with the anchor’s new geometry.

You should also set the node’s simdWorldTransform to the ARMeshAnchor’s transform at this time, since ARMeshGeometry vertices are located relative to their mesh anchor's transform.

Thanks for the code sample! It is working for me for a few seconds, but then the camera feed freezes and I get this error:

LiDAR Meshes[2865:523366] Execution of the command buffer was aborted due to an error during execution. Ignored (for causing prior/excessive GPU errors) (IOAF code 4)

Same, any update on the proper way to dynamically update and display our own version of the Lidar mesh?

Please request technical support for this issue: https://developer.apple.com/support/technical/

Code Block 
let facesData = Data(bytesNoCopy: faces.buffer.contents(), count: faces.buffer.length, deallocator: .none)

Code Block 
let facesData = Data(bytes: faces.buffer.contents(), count: faces.buffer.length)

Code Block 
arView.environment.sceneUnderstanding.options.insert(.occlusion)

Code Block 
@available(iOS 13.4, *)
extension SCNGeometry {
    
    /**
     Constructs an SCNGeometry element from an ARMeshAnchor.
     
      if setColors, will set colors automatically on each face based on ARMeshClassification above
    */
    public static func fromAnchor(meshAnchor: ARMeshAnchor, setColors: Bool) -> SCNGeometry {
        let meshGeometry = meshAnchor.geometry
        let vertices = meshGeometry.vertices
        let normals = meshGeometry.normals
        let faces = meshGeometry.faces
        
        // use the MTL buffer that ARKit gives us
        let vertexSource = SCNGeometrySource(buffer: vertices.buffer, vertexFormat: vertices.format, semantic: .vertex, vertexCount: vertices.count, dataOffset: vertices.offset, dataStride: vertices.stride)
        
        let normalsSource = SCNGeometrySource(buffer: normals.buffer, vertexFormat: normals.format, semantic: .normal, vertexCount: normals.count, dataOffset: normals.offset, dataStride: normals.stride)
        // Copy bytes as we may use them later
        let faceData = Data(bytes: faces.buffer.contents(), count: faces.buffer.length)
        
        // create the geometry element
        let geometryElement = SCNGeometryElement(data: faceData, primitiveType: .of(faces.primitiveType), primitiveCount: faces.count, bytesPerIndex: faces.bytesPerIndex)
        
        
        let geometry : SCNGeometry
        
        if setColors {
            // calculate colors for each indivudal face, instead of the entire mesh
            
            var colors = [SIMD4<Float>]()
            
            for i in 0..<faces.count {
                colors.append(meshGeometry.classificationOf(faceWithIndex: i).colorVector)
            }
            
            let colorSource = SCNGeometrySource(data: Data(bytes: &colors, count: colors.count * SIMD4_FLOAT_STRIDE),
                semantic: .color,
                vectorCount: colors.count,
                usesFloatComponents: true,
                componentsPerVector: 4,
                bytesPerComponent: FLOAT_STRIDE,
                dataOffset: 0,
                dataStride: SIMD4_FLOAT_STRIDE
            )
            
            geometry = SCNGeometry(sources: [vertexSource, normalsSource, colorSource], elements: [geometryElement])
        }
        else {
            geometry = SCNGeometry(sources: [vertexSource, normalsSource], elements: [geometryElement])
        }
        return geometry;
    }
}
let SIMD4_FLOAT_STRIDE = MemoryLayout<SIMD4<Float>>.stride
let FLOAT_STRIDE = MemoryLayout<Float>.stride
let VECTOR_WHITE : SIMD4<Float> = SIMD4<Float>(1.0, 1.0, 1.0, 1.0)
let VECTOR_YELLOW: SIMD4<Float> = SIMD4<Float>(1.0, 1.0, 0, 1.0)
let VECTOR_BLUE: SIMD4<Float> = SIMD4<Float>(0, 0, 1.0, 1.0)
@available(iOS 13.4, *)
extension ARMeshClassification {
    var description: String {
        switch self {
            case .ceiling: return "Ceiling"
            case .door: return "Door"
            case .floor: return "Floor"
            case .seat: return "Seat"
            case .table: return "Table"
            case .wall: return "Wall"
            case .window: return "Window"
            case .none: return "None"
            @unknown default: return "Unknown"
        }
    }
    
    // make more or less same vertical/horizontal colors as planes
    var color: UIColor {
        switch self {
            case .ceiling: return .blue
            case .door: return .white
            case .floor: return .blue
            case .seat: return .white
            case .table: return .white
            case .wall: return .yellow
            case .window: return .white
            case .none: return .white
            @unknown default: return .white
        }
    }
    
    var colorVector: SIMD4<Float> {
        switch self {
            case .ceiling: return VECTOR_BLUE
            case .door: return VECTOR_WHITE
            case .floor: return VECTOR_BLUE
            case .seat: return VECTOR_WHITE
            case .table: return VECTOR_WHITE
            case .wall: return VECTOR_YELLOW
            case .window: return VECTOR_WHITE
            case .none: return VECTOR_WHITE
            @unknown default: return VECTOR_WHITE
        }
    }
}