ARSession and RoomCaptureSession

RoomCaptureSession has an instance property arSession that gives you access to the underlying ARSession. https://developer.apple.com/documentation/roomplan/roomcapturesession/arsession

Hello there!

The arSession owned by RoomCaptureSession doesn't keep track of scene depth (session.configuration?.frameSemantics.contains(.sceneDepth) = false). How can we manage that?

I tried to stop the session and restart it with the correct configuration but it didn't work:

captureSession.arSession.pause()
guard ARWorldTrackingConfiguration.supportsFrameSemantics(.sceneDepth) else { return }
let config = ARWorldTrackingConfiguration()
config.frameSemantics = .sceneDepth
captureSession.arSession.run(config)

Re: @sducouedic's question, configuration changes aren't immediate. Add this delegate method to see that the sceneDepth semantic is enabled.

public func captureSession(_ session: RoomCaptureSession, didAdd room: CapturedRoom) {
     if (session.arSession.configuration?.frameSemantics.contains(.sceneDepth)) != nil {
          print("Scene depth is supported")
     }
}