Okay after finding this question and trying what it said I made some progress. However, I am attempting to use arView.session.currentFrame.smoothedSceneDepth and not arView.session.currentFrame.estimatedDepthData. Here is the updated extension: extension CVPixelBuffer {     func value(from point: CGPoint) -> Float? {         let width = CVPixelBufferGetWidth(self)         let height = CVPixelBufferGetHeight(self)         let normalizedYPosition = ((point.y / UIScreen.main.bounds.height) * 1.3).clamped(0, 1.0)         let colPosition = Int(normalizedYPosition * CGFloat(height))                  let rowPosition = Int(( 1 - (point.x / UIScreen.main.bounds.width)) * CGFloat(width) * 0.8)         return value(column: colPosition, row: rowPosition)     }          func value(column: Int, row: Int) -> Float? {         guard CVPixelBufferGetPixelFormatType(self) == kCVPixelFormatType_DepthFloat32 else { return nil }         CVPixelBufferLockBaseAddress(self, .readOnly)         if let baseAddress = CVPixelBufferGetBaseAddress(self) {             let width = CVPixelBufferGetWidth(self)             let index = column + (row * width)             let offset = index * MemoryLayout<Float>.stride             let value = baseAddress.load(fromByteOffset: offset, as: Float.self)                 CVPixelBufferUnlockBaseAddress(self, .readOnly)             return value         }         CVPixelBufferUnlockBaseAddress(self, .readOnly)         return nil     } } Note that point.y is associated with column position and point.x is associated with row position, so the buffer appears to be rotated relative to the view. I suspect there is some conversion between coordinate spaces that I need to be doing that I am unaware of. To get this close to having it working I had to multiply the normalized Y position by 1.3 and the X position by 0.8, as well as invert the X axis by subtracting from 1. The app still consistently crashes on this line: let value = baseAddress.load(fromByteOffset: offset, as: Float.self)

With some help I was able to figure out what coordinates and conversion I needed to use. The Vision result comes in Vision coordinates: normalized, (0,0) Bottom-Left, (1,1) Top-Right. AVFoundation coordinates are (0,0) Top-Left, (1,1) Bottom-Right. To convert from Vision coordinates to AVFoundation coordinates, you must flip the Y-axis like so: public extension CGPoint {     func convertVisionToAVFoundation() -> CGPoint {         return CGPoint(x: self.x, y: 1 - self.y)     } } This AVFoundation coordinate is what needs to be used as input for indexing the depth buffer, like so: public extension CVPixelBuffer {     ///The input point must be in normalized AVFoundation coordinates. i.e. (0,0) is in the Top-Left, (1,1,) in the Bottom-Right.     func value(from point: CGPoint) -> Float? {         let width = CVPixelBufferGetWidth(self)         let height = CVPixelBufferGetHeight(self)         let colPosition = Int(point.x * CGFloat(width))         let rowPosition = Int(point.y * CGFloat(height))         return value(column: colPosition, row: rowPosition)     }     func value(column: Int, row: Int) -> Float? {         guard CVPixelBufferGetPixelFormatType(self) == kCVPixelFormatType_DepthFloat32 else { return nil }         CVPixelBufferLockBaseAddress(self, .readOnly)         if let baseAddress = CVPixelBufferGetBaseAddress(self) {             let width = CVPixelBufferGetWidth(self)             let index = column + (row * width)             let offset = index * MemoryLayout<Float>.stride             let value = baseAddress.load(fromByteOffset: offset, as: Float.self)                 CVPixelBufferUnlockBaseAddress(self, .readOnly)             return value         }         CVPixelBufferUnlockBaseAddress(self, .readOnly)         return nil     } } This is all that is needed to get depth for a given position from a Vision request. Here is my body tracking swift package that has a 3D hand tracking example that uses this: https://github.com/Reality-Dev/BodyTracking

However, if you would like to find the position on screen for use with something such as UIKit or ARView.ray(through:) further transformation is required. The Vision request was performed on arView.session.currentFrame.capturedImage. arView.session.currentFrame is an ARFrame. From the documentation on ARFrame.displayTransform(for:viewportSize:): Normalized image coordinates range from (0,0) in the upper left corner of the image to (1,1) in the lower right corner. This method creates an affine transform representing the rotation and aspect-fit crop operations necessary to adapt the camera  image to the specified orientation and to the aspect ratio of the specified viewport. The affine transform does not scale to the viewport's pixel size. The capturedImage pixel buffer is the original image captured by the device camera, and thus not adjusted for device orientation or view aspect ratio. So the image being rendered on screen is a cropped version of the frame that the camera captures, and there is transformation needed to go from AVFoundation coordinates to display (UIKit) coordinates. Converting from AVFoundation coordinates to display (UIKit) coordinates: public extension ARView {       func convertAVFoundationToScreenSpace(_ point: CGPoint) -> CGPoint? {         //Convert from normalized AVFoundation coordinates (0,0 top-left, 1,1 bottom-right)         //to screen-space coordinates.         guard             let arFrame = session.currentFrame,             let interfaceOrientation = window?.windowScene?.interfaceOrientation         else {return nil}             let transform = arFrame.displayTransform(for: interfaceOrientation, viewportSize: frame.size)             let normalizedCenter = point.applying(transform)             let center = normalizedCenter.applying(CGAffineTransform.identity.scaledBy(x: frame.width, y: frame.height))             return center     } } To go the opposite direction, from UIKit display coordinates to AVFoundation coordinates: public extension ARView {     func convertScreenSpaceToAVFoundation(_ point: CGPoint) -> CGPoint? {         //Convert to normalized pixel coordinates (0,0 top-left, 1,1 bottom-right)         //from screen-space UIKit coordinates.         guard           let arFrame = session.currentFrame,           let interfaceOrientation = window?.windowScene?.interfaceOrientation         else {return nil}           let inverseScaleTransform = CGAffineTransform.identity.scaledBy(x: frame.width, y: frame.height).inverted()           let invertedDisplayTransform = arFrame.displayTransform(for: interfaceOrientation, viewportSize: frame.size).inverted()           let unScaledPoint = point.applying(inverseScaleTransform)           let normalizedCenter = unScaledPoint.applying(invertedDisplayTransform)           return normalizedCenter     } } To get a world-space coordinate from a UIKit screen coordinate and a corresponding depth value:     /// Get the world-space position from a UIKit screen point and a depth value     /// - Parameters:     ///   - screenPosition: A CGPoint representing a point on screen in UIKit coordinates.     ///   - depth: The depth at this coordinate, in meters.     /// - Returns: The position in world space of this coordinate at this depth.     private func worldPosition(screenPosition: CGPoint, depth: Float) -> simd_float3? {         guard             let rayResult = arView.ray(through: screenPosition)         else {return nil}         //rayResult.direction is a normalized (1 meter long) vector pointing in the correct direction, and we want to go the length of depth along this vector.          let worldOffset = rayResult.direction * depth          let worldPosition = rayResult.origin + worldOffset          return worldPosition     } To set the position of an entity in world space for a given point on screen:     let currentFrame = arView.session.currentFrame,     let sceneDepth = (currentFrame.smoothedSceneDepth ?? currentFrame.sceneDepth)?.depthMap     let depthAtPoint = sceneDepth.value(from: avFoundationPosition),     let worldPosition = worldPosition(screenPosition: uiKitPosition, depth: depthAtPoint)     trackedEntity.setPosition(worldPosition, relativeTo: nil) And don't forget to set the proper frameSemantics on your ARConfiguration:     func runNewConfig(){         // Create a session configuration         let configuration = ARWorldTrackingConfiguration()         //Goes with (currentFrame.smoothedSceneDepth ?? currentFrame.sceneDepth)?.depthMap         let frameSemantics: ARConfiguration.FrameSemantics = [.smoothedSceneDepth, .sceneDepth]         //Goes with currentFrame.estimatedDepthData         //let frameSemantics: ARConfiguration.FrameSemantics = .personSegmentationWithDepth         if ARWorldTrackingConfiguration.supportsFrameSemantics(frameSemantics) {             configuration.frameSemantics.insert(frameSemantics)         }         // Run the view's session         session.run(configuration)     }

@aharriscrowne Please see my solution here: https://developer.apple.com/forums/thread/705216?answerId=712036022#712036022

Thanks for your reply. OcclusionMaterial might be the way to go, but the edge cases will have to be addressed. As far as how to create one, OcclusionMaterial is provided by RealityKit and is available on VisionOS, so all you have to do is initialize one like this: OcclusionMaterial() And pass it to the array of materials on a ModelComponent. let myEntity = Entity() let myModelComponent = ModelComponent(mesh: myMesh, materials: [OcclusionMaterial()]) myEntity.components.set(myModelComponent) OR let myModelEntity = ModelEntity(mesh: myMesh, materials: [OcclusionMaterial()]) There is a good example on Medium.com titled "Creating an iOS AR Portal App using Occlusion Materials" but it uses the older version of RealityKit for handheld devices.

I found the solution. I had that same issue [iphonesimulator] Exception thrown during compile: Cannot get rkassets content for path /Documents/Apps/Example apps/VisionOS Examples/CreatingASpaceshipGame/Packages/Studio/Sources/Studio/Studio.rkassets because 'The file “Studio.rkassets” couldn’t be opened because you don’t have permission to view it.' I noticed that whenever I closed the Spaceship project, opened the Studio package on it own, selected "Trust and Open", then closed and reopened the Studio package on its own, I would often have to select "Trust and Open" again. This, combined with the error having to do with file permissions, gave me the suspicion that the issue had to do with the project being downloaded from the internet. Steps to Fix: That “permission” message is almost always Xcode tripping over the macOS quarantine flag that’s automatically added to every file you download from the internet. When a RealityKit‑assets compiler meets a quarantined .rkassets bundle it refuses to read it and you get the cryptic error you’re seeing – even though the Finder shows that you own the file and have read/write access. Fix (takes less than a minute) I had to move my project to my downloads folder. This removed spaces from the path which seemed to help. Quit Xcode (so it releases any handles on the files). Open Terminal and run this to recursively clear the quarantine flag on the whole sample project (swapping in the path to the project on your local machine): xattr -dr com.apple.quarantine \ "Path/To/The/Project" xattr is the standard macOS tool for managing extended attributes; the -d switch removes an attribute and -r does it recursively. Only remove com.apple.quarantine for files that you trust. Re‑open the project in Xcode (my version is 16.3). Product ▸ Clean Build Folder (⇧⌘K) and build again. Also, it looks like the Spaceship app target did not have iOS 18 set as its minimum deployment to start with. It was set to 15.6. Set it to 18. If it still fails Check What to do Path contains spaces or non‑ASCII characters (there’s a RealityKit bug in some betas) Move the project to a simple path like ~/Dev/Spaceship/ and try again. // --- // Actual POSIX permissions are wrong (rare) chmod -R u+rwX,go+rX Studio.rkassets inside the Studio package. // --- // iCloud/Dropbox/OneDrive holding the files offline Make sure the project is on a local disk or force‑download everything first. // --- // Old Xcode The sample targets new RealityKit features that ship with Xcode 16 / 18; older versions fail at the asset‑compile stage. // --- // Why this happens Gatekeeper sets the com.apple.quarantine attribute on every file extracted from a downloaded ZIP. For ordinary Swift files it does nothing, but the RealityKit asset compiler treats quarantined bundles as unreadable for security reasons and surfaces the generic “you don’t have permission” error instead of mentioning quarantine. Once that attribute is removed (or you clone the project with git, which doesn’t propagate quarantine), the build pipeline can read .rkassets normally and Xcode proceeds past the compile‑assets phase. Hope that gets your Spaceship flying! 🚀