Xcode 15.4: still happening. Xcode 16 beta: still happening. Come on Apple, do something about this!

We are experiencing the same: a lot of <<<< AVPointCloudData >>>> Fig assert: "_dataBuffer" at bail (AVPointCloudData.m:217) - (err=0) lines in the debug console when we start our ARSession, during which the app appears to hang. It uses an ARSCNView but that just stays blank. Then after some time (10-20s) everything goes back to normal and the camera feed is shown. We've been seeing this on a range of iOS and iPad OS devices. This is obviously problematic because users will think the app has crashed.

We get the same in our app, using ARKit (ARSCNView). Just a ton of these <<<< AVPointCloudData >>>> Fig assert: "_dataBuffer" at bail (AVPointCloudData.m:217) - (err=0) while the ARSession hangs for some time (up to 20s). And then it works normally.

Yes, same here.

I think textContentType should be .newPassword, not .password. Not sure if that will help though, I've been having similar problems but only on iOS 16. On iOS 15.7 everything works fine.

The issue appears to have been fixed in iOS 15.2. Nothing about it in the release notes but it looks like relocalization works like it used to, again.

(or maybe better session(_ session: ARSession, didUpdate anchors: [ARAnchor]) of ARSessionObserver, to not be dependent on SceneKit.)

If I'm not mistaken, the transform of this ARAnchor that was added just before saving will not be updated after a relocalization until the moment it is in the camera's field of view again. So the after relocalization, the user should be made to point the camera at this ARAnchor and then when the ARSCNViewDelegate func didUpdate is called, we can use setWorldOrigin(relativeTransform:)?