Hello, In my app I'm trying to delete all but one chosen plane and do some raycasting on that plane. I noticed that, whenever I tried to delete other planes they would instantly reappear. Here is some sample code of the ARViewController I'm using that demonstrates the problem class ARViewController: UIViewController { var arView: ARView! *** Bunch of stuff *** func session(_ session: ARSession, didAdd anchors: [ARAnchor]) { // Iterate through the detected anchors for anchor in anchors { // Check if the detected anchor is an ARPlaneAnchor if let planeAnchor = anchor as? ARPlaneAnchor { plane_count += 1 print("Plane added. Number of plane anchors = \(plane_count)") } } } func session(_ session: ARSession, didRemove anchors: [ARAnchor]) { for anchor in anchors { if let planeAnchor = anchor as? ARPlaneAnchor { plane_count -= 1 print("SESSION CALLED: Plane Removed. Number of plane anchors = \(plane_count)") } } } func deletePlanes(){ for anchor in arView.session.currentFrame?.anchors ?? [] { arView.session.remove(anchor: anchor) } } When deletePlanes() is called, I'll see the following output populate instantly SESSION CALLED: Plane Removed. Number of plane anchors = 2 SESSION CALLED: Plane Removed. Number of plane anchors = 1 SESSION CALLED: Plane Removed. Number of plane anchors = 0 Plane added. Number of plane anchors = 1 Plane added. Number of plane anchors = 2 Plane added. Number of plane anchors = 3 This even occurs when the phone is face down after detecting a few planes. It appears that the planes are not actually being removed from the session. Please let me know if I'm doing anything wrong here! Thanks.

Hi team, I believe I’ve found a registration issue between ARFrame.sceneDepth and ARFrame.capturedImage when using high-resolution frame capture on a 2022 iPad Pro (6th gen). When enabling high-resolution capture: if let highResFormat = ARWorldTrackingConfiguration.recommendedVideoFormatForHighResolutionFrameCapturing { config.videoFormat = highResFormat } … arView.session.captureHighResolutionFrame { ... } the depth map provided by ARFrame.sceneDepth no longer aligns correctly with the corresponding high-resolution capturedImage. This misalignment results in consistently over-estimated distance measurements in my app (which relies on mapping depth to 2D pixel coordinates). iPad Pro (6th gen): misalignment occurs only when capturing high-resolution frames. iPhone 16 Pro: depth is correctly registered for both standard and high-resolution captures. It appears the camera intrinsics, specifically the FOV, change between the “regular” resolution stream and the high-resolution capture on the iPad. My suspicion is that the depth data continues using the intrinsics of the lower resolution stream, resulting in an unregistered depth-to-RGB mapping. Once I have the iPad in hand again, I will confirm whether camera.intrinsics or FOV differ between the low-res and high-res frames. Is this a known issue with high-resolution frame capture on the 2022 iPad Pro? If not, I’m happy to provide some more thorough sample code. Thanks for your time!