Integrate iOS device camera and motion features to produce augmented reality experiences in your app or game using ARKit.

ARKit Documentation

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Vision Pro - Throw object by hand
Hello All, I'm desperate to found a solution and I need your help please. I've create a simple cube in Vision OS. I can get it by hand (close my hand on it) and move it pretty where I want. But, I would like to throw it (exemple like a basket ball). Not push it, I want to have it in hand and throw it away of me with a velocity and direction = my hand move (and finger opened to release it). Please put me on the wait to do that. Cheers and thanks Mathis
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1.6k
Feb ’25
Spatial Computing, ARPointCloud (rawFeaturePoints)
https://developer.apple.com/documentation/arkit/arpointcloud https://developer.apple.com/documentation/arkit/arframe/rawfeaturepoints The point cloud (collection of points/features) main intention is a debug visualization to what the underlying tracking algorithm processes and is not designed for additional algorithms on top of that. But, we are utilizing information contained in the points/features collected by ARKit. Currently, the range of rawfeaturepoints is limited to about 10 meter from the device. We see a great chance if the range is unlock. The global localization will be more robust and accurate. ARPointCloud - Apple ARKit - FindSurface YouTube SIdQRiLj2jY
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VisionOS 2.0 Main Camera Access Enterprise Entitlement Not Recognized in XCode
I am working on a project that requires access to the main camera on the Vision Pro. My main account holder applied for the necessary enterprise entitlement and we were approved and received the Enterprise.license file by email. I have added the Enterprise.license file to my project, and manually added the com.apple.developer.arkit.main-camera-access.allow entitlement to the entitlement file and set it to true since it was not available in the list when I tried to use the + Capability button in the Signing & Capabilites tab. I am getting an error: Provisioning profile "iOS Team Provisioning Profile: " doesn't include the com.apple.developer.arkit.main-camera-access.allow entitlement. I have checked the provisioning profile settings online, and there is no manual option for adding the main camera access entitlement, and it does not seem to be getting the approval from the license.
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1.6k
Sep ’25
Is SceneKit depricated ?
Hi everyone! I am working on AR app and wanted to implement object occlusion because it removes drift pretty much from the object. This working great with RealityKit sample But I am unable to replicate such behaviour it with scenekit. Because scenekit does not offer object occlusion. Can we say scenekit is getting depricated, and we should re-write app in RealityKit (which is obviously a big task)?
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1.9k
Nov ’25
LiDAR Projector Pattern iPhone 15 Pro vs. 12 Pro – Research Project Question
Dear Apple Team, I’m a high school student (vocational upper secondary school) working on my final research project about LiDAR sensors in smartphones, specifically Apple’s iPhone implementation. My current understanding (for context): I understand Apple’s LiDAR uses dToF with SPAD detectors: A VCSEL laser emits pulses, a DOE splits the beam into a dot pattern, and each spot’s return time is measured separately → point cloud generation. My specific questions: How many active projection dots does the LiDAR projector have in the iPhone 15 Pro vs. iPhone 12 Pro? Are the dots static or do they shift/move over time? How many depth measurement points does the system deliver internally (after processing)? What is the ranging accuracy (cm-level precision) of each measurement point? Experimental background: Using an IR night vision camera, I counted approximately 111 dots on the 15 Pro vs. 576 dots on the 12 Pro. Do these match the internal specifications? Photos of my measurements are available if helpful. Contact request: I would be very grateful if you could connect me with an Apple engineer or ARKit specialist who works with LiDAR technology. I would love to ask follow-up questions directly and would be happy to provide my contact details for this purpose. These specifications would be essential for my research paper. Thank you very much in advance! Best regards, Max! Vocational Upper Secondary School Hans-Leipelt-Schule Donauwörth Research Project: “LiDAR Sensor Technology in Smartphones”
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A question about adding grounding shadow in visionPro
I want adding grounding shadow on my Entity in RealityView on visionPro. However it seems that the shadow can only appear on another Entity. So I using plane detection in ARKit and add a transparent plane on it to render shadow. let planeEntity = ModelEntity(mesh: .generatePlane(width: anchor.geometry.extent.width, height: anchor.geometry.extent.height), materials: [material]) planeEntity.components.set(OpacityComponent(opacity: 0.0)) But sometimes there will be a border around my Entityon the plane. I do not know why it will happen, and I want remove the border.
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Mar ’25
ARSkeleton3D modelTransform always return nil
I use ARKit for motion tracking. I get the skeleton joint coordinates and use them for animation. I didn't make any changes to the code, but I updated the iOS version from 18 to 26, and modelTransform now always returns nil. https://developer.apple.com/documentation/arkit/arskeleton3d/modeltransform(for:) For example bodyAnchor.skeleton.modelTransform(for: .init(rawValue: "head_joint")) bodyAnchor is ARBodyAnchor. I see the default skeleton on the screen, but now I can't get the coordinates out of it. I'm using an example from Apple's WWDC presentation. https://developer.apple.com/documentation/arkit/capturing-body-motion-in-3d Are there any changes in the API? Or just bug?
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Nov ’25
What causes »ARSessionDelegate is retaining X ARFrames« console warning?
Hi, since iOS 15 I've repeatedly noticed the console warning »ARSessionDelegate is retaining X ARFrames. This can lead to future camera frames being dropped« even for rather simple projects using RealityKit and ARKit. Could someone from the ARKit team please elaborate what causes this warning and what can be done to avoid it? If I remember correctly I didn't even assign an ARSessionDelegate. Thank you!
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3.4k
Feb ’25
Create Anchor on Objects from 2D Data
We're developing a VisionOS application, where we would like to do product recognition (like food items). We have enterprise entitlements and therefore also main camera access for VisionOS. We send this live camera frames to a trained CoreML model where we will receive 2D coordinates from the model detection prediction. Now, we would like to create a 3D anchor on the detected items so it can be visible for user. The 3D anchor is going to be the class name of the detected item. How do we transform this 2D coordinate from the model prediction to a 3D anchor?
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Feb ’25
VisionOS hands replacement inside an Immersive Space
Still don't understand why no one is clarifying about this Apple Video https://developer.apple.com/videos/play/wwdc2023/10111 At the end of this video, there's an incomplete tutorial about connecting a USDZ with mesh and Skeleton structure to the hand tracking system. No example project is linked, and no one is giving the community any clarification. Please can you help us to understand how to proceed?
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Mar ’25
Issue with tracking multiple images using ARKit on VisionOS
We are using the ARKit image tracking feature on visionOS 2.0 with three pre-registered images. The image tracking works, but only one image is actively tracked at a time. When more than one target image is visible to the camera, it has difficulty detecting and tracking the other images. Is this the expected behavior in visionOS, or is there something we need to do to resolve this issue?
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Mar ’25
Projecting a Cube with a Number in ARKit
I'm a novice in RealityKit and ARKit. I'm using ARKit in SwiftUI to show a cube with a number as shown below. import SwiftUI import RealityKit import ARKit struct ContentView : View { var body: some View { return ARViewContainer() } } #Preview { ContentView() } struct ARViewContainer: UIViewRepresentable { typealias UIViewType = ARView func makeUIView(context: UIViewRepresentableContext<ARViewContainer>) -> ARView { let arView = ARView(frame: .zero, cameraMode: .ar, automaticallyConfigureSession: true) arView.enableTapGesture() return arView } func updateUIView(_ uiView: ARView, context: UIViewRepresentableContext<ARViewContainer>) { } } extension ARView { func enableTapGesture() { let tapGestureRecognizer = UITapGestureRecognizer(target: self, action: #selector(handleTap(recognizer:))) self.addGestureRecognizer(tapGestureRecognizer) } @objc func handleTap(recognizer: UITapGestureRecognizer) { let tapLocation = recognizer.location(in: self) // print("Tap location: \(tapLocation)") guard let rayResult = self.ray(through: tapLocation) else { return } let results = self.raycast(from: tapLocation, allowing: .estimatedPlane, alignment: .any) if let firstResult = results.first { let position = simd_make_float3(firstResult.worldTransform.columns.3) placeObject(at: position) } } func placeObject(at position: SIMD3<Float>) { let mesh = MeshResource.generateBox(size: 0.3) let material = SimpleMaterial(color: UIColor.systemRed, roughness: 0.3, isMetallic: true) let modelEntity = ModelEntity(mesh: mesh, materials: [material]) var unlitMaterial = UnlitMaterial() if let textureResource = generateTextResource(text: "1", textColor: UIColor.white) { unlitMaterial.color = .init(tint: .white, texture: .init(textureResource)) modelEntity.model?.materials = [unlitMaterial] let id = UUID().uuidString modelEntity.name = id modelEntity.transform.scale = [0.3, 0.1, 0.3] modelEntity.generateCollisionShapes(recursive: true) let anchorEntity = AnchorEntity(world: position) anchorEntity.addChild(modelEntity) self.scene.addAnchor(anchorEntity) } } func generateTextResource(text: String, textColor: UIColor) -> TextureResource? { if let image = text.image(withAttributes: [NSAttributedString.Key.foregroundColor: textColor], size: CGSize(width: 18, height: 18)), let cgImage = image.cgImage { let textureResource = try? TextureResource(image: cgImage, options: TextureResource.CreateOptions.init(semantic: nil)) return textureResource } return nil } } I tap the floor and get a cube with '1' as shown below. The background color of the cube is black, I guess. Where does this color come from and how can I change it into, say, red? Thanks.
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Jul ’25
RoomPlan Framework v2 - Stairs missing
Hello Community, I'm encountering an issue with the latest iOS 17 update, specifically related to RoomPlan version-2. In iOS 16, when using RoomPlan version-1, we were able to display stairs in our app. However, after upgrading to iOS 17 and implementing RoomPlan version-2, the stairs are no longer visible. Despite thorough investigation, I couldn't find any option within the code to show or hide stairs, or any other objects for that matter. It seems like a specific issue with the update rather than a coding error on our part. Has anyone else encountered a similar problem? If so, I would greatly appreciate any insights or solutions you might have. It's crucial for our app functionality to have stairs displayed accurately, and we're currently at a loss on how to address this issue. Thank you in advance for any assistance you can provide. Best regards
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1.2k
Sep ’25
Access Main Camera not working in VisionOS 26.1
I downloaded the official sample project “Accessing the Main Camera”, but I found that it’s not able to retrieve the camera feed on visionOS 26.1. After checking the debug logs, it seems the issue is caused by the system being unable to find the expected format. I tested on a device running visionOS 2, and the camera feed worked correctly — but only when using the sample code from the visionOS 2 version, not the current one. I also noticed that some of the APIs have changed between versions. Has anyone managed to successfully access the camera feed on visionOS 26.1?
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Nov ’25
ARKit Body Tracking not detecting ARBodyAnchor on iOS 26.x (FB15128723)
Since updating to iOS 26.0 (and confirmed on 26.1), ARBodyTrackingConfiguration no longer detects a valid ARBodyAnchor on devices with LiDAR (e.g., iPhone 15 Pro, iPhone 17 Pro Max). This issue reproduces in custom projects and Apple’s official sample “Capturing Body Motion in 3D”. The AR session runs normally, but the delegate call: func session(_ session: ARSession, didUpdate anchors: [ARAnchor]) never yields an ARBodyAnchor with valid joint transforms. All joints return nil when calling: body.skeleton.modelTransform(for: jointName) resulting in 0 valid joints per frame. Environment • Device: iPhone 17 Pro Max (LiDAR) • iOS: 26.0 / 26.1 • Xcode: 16.0 (stable) • Framework: ARKit + RealityKit • Configuration used: config.worldAlignment = .gravityAndHeading config.isAutoFocusEnabled = true config.environmentTexturing = .none session.run(config) Also tested: with and without frameSemantics = .bodyDetection Expected Behavior ARBodyAnchor should be detected and body.skeleton should contain ~89 valid joints with continuous updates.
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1.1k
Dec ’25
RealityView and Persistent World Data?
I was watching the Developer videos, and there was mention that RealityView handles persistent world data differently and also automatically for us. I am having an issue finding the material I need to get up to speed on that. In ARKit, I was able to place a model with the world data and recall that .map data. It even stored a reference image for the scene to help match the world data. I'm looking for the information on how to implement and work with those same features with RealityView, as it seems to be better/automatically integrated? I need help being pointed in the right direction. Sample code would be amazing.
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Feb ’25
Getting to MeshAnchor.MeshClassification from MeshAnchor?
I am working with MeshAnchors, and I am having troubles getting to the classification of the triangles/faces. This post references the MeshAnchor.Geometry, and that struct does have a property named "classifications", but it is of type GeometrySource. I cannot find any classification information in GeometrySource. Am I missing something there? I think I am looking for something of type MeshAnchor.MeshClassification, but I cannot find any structs with this as a property.
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1.3k
Feb ’25
Merge MeshAnchor from Scene Reconstruction for Vision Pro
Hi there, I'm trying to merge the mesh anchor into a single mesh, but couldn't find any resources on this. Here is the code where I make the mesh from each mesh anchor, and assigned it to a model component with a shader graph material. func run(_ sceneRec: SceneReconstructionProvider) async { for await update in sceneRec.anchorUpdates { switch update.event { case .added, .updated: // Get or create entity for this anchor let anchorEntity = anchors[update.anchor.id] ?? { let entity = ModelEntity() root?.addChild(entity) anchors[update.anchor.id] = entity return entity }() // Remove any existing children for child in anchorEntity.children { child.removeFromParent() } // Generate the mesh from the anchor guard let mesh = try? await MeshResource(from: update.anchor) else { return } guard let shape = try? await ShapeResource.generateStaticMesh(from: update.anchor) else { continue } print("Mesh added, vertices: \(update.anchor.geometry.vertices.count), bounds: \(mesh.bounds)") // Get the material to use var material: RealityKit.Material if isMaterialLoaded, let loadedMaterial = self.shaderMaterial { material = loadedMaterial } else { // Use a temporary material until the shader loads var tempMaterial = UnlitMaterial() tempMaterial.color = .init(tint: .purple.withAlphaComponent(0.5)) material = tempMaterial } await MainActor.run { anchorEntity.components.set(ModelComponent(mesh: mesh, materials: [material])) anchorEntity.setTransformMatrix(update.anchor.originFromAnchorTransform, relativeTo: nil) // Add collision component with static flag - required for spatial interactions anchorEntity.components.set(CollisionComponent( shapes: [shape], isStatic: true, filter: .default )) // Make entity interactive - enables spatial taps, drags, etc. anchorEntity.components.set(InputTargetComponent()) let shadowComponent = GroundingShadowComponent( castsShadow: true, receivesShadow: true ) anchorEntity.components.set(shadowComponent) } I then use a spatial tap gesture to set the position parameter in the shader graph material that creates a nice gradient from the tap position on the mesh to the rest of the mesh. SpatialTapGesture() .targetedToAnyEntity() .onEnded { value in let tappedEntity = value.entity // Check if the tapped entity is a child of tracking.meshAnchors if isChildOfMeshAnchors(entity: tappedEntity) { // Get local position (in the entity's coordinate space) let localPosition = value.location3D // Convert to world position (scene coordinate space) let worldPosition = value.convert(localPosition, from: .local, to: .scene) print("Tapped mesh anchor at local position: \(localPosition)") print("Tapped mesh anchor at world position: \(worldPosition)") // Update the material parameter with the tap position updateMaterialTapPosition(entity: tappedEntity, position: worldPosition) } else { print("Tapped entity is not a mesh anchor") } } } My issue is that because there are several mesh anchors, the gradient often gets cut off by the edge of the mesh generated from the mesh anchor as suppose to a nice continuous gradient across the entire scene reconstructed mesh I couldn't find any documentations on how to merge mesh from mesh anchors, any tips would be helpful! Thank you!
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366
Mar ’25
Human Body joint tracking in VisionOS
The goal is to achieve precise joint tracking for clinical assessment. The Doctor is wearing the AVP and observing the Patients movement. Do you have any recommended best practices for integrating real-time joint tracking and displaying them on the patient within visionOS? We attempted to use VNHumanBodyPose3DObservation, which theoretically should work, but we are unable to display the detected joints in an Immersive Space for real-time validation. This makes it difficult for the doctor to ensure accurate tracking and if possible a photo or video of the Range of Motion assessment would be needed for the patient record. Are there alternative methods to achieve precise real-time joint tracking without requiring main camera access (com.apple.developer.arkit.main-camera-access.allow)?
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Mar ’25