Hi all, I'm currently developing a real-time object reconstruction app using ARKit. The goal is to scan large objects using ARKit’s depth and transform data, and generate a point cloud. However, I’m facing a major challenge - Transform Drift / World Alignment Issues The localToWorld transform provided by ARKit frequently seems to drift or become unstable across frames. This results in misaligned point clouds even when the device is moved slowly or kept relatively still. In some cases, a static surface scanned over a few seconds results in clearly misaligned fragments. This makes it difficult to accurately stitch a multi-frame point cloud. I have experimented with various lighting conditions and object textures, but the issue persists in all cases. At times, the relative error between frames reaches up to 20 cm, while in other instances the error is minimal; however, the drift gradually accumulates over time, leading to an overall enlargement of the reconstructed object. I have attached images of both cases here. Questions: Are there specific conditions under which ARKit’s world transform is expected to drift? Is there a way to detect or recover from this drift during runtime? Any best practices for maintaining consistent tracking during scanning or measurement sessions?

Hi, we would like to create something where you can open multiple volumetric windows and place them in a room, our biggest issue is that we want these windows to be persistent, so when I close and reopen the app, the windows to be in the same position. We can't use immersive spaces because we also want to have the possibility to access the shared space. Is it possible with the current features and capabilities to do that? If yes do you have some advices how can we achieve this? The alternative is if is it possible to open the virtual display in immersive spaces or if we have the possibility to implement our own virtual display.

Hello, we have a RealityKit app that also runs on macOS via Catalyst. For specific USD assets containing particle systems we have observed a reproducible crash. Steps to reproduce: Open Reality Composer Pro Create new file Create simple particle system (default one is fine) export as USDZ Create project in Xcode Call Entity.load(… and pass in your USD Running this on an Intel iMac with macOS Sequoia 15.3 will lead to a crash with the following console log: validateWithDevice:4704: failed assertion `Render Pipeline DescrvalidateWithDevice:4704: failed assertion `Render Pipeline Descriptor Validation depthAttachmentPixelFormat (MTLPixelFormatDepthvalidateWithDevice:4704: failed assertion `Render Pipeline Descriptor Validation depthAttachmentPixelFormat (MTLPixelFormatDepthvalidateWithDevice:4704: failed assertion `Render Pipeline Descriptor Validation depthAttachmentPixelFormat (MTLPixelFormatDepth32Float) and stencilAttachmentPixelFormat (MTLPixelFormatStencil8) must match. ' iptor Validation depthAttachmentPixelFormat (MTLPixelFormatDepth32Float) and stencilAttachmentPixelFormat (MTLPixelFormatStencil8) must match. ' 32Float) and stencilAttachmentPixelFormat (MTLPixelFormatStencil32Float) and stencilAttachmentPixelFormat (MTLPixelFormatStencil8) must match. ' 8) must match. ' Xcode version: 16.2.0 iMac 2020 3,8GHz Intel Core i7 macOS Sequoia 15.3 FB16477373 It would be great if this could be fixed quickly or a workaround provided since it affects or production app. Thank you!

I am a newby of spatial computing. Here I am learning how to use ARKit to capture the environment texture and apply it on a ModelEntity of RealityKit on Vision Pro. But I do not find a demo of how to use EnvironmentLightEstimationProvider. After checking the documentation, I also have some questions: EnvironmentProbeAnchor.environmentTexture is a MTLTexture, but EnvironmentResource needs a CGImage. How do I translate MTLTexture to CGImage(Forgive me that I do not know much about Metal or other framework, so It will be better if there is a code that I can copy and paste directly) It seems that the EnvironmentProbeAnchor can only get the light information around the device. But what should I do if I want get the light information around the ModelEntity so that I can apply the environment texture on it. It will be better if you can provide a code demo about how to use the new api. Thank you!

When I was developing the visionOS 26beta Widget, I found that it could not work normally when the real vision OS was running, and an error would appear. Please adopt container background api It is worth mentioning that this problem does not occur on the visionOS virtual machine. Does anyone know what the reason and solution are, or whether this is a visionOS error that needs Feedback? Thank you!

is it possible to dynamically update ModelPositionOffset of GeometryModifier with a depth map image? in my code I set up the parameter for "DepthMapTexture" universal input node and tried setting the depth map for depthTextureResource. I have 2 DrawableQueues. One for setting InputTexture, and one for setting DepthMapTexture. This only shows the part that concerns setting DepthMapTexture this is where I define the plane entity. and this is the shader graph what I noticed with GeometryModifier is that, the depthMap image has to be same as input image's dimensions. and when I applied this material to usdz file, with pre-assigned image and depth map from RCP, and loaded that Entity from code, depth map was applied correctly. what I am unsure is that if it is impossible to define a model entity from code, apply ShaderGraphMaterial from RCP, and dynamically update the image used in GeometryModifier. Maybe I'm missing something when defining Entity, something that allows geometric modifications?

We got very excited when we saw support for the PSVR2 on WWDC! Particularly interesting is WebXR to us, so we got the controllers to give it a try. Unfortunately they only register as gamepads in the navigator but not as XRInputDevice's We went through the experimental flags and didn't find something that is directly related. Is there a flag we missed? If not, when do you have PSVR2 support planned for WebXR?

I thought the ARCoachingOverlayView was a nice touch, so each apps ARKit coaching was recognizable and I used it in my ARView/ARSCNView based apps. Now with RealityView, is there any replacement planned? Or should we just use UIViewRepresentable and wrap ARCoachingOverlayView?

I want to record animation with entity, then export it to .usd without using Reality Composer Pro, how to achieve that?

Can an app made with the Room Plan API be used on iPhones without LIDAR? If so, how much accuracy would be lost compared to iPhones with LIDAR? If not, is there an API similar to RoomPlan that works on iPhones without LiDAR?

I have been referencing the Object Tracking Tutorial from WWDC 2024 on Vision OS, how Create ML is used to create a reference object, and we can track them in the ARSession. I am looking forward to building this feature on an AR app for iPhone, I am using iPhone 13 Pro Max. I have created couple of reference objects from the Create ML.

hi guys, I'm working in VFX industry and I've got the question that, is it possible to create immersive video directly from virtual scene created in DCC software like maya, rendered into footage, then coded into immersive video, and finally play in in vision pro? thanks.

While using Screen Mirroring in developer mode within my immersive space, I noticed an alignment issue with the computer cursor (transparent circle). When I move it toward an attachment view, the cursor remains horizontal instead of aligning with the surface of the attachment view. It shows correctly on a 2D window only wrong on attachment view. Is this behavior a bug, or could it be caused by a missing or incorrect configuration on the attachment view? Want help, thanks.

I'm seeing this error while attempting to compile my VisionOS app under Xcode 26. My existing code looks like: let (naturalSize, formatDescriptions, mediaCharacteristics) = try? await videoTrack.load(.naturalSize, .formatDescriptions, .mediaCharacteristics) This is now giving a compiler error: Type of expression is ambiguous without a type annotation I don't see that anything that was changed or deprecated in the latest version. Also loading the properties individually seems to work fine i.e.: let naturalSize = try? await videoTrack.load(.naturalSize) let formatDescriptions = try? await videoTrack.load(.formatDescriptions) let mediaCharacteristics = try? await videoTrack.load(.mediaCharacteristics)

Hi there, I’m building a workplace experience that requires using virtual desktop, is there a way to launch it in my code, so user doesn’t have to do it manually? Thanks in advance!

I’m working on a Vision Pro app using Metal and need to implement multi-pass rendering. Specifically, I want to render intermediate results to a texture, then use that texture in a second pass for post-processing before presenting the final output. What’s the best approach in visionOS? Should I use multiple render passes in a single command buffer or separate command buffers? Any insights on efficiently handling this in RealityKit or Metal? Thanks!

I want to render a 3d/stereoscopic video in an Apple Vision Pro window using RealityKit/RealityView. The video is a left-right stereo. The straight forward approach would be to spawn a quad, and give it a custom Shader Graph material, which has a CameraIndexSwitch. The CameraIndexSwitch chooses between the right texture vs the left texture. https://i.sstatic.net/XawqjNcg.png The issue I have here is that I have to extract the video frames from my AVSampleBufferVideoRenderer. This should work ok, but not if I'm playing FairPlay content. So, my question is, how to render stereo FairPlay videos in a SwiftUI RealityView?

When entering the mixed space, there is a window behind the robot, and I want this window to be moved to another position as code

I am encountering an issue while using the multiview video demo provided at this link "https://developer.apple.com/documentation/avkit/creating-a-multiview-video-playback-experience-in-visionos/". Specifically, when running on versions of visionOS prior to 2.2, navigating back results in a blank screen. Has anyone else experienced this problem and found a solution? Any advice or workaround would be greatly appreciated.

When I've made an animated UDSZ, at what framerate will the animation be rendered in QuickLook? Is it the same across all devices? (iPhone, Apple Vision Pro, etc.) and viewing environments? (QuickLook, inside an ARView, etc.) Suppose I export my file at 30fps and the device draws at 60fps, does the device interpolate between frames automatically, animate at a lower frame rate, or play it at twice the speed? What if it were 24fps? My primary concern with understanding frame rates is a bit of trouble I've had making perfectly looping animations. There always seems to be the slightest stutter between iterations. Thanks in advance for any insights you're able to provide!