ARKit — что это, ключевые понятия и технология AR

import ARKit

let configuration = ARWorldTrackingConfiguration()
configuration.planeDetection = [.horizontal, .vertical]
configuration.environmentTexturing = .automatic

let arView = ARSCNView(frame: view.bounds)
arView.session.run(configuration)
arView.debugOptions = [.showFeaturePoints]
view.addSubview(arView)

func renderer(
    _ renderer: SCNSceneRenderer,
    didAdd node: SCNNode,
    for anchor: ARAnchor
) {
    guard let planeAnchor = anchor
        as? ARPlaneAnchor else { return }

    let boxNode = SCNNode(
        geometry: SCNBox(
            width: planeAnchor.extent.x,
            height: 0.01,
            length: planeAnchor.extent.z,
            chamferRadius: 0
        )
    )
    node.addChildNode(boxNode)
}

// Конфигурация для LiDAR
let lidarConfig = ARWorldTrackingConfiguration()
lidarConfig.planeDetection = [.horizontal]
lidarConfig.sceneReconstruction = .mesh

arView.session.run(lidarConfig)

// Детекция касания по плоскости
override func touchesBegan(
    _ touches: Set<UITouch>,
    with event: UIEvent?
) {
    let location = touches.first?.location(in: arView)
    guard let hitPoint = location else { return }

    let results = arView
        .raycastQuery(
            from: hitPoint,
            allowing: .existingPlaneInfinite,
            alignment: .horizontal
        )
}

class ARViewController: UIViewController {

    let arView = ARSCNView()

    override func viewDidLoad() {
        super.viewDidLoad()
        arView.session.delegate = self

        let config = ARWorldTrackingConfiguration()
        config.planeDetection = [.horizontal]
        config.frameSemantics = .personSegmentation
        arView.session.run(config)
    }

    func sessionWasInterrupted(
        _ session: ARSession
    ) {
        showAlert("Сессия прервана")
    }
}