ARKit – Environment Occlusion - swift

Question

In Unity we can implement occlusion with Environment Depth. Which uses ARKit behind the scene. How can I achieve same behaviour in iOS ARkit.
I know we can configure frame semantics with depth, but I doubt it is really same as unity environment depth occlusion?
// Build the set of required frame semantics.
let semantics: ARConfiguration.FrameSemantics = [.sceneDepth]
configuration.frameSemantics = semantics
session.run(configuration)

Answer 1

In ARKit implement sceneReconstruction option, and in RealityKit turn on .occlusion.
The only drawback is an ugly mask with soft dilated edges around real-world objects...
import RealityKit
import SwiftUI
import ARKit
struct ContentView: View {
var body: some View {
return ARContainer().ignoresSafeArea()
}
}
struct ARContainer: UIViewRepresentable {
func makeUIView(context: Context) -> ARView {
let arView = ARView(frame: .zero)
arView.cameraMode = .ar
arView.automaticallyConfigureSession = false
let config = ARWorldTrackingConfiguration()
config.sceneReconstruction = .mesh
arView.session.run(config)
arView.environment.sceneUnderstanding.options = .occlusion
let box: MeshResource = .generateBox(size: 0.5)
let material = SimpleMaterial(color: .green, isMetallic: true)
let entity = ModelEntity(mesh: box, materials: [material])
let anchor = AnchorEntity(world: [0,0,-1.5])
anchor.addChild(entity)
arView.scene.anchors.append(anchor)
return arView
}
func updateUIView(_ uiView: ARView, context: Context) { }
}