ARKitを触りながら振り返る

■イベント
iOSDC Japan 2022 After Talk
https://sansan.connpass.com/event/255645/

■登壇概要
タイトル：ARKitを触りながら振り返る

登壇者：技術本部 Mobile Applicationグループ 平山 智己
22新卒のiOSエンジニアでSansanの開発からCI/CDの運用整備、チーム改善などを担当。

▼Sansan 技術本部　募集ポジション紹介

https://media.sansan-engineering.com/

Transcript

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   ฏࢁஐݾ
   "3,JUΛ৮Γͳ͕ΒৼΓฦΔ
   88%$ J04%$
   J04%$+BQBO"GUFS5BML
   

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2. ࣗݾ঺հ
   w !FMV
   w 4BOTBOגࣜձࣾ৽ଔೖࣾ
   w J04ΤϯδχΞ!
   w ޷͖ήʔϜ" ෩ܠ#
   

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3. ͓͠ͳ͕͖
   "3,JUτϐοΫ
   0CKFDU$BQUVSF
   .PUJPO$BQUVSF
   ͓·͚
   

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4. "3,JU
   88%$
   

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5. w ೥ʹ"3,JU͔Βຖ೥Ξοϓσʔτ͕ଓ͘
   w ೥ͷJ1BE1SPʹഎ໘5SVF%FQUIΧϝϥ͕౥ࡌ
   w ೥͔Β1SPγϦʔζʹ-J%"3εΩϟφ౥ࡌ
   w νοϓͷੑೳ͕޲্͠ෳࡶͳ͜ͱ͕Ͱ͖ΔΑ͏ʹͳͬͨ
   

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6. w ,ʹରԠ
   w ΧϝϥػೳڧԽ
   w 1MBOFBODIPSͷਫ਼౓޲্
   w ϞʔγϣϯΩϟϓνϟͷੑೳ޲্
   w -PDBUJPOBODIPSͷ஍Ҭ֦େ
   τϐοΫ
   %JTDPWFS"3,JU
   

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7. w ,ʹରԠ$ϚγϯύϫʔͰॲཧͷޮ཰Խ
   w ΧϝϥػೳڧԽ%"34FTTJPOதʹ੩ࢭըΛΩϟϓνϟՄೳʹ)%3
   w 1MBOFBODIPSͷਫ਼౓޲্%ฏ໘ೝࣝ΍ํ޲౳ͷਫ਼౓͕޲্
   w ϞʔγϣϯΩϟϓνϟੑೳ޲্%શମతͳਫ਼౓޲্ࣖ΋ݕग़Մೳ
   w -PDBUJPOBODIPSͷ஍Ҭ֦େ%஍Ҭ֦େͰ౦ژ௥Ճ
   

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8. ,ʹରԠ
   w ैདྷը૾Λॖখ͔ͯ͠ΒॲཧΛߦͬͯϨϯμϦϯά͍ͯͨ͠
   w ,ͷը૾Λॲཧ͢ΔϝϞϦϦιʔε΍ܭࢉೳྗෆ଍ނ
   w ࠷৽ͷϋʔυ΢ΣΞύϫʔ &
   Ͱ,ॲཧ͕Ͱ͖ΔΑ͏ʹͳͬͨ
   

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9. ,ʹରԠ
   w ,ͰࡱӨ
   w ͰฏۉԽ͠ॖখ
   w ໿NTຖʹॲཧ 㲈GQT
   
   w ϨϯμϦϯά
   #FGPSF
   IUUQTEFWFMPQFSBQQMFDPNWJEFPTQMBZXXED
   

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10. ,ʹରԠ
    w ,ͰࡱӨ
    w ͰฏۉԽ͠ॖখ
    w ໿NTຖʹॲཧ 㲈GQT
    
    w ϨϯμϦϯά
    #FGPSF
    IUUQTEFWFMPQFSBQQMFDPNWJEFPTQMBZXXED
    

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11. ,ʹରԠ
    w ,ͰࡱӨ
    w ͰฏۉԽ͠ॖখ
    w ໿NTຖʹॲཧ 㲈GQT
    
    w ϨϯμϦϯά
    #FGPSF
    IUUQTEFWFMPQFSBQQMFDPNWJEFPTQMBZXXED
    

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12. ,ʹରԠ
    w ,ͰࡱӨ
    w ͰฏۉԽ͠ॖখ
    w ໿NTຖʹॲཧ 㲈GQT
    
    w ϨϯμϦϯά
    #FGPSF
    IUUQTEFWFMPQFSBQQMFDPNWJEFPTQMBZXXED
    

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13. ,ʹରԠ
    w ,ͰࡱӨ
    w ͰฏۉԽ͠ॖখ
    w ໿NTຖʹॲཧ 㲈GQT
    
    w ϨϯμϦϯά
    "GUFS ,NPEF
    IUUQTEFWFMPQFSBQQMFDPNWJEFPTQMBZXXED
    &
    

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14. ,ʹରԠ
    w ,ͰࡱӨ
    w ͰฏۉԽ͠ॖখ
    w ໿NTຖʹॲཧ 㲈GQT
    
    w ϨϯμϦϯά
    "GUFS ,NPEF
    IUUQTEFWFMPQFSBQQMFDPNWJEFPTQMBZXXED
    &
    

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15. ,ʹରԠ
    w ,ͰࡱӨ
    w ͰฏۉԽ͠ॖখ
    w ໿NTຖʹॲཧ 㲈GQT
    
    w ϨϯμϦϯά
    "GUFS ,NPEF
    IUUQTEFWFMPQFSBQQMFDPNWJEFPTQMBZXXED
    &
    

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16. w ୯७ͳಈըͰ΋,GQT্͕ݶ
    w ЋͳॲཧΛ͢ΔͷͰGQT͸ݶք
    

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17. w ,ʹରԠ%ϚγϯύϫʔͰॲཧͷޮ཰Խ
    w ΧϝϥػೳڧԽ$"34FTTJPOதʹ੩ࢭըΛΩϟϓνϟՄೳʹ)%3
    w 1MBOFBODIPSͷਫ਼౓޲্%ฏ໘ೝࣝ΍ํ޲౳ͷਫ਼౓͕޲্
    w ϞʔγϣϯΩϟϓνϟੑೳ޲্%શମతͳਫ਼౓޲্ࣖ΋ݕग़Մೳ
    w -PDBUJPOBODIPSͷ஍Ҭ֦େ%஍Ҭ֦େͰ౦ژ௥Ճ
    

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18. w ,ʹରԠ%ϚγϯύϫʔͰॲཧͷޮ཰Խ
    w ΧϝϥػೳڧԽ%"34FTTJPOதʹ੩ࢭըΛΩϟϓνϟՄೳʹ)%3
    w 1MBOFBODIPSͷਫ਼౓޲্$ฏ໘ೝࣝ΍ํ޲౳ͷਫ਼౓͕޲্
    w ϞʔγϣϯΩϟϓνϟੑೳ޲্%શମతͳਫ਼౓޲্ࣖ΋ݕग़Մೳ
    w -PDBUJPOBODIPSͷ஍Ҭ֦େ%஍Ҭ֦େͰ౦ژ௥Ճ
    

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19. 1MBOFBODIPSͷਫ਼౓޲্
    w 1MBOFBODIPSʹઃఆͨ͠ΦϒδΣΫτ
    w ֯౓ɼ෯ͱߴ͞ΛೝࣝՄೳʹ
    IUUQTEFWFMPQFSBQQMFDPN
    

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20. w ,ʹରԠ%ϚγϯύϫʔͰॲཧͷޮ཰Խ
    w ΧϝϥػೳڧԽ%"34FTTJPOதʹ੩ࢭըΛΩϟϓνϟՄೳʹ)%3
    w 1MBOFBODIPSͷਫ਼౓޲্%ฏ໘ೝࣝ΍ํ޲౳ͷਫ਼౓͕޲্
    w ϞʔγϣϯΩϟϓνϟੑೳ޲্$શମతͳਫ਼౓޲্ࣖ΋ݕग़Մೳ
    w -PDBUJPOBODIPSͷ஍Ҭ֦େ%஍Ҭ֦େͰ౦ژ௥Ճ
    

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21. w ,ʹରԠ%ϚγϯύϫʔͰॲཧͷޮ཰Խ
    w ΧϝϥػೳڧԽ%"34FTTJPOதʹ੩ࢭըΛΩϟϓνϟՄೳʹ)%3
    w 1MBOFBODIPSͷਫ਼౓޲্%ฏ໘ೝࣝ΍ํ޲౳ͷਫ਼౓͕޲্
    w ϞʔγϣϯΩϟϓνϟੑೳ޲্%શମతͳਫ਼౓޲্ࣖ΋ݕग़Մೳ
    w -PDBUJPOBODIPSͷ஍Ҭ֦େ$஍Ҭ֦େͰ౦ژ௥Ճ
    

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22. -PDBUJPOBODIPSͷ஍Ҭ֦େ
    w 714ͱ͍͏Ґஔਪఆٕज़
    w Ґஔਪఆʹ͸ۭؒͷεΩϟϯσʔλ͕ඞཁ
    w (14 ηϯαʔ ө૾ʹΑΓ୺຤Ґஔ޲͖ͷਪఆ
    w ౦ژؚΊෳ਺ͷ౎ࢢ͕௥Ճ͞Εͨ
    IUUQTEFWFMPQFSBQQMFDPN
    

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23. -PDBUJPOBODIPSͷ஍Ҭ֦େ
    w 714ͱ͍͏Ґஔਪఆٕज़
    w Ґஔਪఆʹ͸ۭؒͷεΩϟϯσʔλ͕ඞཁ
    w (14 ηϯαʔ ө૾ʹΑΓ୺຤Ґஔ޲͖ͷਪఆ
    w ౦ژؚΊෳ਺ͷ౎ࢢ͕௥Ճ͞Εͨ
    IUUQTEFWFMPQFSBQQMFDPN
    

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24. w ,ʹରԠ%ϚγϯύϫʔͰॲཧͷޮ཰Խ
    w ΧϝϥػೳڧԽ%"34FTTJPOதʹ੩ࢭըΛΩϟϓνϟՄೳʹ)%3
    w 1MBOFBODIPSͷਫ਼౓޲্%ฏ໘ೝࣝ΍ํ޲౳ͷਫ਼౓͕޲্
    w ϞʔγϣϯΩϟϓνϟੑೳ޲্%શମతͳਫ਼౓޲্ࣖ΋ݕग़Մೳ
    w -PDBUJPOBODIPSͷ஍Ҭ֦େ%஍Ҭ֦େͰ౦ژ௥Ճ
    

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25. w ,ʹରԠ$ϚγϯύϫʔͰॲཧͷޮ཰Խ
    w ΧϝϥػೳڧԽ$"34FTTJPOதʹ੩ࢭըΛΩϟϓνϟՄೳʹ)%3
    w 1MBOFBODIPSͷਫ਼౓޲্%ฏ໘ೝࣝ΍ํ޲౳ͷਫ਼౓͕޲্
    w ϞʔγϣϯΩϟϓνϟੑೳ޲্$શମతͳਫ਼౓޲্ࣖ΋ݕग़Մೳ
    w -PDBUJPOBODIPSͷ஍Ҭ֦େ%஍Ҭ֦େͰ౦ژ௥Ճ
    

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26. ͓࿳ͼ
    

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27. XBSOJOHMJCPCKD"EZMJCJTCFJOHSFBEGSPNQSPDFTTNFNPSZ
    5IJTJOEJDBUFTUIBU--%#DPVMEOPUGJOEUIFPOEJTLTIBSFE
    DBDIFGPSUIJTEFWJDF5IJTXJMMMJLFMZSFEVDFEFCVHHJOH
    QFSGPSNBODF
    

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28. ࣮ػσόοάΛ͠Α͏ͱ͢Δͱىಈʹd෼͔͔ͬͨΓ
    "34FTTPO్͕தͰམͪɼσϞΛ༻ҙͰ͖·ͤΜͰͨ͠
    

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29. w SNSd-JCSBSZ%FWFMPQFS9DPEFJ04a%FWJDF4VQQPSU
    w J04΋CFUBͰ͸ͳ͘ϦϦʔε൛΁෮ݩ
    w 9DPEFCFUBΛ࡟আ ϦϦʔε൛ͷΈଘࡏ
    
    w 'Ͱͳ͔ͥ໰୊ղܾ
    

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30. 0CKFDU$BQUVSF
    88%$
    

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31. 0CKFDU$BQUVSF
    w 88%$Ͱ3FBMJUZLJUʹ௥Ճ
    w ϞϊΛෳ਺໘͔ΒࡱӨ
    w ߹੒ͯ̏͠%ΦϒδΣΫτΛ࡞੒
    w ཁ݅-J%"3౥ࡌ J04 "Ҏ߱
    w ..BDPS".%(16
    IUUQTEFWFMPQFSBQQMFDPN
    

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32. 0CKFDU$BQUVSF
    "3,JUͱ3FBMJUZ,JU
    w "3,JUϕʔεͱͳΔϑϨʔϜϫʔΫ
    w εΩϟϯ΍ΦϒδΣΫτදࣔ
    w 3FBMJUZ,JUԾ૝ͱݱ࣮ͷ౷߹
    w ΦϒδΣΫτͷૢ࡞
    w ॲཧɾܭࢉ
    w %ϨϯμϦϯά
    IUUQTEFWFMPQFSBQQMFDPN
    

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33. 0CKFDU$BQUVSF
    w "QQMFͷެࣜαϯϓϧ
    w ಺༰͸ʜࡱӨॲཧΛݟͯΈΔ
    

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34. /// - Tag: WillBeginCapture
    func photoOutput(_ output: AVCapturePhotoOutput,
    willBeginCaptureFor resolvedSettings: AVCaptureResolvedPhotoSettings) {
    maxPhotoProcessingTime = resolvedSettings.photoProcessingTimeRange.start
    + resolvedSettings.photoProcessingTimeRange.duration
    }
    /// - Tag: WillCapturePhoto
    func photoOutput(_ output: AVCapturePhotoOutput,
    willCapturePhotoFor resolvedSettings: AVCaptureResolvedPhotoSettings) {
    willCapturePhotoAnimation()
    // Retrieve the gravity vector at capture time.
    if motionManager.isDeviceMotionActive {
    gravity = motionManager.deviceMotion?.gravity
    logger.log("Captured gravity vector: \(String(describing: self.gravity))")
    }
    guard let maxPhotoProcessingTime = maxPhotoProcessingTime else {
    return
    }
    // Show a spinner if processing time exceeds one second.
    let oneSecond = CMTime(seconds: 1, preferredTimescale: 1)
    if maxPhotoProcessingTime > oneSecond {
    photoProcessingHandler(true)
    }
    }
    ॏྗՃ଎౓Λอଘ
    

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35. /// - Tag: DidFinishProcessingPhoto
    func photoOutput(_ output: AVCapturePhotoOutput, didFinishProcessingPhoto photo: AVCapturePhoto,
    error: Error?) {
    photoProcessingHandler(false)
    if let error = error {
    print("Error capturing photo: \(error)")
    photoData = nil
    } else {
    // Cache the HEIF representation of the data.
    photoData = photo
    }
    // Cache the depth data, if it exists, as a disparity map.
    logger.log("DidFinishProcessingPhoto: photo=\(String(describing: photo))")
    if let depthData = photo.depthData?.converting(toDepthDataType:
    kCVPixelFormatType_DisparityFloat32),
    let colorSpace = CGColorSpace(name: CGColorSpace.linearGray) {
    let depthImage = CIImage( cvImageBuffer: depthData.depthDataMap,
    options: [ .auxiliaryDisparity: true ] )
    depthMapData = context.tiffRepresentation(of: depthImage,
    format: .Lf,
    colorSpace: colorSpace,
    options: [.disparityImage: depthImage])
    } else {
    logger.error("colorSpace .linearGray not available... can't save depth data!")
    depthMapData = nil
    }
    }
    ਂ౓ϚοϓΛอଘ
    

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36. if let photoOutputConnection = self.photoOutput.connection(with: .video) {
    photoOutputConnection.videoOrientation = videoPreviewLayerOrientation
    }
    var photoSettings = AVCapturePhotoSettings()
    // Request HEIF photos if supported and enable high-resolution photos.
    if self.photoOutput.availablePhotoCodecTypes.contains(.hevc) {
    photoSettings = AVCapturePhotoSettings(
    format: [AVVideoCodecKey: AVVideoCodecType.hevc])
    }
    // Turn off the flash. The app relies on ambient lighting to avoid specular highlights.
    if self.videoDeviceInput!.device.isFlashAvailable {
    photoSettings.flashMode = .off
    }
    // Turn on high-resolution, depth data, and quality prioritzation mode.
    photoSettings.isHighResolutionPhotoEnabled = true
    photoSettings.isDepthDataDeliveryEnabled = self.photoOutput.isDepthDataDeliveryEnabled
    photoSettings.photoQualityPrioritization = self.photoQualityPrioritizationMode
    // Request that the camera embed a depth map into the HEIC output file.
    photoSettings.embedsDepthDataInPhoto = true
    // Specify a preview image.
    if !photoSettings.__availablePreviewPhotoPixelFormatTypes.isEmpty {
    photoSettings.previewPhotoFormat =
    [kCVPixelBufferPixelFormatTypeKey:
    photoSettings.__availablePreviewPhotoPixelFormatTypes.first!,
    kCVPixelBufferWidthKey: self.previewWidth,
    kCVPixelBufferHeightKey: self.previewHeight] as [String: Any]
    logger.log("Found available previewPhotoFormat: \(String(describing: photoSettings.previewPhotoFormat))")
    } else {
    logger.warning("Can't find preview photo formats! Not setting...")
    }
    // Tell the camera to embed a preview image in the output file.
    photoSettings.embeddedThumbnailPhotoFormat = [
    AVVideoCodecKey: AVVideoCodecType.jpeg,
    AVVideoWidthKey: self.thumbnailWidth,
    AVVideoHeightKey: self.thumbnailHeight
    ]
    DispatchQueue.main.async {
    self.isHighQualityMode = photoSettings.isHighResolutionPhotoEnabled
    && photoSettings.photoQualityPrioritization == .quality
    }
    Χϝϥͱը૾ͷઃఆ
    

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37. ࡱӨը૾
    ਂ౓Ϛοϓ
    ॏྗՃ଎౓ 9 : ;
    
    

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38. let inputFolderUrl = URL(fileURLWithPath: inputFolder, isDirectory: true)
    let configuration = makeConfigurationFromArguments()
    logger.log("Using configuration: \(String(describing: configuration))")
    // Try to create the session, or else exit.
    var maybeSession: PhotogrammetrySession? = nil
    do {
    maybeSession = try PhotogrammetrySession(input: inputFolderUrl,
    configuration: configuration)
    logger.log("Successfully created session.")
    } catch {
    logger.error("Error creating session: \(String(describing: error))")
    Foundation.exit(1)
    }
    ϑΥϧμΛ౉͚ͩ͢
    

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39. View Slide

40. let entity = try! ModelEntity.load(named: "test.usdz")
    let anchorEntity = AnchorEntity(plane: .any)
    anchorEntity.addChild(entity)
    arView.scene.addAnchor(anchorEntity)
    &OUJUZͷ௥Ճ
    

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41. w ෳ਺ͷࣸਅσʔλ͔Β%ΦϒδΣΫτΛ࡞੒
    w ղ૾౓΍৘ใ͕ଟ͍΄Ͳਫ਼౓͕ߴ͘ͳΔ
    w "3,JUͰ,ࡱӨ͕ରԠ͠Ͳ͏มΘͬͨʁ
    

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42. let config = ARWorldTrackingConfiguration()
    // ୺຤͕ѻ͑Δ࠷ߴը࣭ͰͷϑΥʔϚοτΛฦ͢
    if let hiResCaptureVideoFormat =
    ARWorldTrackingConfiguration.recommendedVideoFormatForHighResolutionFrameCapturing {
    config.videoFormat = hiResCaptureVideoFormat
    }
    // 4kը࣭͕ѻ͑Δ৔߹ͷΈϑΥʔϚοτΛฦ͢
    if let res4kCaptureVideoFormat =
    ARWorldTrackingConfiguration.recommendedVideoFormatFor4KResolution {
    config.videoFormat = res4kCaptureVideoFormat
    }
    "34FTTJPOͰͷө૾ϑΥʔϚοτ
    

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43. arView.session.captureHighResolutionFrame { arFrame, error in
    guard let imageBuffer = arFrame?.capturedImage else { return }
    let ciImage = CIImage(cvPixelBuffer: imageBuffer)
    let w = CGFloat(CVPixelBufferGetWidth(imageBuffer))
    let h = CGFloat(CVPixelBufferGetHeight(imageBuffer))
    let rect:CGRect = CGRect.init(x: 0, y: 0, width: w, height: h)
    let context = CIContext.init()
    guard let cgImage = context.createCGImage(ciImage, from: rect) else { return }
    let uiimage = UIImage(cgImage: cgImage).rotated(by: 90.0 * CGFloat.pi / 180)
    UIImageWriteToSavedPhotosAlbum(uiimage, self, nil, nil)
    }
    "34FTTJPOதͷϑϨʔϜऔಘ
    "34FTTJPO͕ઃఆΛΑ͠ͳʹͯ͘͠Εͯ
    "3,JUͷϝιου͸Θ͔Γ΍͍͢
    

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44. .PUJPO$BQUVSF
    88%$
    

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45. .PUJPO$BQUVSF
    w 88%$"3,JUͰൃද͞Εͨػೳ
    w ࣍ݩը૾ͱ-J%"3εΩϟφΛ༻͍ͨਂ౓৘ใ͔Βͷ࢟੎ਪఆ
    w ਪఆ͞Εͨؔઅ౳ͷ৘ใΛ"3"ODIPS͔ΒऔಘͰ͖Δɽ
    

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46. "3"ODIPS
    w Ծ૝ۭ͔ؒΒݟͨݱ࣮ੈքʹ͓͚ΔΦϒδΣΫτͷҐஔ΍޲͖
    w ϫʔϧυ࠲ඪܥʹ͓͚Δ࠲ඪϙΠϯτʹͳΔ
    

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47. "3"ODIPSͷछྨ
    w "31MBOF"ODIPSݱ࣮ۭ͔ؒΒݕग़͞Εͨฏ໘ͷҐஔ΍ܗঢ়৘ใ
    w "3*NBHF"ODIPS"3ϚʔΧʔ౳༧Ί༻ҙ͞Εͨը૾ͷ৘ใ
    w "30CKFDU"ODIPSϙϦΰϯϝογϡ͔Βݕग़ͨ͠෺ཧతͳ৘ใ
    w "3#PEZ"ODIPSਓͷؔઅͷ৘ใ
    w "3'BDF"ODIPSਓͷإͷύʔπ΍޲͖౳ͷ৘ใ
    w "3.FTI"ODIPS "3(FP"ODIPS "3"QQ$MJQ$PEF"ODIPSʜ
    

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48. let entity = try! ModelEntity.load(named: "test.usdz")
    let anchorEntity = AnchorEntity(plane: .any)
    anchorEntity.addChild(entity)
    arView.scene.addAnchor(anchorEntity)
    &OUJUZͷ௥Ճ
    

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49. "34$/7JFX
    "3,JU4DFOF,JU
    "34FTTJPJO
    "3'SBNF
    "3"ODIPS
    "37JFX
    3FBMJUZ,JU
    4DFOF
    "ODIPS&OUJUZ
    .PEFM&OUJUZ
    "ODIPS&OUJUZ
    &OUJUZ &OUJUZ
    $POpHVSBUJPO
    "3'SBNF
    "3"ODIPS
    

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50. "3,JU3FBMJUZ,JU
    "37JFX
    4DFOF
    "ODIPS&OUJUZ
    .PEFM&OUJUZ
    "ODIPS&OUJUZ
    &OUJUZ &OUJUZ
    "34FTTJPJO
    $POpHVSBUJPO
    

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51. .PUJPO$BQUVSF
    w Ͳ͏࣮ߦ͢Δͷ͔
    w ͜Ε΋ެࣜͰ΋༗Γl$BQUVSJOH#PEZ.PUJPOJO%z
    w ద౰ͳϞσϧͷ༻ҙ
    w "3#PEZ5SBDLJOH$POpHVSBUJPOͰ"34FTTJPOΛىಈ
    w Ϟσϧϩʔυ
    

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52. Ϟσϧͷ༻ҙ
    

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55. View Slide

56. let configuration = ARBodyTrackingConfiguration()
    arView.session.run(configuration)
    arView.scene.addAnchor(characterAnchor)
    if let entity = try? Entity.loadBodyTracked(named: "character/robot") {
    self.character = entity
    }
    Ϟσϧͷϩʔυ
    4DFOFʹϞσϧͷ"ODIPSΛઃஔ
    Ϟσϧͷ#PEZ5SBDLFE&OUJUZͷ༻ҙ
    

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57. func session(_ session: ARSession, didUpdate anchors: [ARAnchor]) {
    for anchor in anchors {
    guard let bodyAnchor = anchor as? ARBodyAnchor else { continue }
    let bodyPosition = simd_make_float3(bodyAnchor.transform.columns.3)
    characterAnchor.position = bodyPosition + characterOffset
    characterAnchor.orientation = Transform(matrix: bodyAnchor.transform).rotation
    if let character = character, character.parent == nil {
    characterAnchor.addChild(character)
    }
    }
    }
    Ϟσϧͱ"3#PEZ"ODIPSͷ઀ଓ
    ϞσϧଆͰKPJOU/BNF΋߹Θ͍ͤͯΔͷͰɼ"ODIPSʹॏͶΔ͚ͩ
    

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59. ͓·͚
    

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60. w ϐʔϓϧΦΫϧʔδϣϯ
    w 3PPN1MBO
    

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61. ϐʔϓϧΦΫϧʔδϣϯ
    w ਂ౓৘ใ͔Βਓ෺ͷલޙؔ܎Λೝࣝ
    w "38PSME5SBDLJOH$POpHVSBUJPO
    
    w DPOpHGSBNF4FNBOUJDT<QFSTPO4FHNFOUBUJPO8JUI%FQUI>
    

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62. let cameraAnchor = AnchorEntity(.camera)
    self.scene.addAnchor(cameraAnchor)
    cameraAnchor.addChild(background)
    background.position = [0,0,-5]
    എܠΛۭؒͷNޙΖʹઃஔ
    ਓ෺ͷલޙҐஔΛೝ͍ࣝͯ͠ΔͷͰɼ
    ਓ͕̑NޙΖʹ͕͞Δͱਓ͕ӅΕΔ
    

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63. w ;PPNͷഎܠ͸كʹޙΖͷՈ۩͕ࣸΓࠐΜͩΓ͢Δ
    w ਓ෺ͷલޙҐஔΛೝࣝͰ͖Δͨͩը૾͔Βͷਓ෺நग़Ͱ͸ͳ͍
    w ࠓճͷ88%$ͰJ1IPOFΛ΢ΣϒΧϝϥʹ͢ΔτϐοΫ͋Γ
    w Ξοϓσʔτʹظ଴
    

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64. 3PPN1MBO
    w "3,JUΛར༻ͯ͠Χϝϥͱ-J%"3Λར༻ͨ͠ϑϩΞϚοϐϯά͕Մೳ
    w ڪΖ͘͠؆୯ͳίʔυͰ෦԰ͷ%؃औΓਤ͕࡞੒Մೳ
    w "QQMFͷαϯϓϧ͕ར༻Մೳ
    w l$SFBUFB%NPEFMPGBOJOUFSJPSSPPNCZHVJEJOHUIFVTFSUISPVHI
    BO"3FYQFSJFODFz
    

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65. let roomCaptureView = RoomCaptureView(frame: view.frame)
    view.addSubview(roomCaptureView)
    roomCaptureView.captureSession.run(configuration: .init())
    roomCaptureView.captureSession.stop()
    %FMFHBUFͰ׬ྃ࣌ʹ෦԰ͷΩϟϓνϟʔσʔλ͕ड͚औΕΔ
    

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67. "3,JU·ͱΊ
    w ػೳ͕ॆ࣮͠؆୯ͳࣄͰ͋Ε͹༻ҙʹࢼͤΔ؀ڥʹͳ͖ͬͯͨ
    w 75VCFS౳J1IPOFΛ࢖ͬͯΩϟϥΫλʔϞσϧΛಈ͔ͤΔ෯͕޿͕ͬͨ
    w ͨͩࢼ͚ͩ͢Ͱ΋ਫ਼౓͕ߴ͍ͷͰ݁ߏΫΦϦςΟߴ͘ײָ͍ͯ͡͠
    ͥͻ"3,JUΛ৮ͬͨ͜ͱແ͍ํ͸৮ΕͯΈ͍ͯͩ͘͞ʂ
    

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68. 5IBOLT
    

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