Collect data in AR

View on GitHub
Sample viewer app

Tap on real-world objects to collect data.

Image showing a feature being recorded, with a prompt to specify feature attributes

Use case

You can use AR to quickly photograph an object and automatically determine the object's real-world location, facilitating a more efficient data collection workflow. For example, you could quickly catalog trees in a park, while maintaining visual context of which trees have been recorded - no need for spray paint or tape.

How to use the sample

Before you start, go through the on-screen calibration process to ensure accurate positioning of recorded features. Feature points detected by ARKit are shown to help you understand what the application sees and where you can tap to collect accurate features.

When you tap, an orange diamond will appear at the tapped location. You can move around to visually verify that the tapped point is in the correct physical location. When you're satisfied, tap the '+' button to record the feature. An image from the camera feed will automatically be attached to the recorded feature.

⚠️ WARNING: collection of photos is completely automatic; consider your surroundings when adding features.

How it works

  1. Create an ArcGISARView. Create and show a scene in the scene view.
  2. Load the feature service and display it with a feature layer.
  3. Create and add the elevation surface to the scene.
  4. Create a graphics overlay for planning the location of features to add. Configure the graphics overlay with a renderer and add the graphics overlay to the scene view.
  5. When the user taps the screen, use ArcGISARView.arScreenToLocation(screenPoint:) to find the real-world location of the tapped object using ARKit plane detection.
  6. Add a graphic to the graphics overlay preview where the feature will be placed and allow the user to visually verify the placement.
  7. When the user presses the button, take the current AR frame from the ArcGISARView.arSCNView.session. Rotate the image appropriately and convert it to a JPEG for efficient storage.
  8. Prompt the user for a tree health value, then create the feature. Upon successful creation of the feature, use AGSArcGISFeature.addAttachment(withName:contentType:data:completion:) to add the image.

Relevant API

  • AGSGraphicsOverlay
  • AGSSceneView
  • AGSSurface
  • ArcGISARView

About the data

The sample uses a publicly-editable sample tree survey feature service hosted on ArcGIS Online called AR Tree Survey. You can use AR to quickly record the location and health of a tree while seamlessly capturing a photo.

Additional information

This sample requires a device that is compatible with ARKit 1.0 on iOS.

There are two main approaches for identifying the physical location of tapped point:

  • ArcGISARView.arScreenToLocation - uses plane detection provided by ARKit to determine where in the real world the tapped point is.
  • SceneView.ScreenToLocation - determines where the tapped point is in the virtual scene. This is problematic when the opacity is set to 0 and you can't see where on the scene that is. Real-world objects aren't accounted for by the scene view's calculation to find the tapped location; for example tapping on a tree might result in a point on the basemap many meters away behind the tree.

This sample only uses the arScreenToLocation approach, as it is the only way to get accurate positions for features not directly on the ground in real-scale AR.

Note that unlike other scene samples, a basemap isn't shown most of the time, because the real world provides the context. Only while calibrating is the basemap displayed at 50% opacity, to give the user a visual reference to compare to.

World-scale AR is one of three main patterns for working with geographic information in augmented reality. See the topic Display scenes in augmented reality in the ArcGIS Developers guide for more information.

See the 'Edit feature attachments' sample for more specific information about the attachment editing workflow.

This sample uses a combination of two location data source modes: continuous update and one-time update, presented as 'roaming' and 'local' calibration modes in the app. The error in the position provided by ARKit increases as you move further from the origin, resulting in a poor experience when you move more than a few meters away. The location provided by GPS is more useful over large areas, but not good enough for a convincing AR experience on a small scale. With this sample, you can use 'roaming' mode to maintain good enough accuracy for basic context while navigating a large area. When you want to see a more precise visualization, you can switch to 'local' (ARKit-only) mode and manually calibrate for best results.

Tags

attachment, augmented reality, capture, collection, collector, data, field, field worker, full-scale, mixed reality, survey, world-scale

Sample Code

CollectDataAR.swift
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     
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// Copyright 2019 Esri.

// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
// http://www.apache.org/licenses/LICENSE-2.0

// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

import Foundation
import UIKit
import ARKit
import ArcGISToolkit
import ArcGIS

/// The health of a tree.
private enum TreeHealth: Int16, CaseIterable {
    /// The tree is dead.
    case dead = 0
    /// The tree is distressed.
    case distressed = 5
    /// The tree is healthy.
    case healthy = 10

    /// The human readable name of the tree's health.
    var title: String {
        switch self {
        case .dead:
            return "Dead"
        case .distressed:
            return "Distressed"
        case .healthy:
            return "Healthy"
        }
    }
}

class CollectDataAR: UIViewController {
    // UI controls and state
    @IBOutlet var addBBI: UIBarButtonItem!

    @IBOutlet var arView: ArcGISARView!
    @IBOutlet var arKitStatusLabel: UILabel!
    @IBOutlet var calibrationBBI: UIBarButtonItem!
    @IBOutlet var helpLabel: UILabel!
    @IBOutlet var realScaleModePicker: UISegmentedControl!
    @IBOutlet var toolbar: UIToolbar!

    private var calibrationViewController: CollectDataARCalibrationViewController?
    private var isCalibrating = false {
        didSet {
            if isCalibrating {
                arView.sceneView.scene?.baseSurface?.opacity = 0.5
                if realScaleModePicker.selectedSegmentIndex == 1 {
                    helpLabel.text = "Pan the map to finish calibrating"
                }
            } else {
                arView.sceneView.scene?.baseSurface?.opacity = 0

                // Dismiss popover
                if let controller = calibrationViewController {
                    controller.dismiss(animated: true)
                }
            }
        }
    }

    // Feature service
    private let featureTable = AGSServiceFeatureTable(url: URL(string: "https://services2.arcgis.com/ZQgQTuoyBrtmoGdP/arcgis/rest/services/AR_Tree_Survey/FeatureServer/0")!)
    private var featureLayer: AGSFeatureLayer?
    private var lastEditedFeature: AGSArcGISFeature?

    // Graphics and symbology
    private var featureGraphic: AGSGraphic?
    private let graphicsOverlay = AGSGraphicsOverlay()
    private let tappedPointSymbol = AGSSimpleMarkerSceneSymbol(style: .diamond,
                                                               color: .orange,
                                                               height: 0.5,
                                                               width: 0.5,
                                                               depth: 0.5,
                                                               anchorPosition: .center)

    override func viewDidLoad() {
        super.viewDidLoad()

        // Create and prep the calibration view controller
        calibrationViewController = CollectDataARCalibrationViewController(arcgisARView: arView)
        calibrationViewController?.preferredContentSize = CGSize(width: 250, height: 100)
        calibrationViewController?.useContinuousPositioning = true

        // Set delegates and configure arView
        arView.sceneView.touchDelegate = self
        arView.arSCNView.debugOptions = .showFeaturePoints
        arView.arSCNViewDelegate = self
        arView.locationDataSource = AGSCLLocationDataSource()
        configureSceneForAR()

        // add the source code button item to the right of navigation bar
        (self.navigationItem.rightBarButtonItem as! SourceCodeBarButtonItem).filenames = ["CollectDataAR"]
    }

    private func configureSceneForAR() {
        // Create scene with imagery basemap
        let scene = AGSScene(basemapType: .imageryWithLabels)

        // Create an elevation source and add it to the scene
        let elevationSource = AGSArcGISTiledElevationSource(url:
            URL(string: "https://elevation3d.arcgis.com/arcgis/rest/services/WorldElevation3D/Terrain3D/ImageServer")!)
        scene.baseSurface?.elevationSources.append(elevationSource)

        // Allow camera to go beneath the surface
        scene.baseSurface?.navigationConstraint = .none

        // Create a feature layer and add it to the scene
        featureLayer = AGSFeatureLayer(featureTable: featureTable)
        scene.operationalLayers.add(featureLayer!)
        featureLayer?.sceneProperties?.surfacePlacement = .absolute

        // Display the scene
        arView.sceneView.scene = scene

        // Create and add the graphics overlay for showing WIP new features
        arView.sceneView.graphicsOverlays.add(graphicsOverlay)
        graphicsOverlay.sceneProperties?.surfacePlacement = .absolute
        graphicsOverlay.renderer = AGSSimpleRenderer(symbol: tappedPointSymbol)
    }

    // MARK: - View lifecycle management
    override func viewDidAppear(_ animated: Bool) {
        super.viewDidAppear(animated)
        // Start AR tracking; if we're local, only use the data source to get the initial position
        arView.startTracking(realScaleModePicker.selectedSegmentIndex == 1 ? .initial : .continuous)
    }

    override func viewDidDisappear(_ animated: Bool) {
        super.viewDidDisappear(animated)
        arView.stopTracking()
    }

    @IBAction func showCalibrationPopup(_ sender: UIBarButtonItem) {
        if let controller = calibrationViewController {
            if realScaleModePicker.selectedSegmentIndex == 0 { // Roaming
                isCalibrating = true
            } else { // Local
                isCalibrating.toggle()
            }

            if isCalibrating {
                showPopup(controller, sourceButton: sender)
            } else {
                helpLabel.text = "Tap to record a feature"
            }
        }
    }

    @IBAction func addFeature(_ sender: UIBarButtonItem) {
        if let coreVideoBuffer = arView.arSCNView.session.currentFrame?.capturedImage {
            // Get image as useful object
            // NOTE: everything here assumes photo is taken in portrait layout (not landscape)
            var coreImage = CIImage(cvImageBuffer: coreVideoBuffer)
            let transform = coreImage.orientationTransform(for: .right)
            coreImage = coreImage.transformed(by: transform)
            let ciContext = CIContext()
            let imageHeight = CVPixelBufferGetHeight(coreVideoBuffer)
            let imageWidth = CVPixelBufferGetWidth(coreVideoBuffer)
            let imageRef = ciContext.createCGImage(coreImage,
                                                   from: CGRect(x: 0, y: 0, width: imageHeight, height: imageWidth))
            let rotatedImage = UIImage(cgImage: imageRef!)

            askUserForTreeHealth { [weak self] (healthValue: Int16) in
                self?.createFeature(wtih: rotatedImage, healthState: healthValue)
            }
        } else {
            presentAlert(message: "Didn't get image for tap")
        }
    }

    @IBAction func setRealScaleMode(_ sender: UISegmentedControl) {
        arView.stopTracking()
        if sender.selectedSegmentIndex == 0 {
            // Roaming - continuous update
            arView.startTracking(.continuous)
            helpLabel.text = "Using CoreLocation + ARKit"
            calibrationViewController?.useContinuousPositioning = true
        } else {
            // Local - only update once, then manually calibrate
            arView.startTracking(.initial)
            helpLabel.text = "Using ARKit only"
            calibrationViewController?.useContinuousPositioning = false
        }

        // Turn off calibration when switching modes
        isCalibrating = false
    }
}

// MARK: - Add and identify features on tap
extension CollectDataAR: AGSGeoViewTouchDelegate {
    func geoView(_ geoView: AGSGeoView, didTapAtScreenPoint screenPoint: CGPoint, mapPoint: AGSPoint) {
        // Remove any existing graphics
        graphicsOverlay.graphics.removeAllObjects()

        // Try to get the real-world position of that tapped AR plane
        if let planeLocation = arView.arScreenToLocation(screenPoint: screenPoint) {
            // If a plane was found, use that
            let graphic = AGSGraphic(geometry: planeLocation, symbol: nil)
            graphicsOverlay.graphics.add(graphic)
            addBBI.isEnabled = true
            helpLabel.text = "Placed relative to ARKit plane"
        } else {
            presentAlert(message: "Didn't find anything. Try again.")

            // No point found - disable adding the feature
            addBBI.isEnabled = false
        }
    }
}

// MARK: - Feature management
extension CollectDataAR {
    private func askUserForTreeHealth(with completion: @escaping (_ healthValue: Int16) -> Void) {
        // Display an alert allowing users to select tree health
        let healthStatusMenu = UIAlertController(title: "Take picture and add tree",
                                                 message: "How healthy is this tree?",
                                                 preferredStyle: .actionSheet)

        TreeHealth.allCases.forEach { (treeHealth) in
            let alertAction = UIAlertAction(title: treeHealth.title, style: .default) { (_) in
                completion(treeHealth.rawValue)
            }
            healthStatusMenu.addAction(alertAction)
        }

        // Add "cancel" item.
        let cancelAction = UIAlertAction(title: "Cancel", style: .cancel, handler: nil)
        healthStatusMenu.addAction(cancelAction)

        healthStatusMenu.popoverPresentationController?.barButtonItem = addBBI

        self.present(healthStatusMenu, animated: true, completion: nil)
    }

    func applyEdits() {
        featureTable.applyEdits { [weak self] (featureEditResults: [AGSFeatureEditResult]?, error: Error?) in
            if let error = error {
                self?.presentAlert(message: "Error while applying edits :: \(error.localizedDescription)")
            } else {
                if let featureEditResults = featureEditResults,
                    featureEditResults.first?.completedWithErrors == false {
                    self?.presentAlert(message: "Edits applied successfully")
                }
            }
        }
    }

    private func createFeature(wtih capturedImage: UIImage, healthState healthValue: Int16) {
        guard let featureGraphic = graphicsOverlay.graphics.firstObject as? AGSGraphic,
            let featurePoint = featureGraphic.geometry as? AGSPoint else { return }

        // Update the help label
        helpLabel.text = "Adding feature"

        // Create attributes for the new feature
        let featureAttributes = ["Health": healthValue, "Height": 3.2, "Diameter": 1.2] as [String: Any]

        if let newFeature = featureTable.createFeature(attributes: featureAttributes, geometry: featurePoint) as? AGSArcGISFeature {
            lastEditedFeature = newFeature
            // add the feature to the feature table
            featureTable.add(newFeature) { [weak self] (error: Error?) in
                guard let self = self else { return }

                if let error = error {
                    self.presentAlert(message: "Error while adding feature: \(error.localizedDescription)")
                } else {
                    self.featureTable.applyEdits { [weak self] (_, err) in
                        guard let self = self else { return }

                        if let error = err {
                            self.presentAlert(error: error)
                            return
                        }

                        newFeature.refresh()
                        if let data = capturedImage.jpegData(compressionQuality: 1) {
                            newFeature.addAttachment(withName: "ARCapture.jpg", contentType: "jpg", data: data) { (_, err) in
                                if let error = err {
                                    self.presentAlert(error: error)
                                }
                                self.featureTable.applyEdits()
                            }
                        }
                    }
                }
            }

            // enable interaction with map view
            helpLabel.text = "Tap to create a feature"
            graphicsOverlay.graphics.removeAllObjects()
            addBBI.isEnabled = false
        } else {
            presentAlert(message: "Error creating feature")
        }
    }
}

// MARK: - Calibration view management
extension CollectDataAR {
    private func showPopup(_ controller: UIViewController, sourceButton: UIBarButtonItem) {
        controller.modalPresentationStyle = .popover
        if let presentationController = controller.popoverPresentationController {
            presentationController.delegate = self
            presentationController.barButtonItem = sourceButton
            presentationController.permittedArrowDirections = [.down, .up]
        }
        present(controller, animated: true)
    }
}

extension CollectDataAR: UIPopoverPresentationControllerDelegate {
    func popoverPresentationControllerDidDismissPopover(_ popoverPresentationController: UIPopoverPresentationController) {
        // Detect when the popover closes and stop calibrating, but only if in roaming mode
        // In local mode, the user should have an opportunity to adjust the basemap
        if realScaleModePicker.selectedSegmentIndex == 0 {
            isCalibrating = false
            helpLabel.text = "Tap to record a feature"
        }
    }
}

extension CollectDataAR: UIAdaptivePresentationControllerDelegate {
    func adaptivePresentationStyle(for controller: UIPresentationController, traitCollection: UITraitCollection) -> UIModalPresentationStyle {
        // show presented controller as popovers even on small displays
        return .none
    }
}

// MARK: - Calibration view controller
class CollectDataARCalibrationViewController: UIViewController {
    /// The camera controller used to adjust user interactions.
    private let arcgisARView: ArcGISARView

    /// The `UISlider` used to adjust elevation.
    private let elevationSlider: UISlider = {
        let slider = UISlider(frame: .zero)
        slider.minimumValue = -50.0
        slider.maximumValue = 50.0
        slider.isEnabled = false
        return slider
    }()

    /// The UISlider used to adjust heading.
    private let headingSlider: UISlider = {
        let slider = UISlider(frame: .zero)
        slider.minimumValue = -10.0
        slider.maximumValue = 10.0
        return slider
    }()

    /// Determines whether continuous positioning is in use
    /// Showing the elevation slider is only appropriate when using local positioning
    var useContinuousPositioning = true {
        didSet {
            if useContinuousPositioning {
                elevationSlider.isEnabled = false
                elevationSlider.removeTarget(self, action: #selector(elevationChanged(_:)), for: .valueChanged)
                elevationSlider.removeTarget(self, action: #selector(touchUpElevation(_:)), for: [.touchUpInside, .touchUpOutside])
            } else {
                elevationSlider.isEnabled = true

                // Set up events for the heading slider
                elevationSlider.addTarget(self, action: #selector(elevationChanged(_:)), for: .valueChanged)
                elevationSlider.addTarget(self, action: #selector(touchUpElevation(_:)), for: [.touchUpInside, .touchUpOutside])
            }
        }
    }

    /// The elevation delta amount based on the elevation slider value.
    private var joystickElevation: Double {
        let deltaElevation = Double(elevationSlider.value)
        return pow(deltaElevation, 2) / 50.0 * (deltaElevation < 0 ? -1.0 : 1.0)
    }

    ///  The heading delta amount based on the heading slider value.
    private var joystickHeading: Double {
        let deltaHeading = Double(headingSlider.value)
        return pow(deltaHeading, 2) / 25.0 * (deltaHeading < 0 ? -1.0 : 1.0)
    }

    /// Initialized a new calibration view with the given scene view and camera controller.
    ///
    /// - Parameters:
    ///   - arcgisARView: The ArcGISARView we are calibrating..
    init(arcgisARView: ArcGISARView) {
        self.arcgisARView = arcgisARView
        super.init(nibName: nil, bundle: nil)

        // Add the heading label and slider.
        let headingLabel = UILabel(frame: .zero)
        headingLabel.text = "Heading:"
        headingLabel.textColor = .yellow
        view.addSubview(headingLabel)
        headingLabel.translatesAutoresizingMaskIntoConstraints = false
        NSLayoutConstraint.activate([
            headingLabel.leadingAnchor.constraint(equalTo: view.safeAreaLayoutGuide.leadingAnchor, constant: 16),
            headingLabel.bottomAnchor.constraint(equalTo: view.safeAreaLayoutGuide.bottomAnchor, constant: -16)
        ])

        view.addSubview(headingSlider)
        headingSlider.translatesAutoresizingMaskIntoConstraints = false
        NSLayoutConstraint.activate([
            headingSlider.leadingAnchor.constraint(equalTo: headingLabel.trailingAnchor, constant: 16),
            headingSlider.trailingAnchor.constraint(equalTo: view.safeAreaLayoutGuide.trailingAnchor, constant: -16),
            headingSlider.centerYAnchor.constraint(equalTo: headingLabel.centerYAnchor)
        ])

        // Add the elevation label and slider.
        let elevationLabel = UILabel(frame: .zero)
        elevationLabel.text = "Elevation:"
        elevationLabel.textColor = .yellow
        view.addSubview(elevationLabel)
        elevationLabel.translatesAutoresizingMaskIntoConstraints = false
        NSLayoutConstraint.activate([
            elevationLabel.leadingAnchor.constraint(equalTo: view.safeAreaLayoutGuide.leadingAnchor, constant: 16),
            elevationLabel.bottomAnchor.constraint(equalTo: headingLabel.topAnchor, constant: -24)
        ])

        view.addSubview(elevationSlider)
        elevationSlider.translatesAutoresizingMaskIntoConstraints = false
        NSLayoutConstraint.activate([
            elevationSlider.leadingAnchor.constraint(equalTo: elevationLabel.trailingAnchor, constant: 16),
            elevationSlider.trailingAnchor.constraint(equalTo: view.safeAreaLayoutGuide.trailingAnchor, constant: -16),
            elevationSlider.centerYAnchor.constraint(equalTo: elevationLabel.centerYAnchor)
        ])

        // Setup actions for the two sliders. The sliders operate as "joysticks",
        // where moving the slider thumb will start a timer
        // which roates or elevates the current camera when the timer fires.  The elevation and heading delta
        // values increase the further you move away from center.  Moving and holding the thumb a little bit from center
        // will roate/elevate just a little bit, but get progressively more the further from center the thumb is moved.
        headingSlider.addTarget(self, action: #selector(headingChanged(_:)), for: .touchDown)
        headingSlider.addTarget(self, action: #selector(touchUpHeading(_:)), for: [.touchUpInside, .touchUpOutside, .touchCancel])
    }

    required init?(coder aDecoder: NSCoder) {
        fatalError("init(coder:) has not been implemented")
    }

    // The timers for the "joystick" behavior.
    private var elevationTimer: Timer?
    private var headingTimer: Timer?

    /// Handle an elevation slider value-changed event.
    ///
    /// - Parameter sender: The slider tapped on.
    @objc
    func elevationChanged(_ sender: UISlider) {
        if elevationTimer == nil {
            // Create a timer which elevates the camera when fired.
            let timer = Timer(timeInterval: 0.25, repeats: true) { [weak self] (_) in
                let delta = self?.joystickElevation ?? 0.0
                self?.elevate(delta)
            }

            // Add the timer to the main run loop.
            RunLoop.main.add(timer, forMode: .default)
            elevationTimer = timer
        }
    }

    /// Handle an heading slider value-changed event.
    ///
    /// - Parameter sender: The slider tapped on.
    @objc
    func headingChanged(_ sender: UISlider) {
        if headingTimer == nil {
            // Create a timer which rotates the camera when fired.
            let timer = Timer(timeInterval: 0.1, repeats: true) { [weak self] (_) in
                let delta = self?.joystickHeading ?? 0.0
                self?.rotate(delta)
            }

            // Add the timer to the main run loop.
            RunLoop.main.add(timer, forMode: .default)
            headingTimer = timer
        }
    }

    /// Handle an elevation slider touchUp event.  This will stop the timer.
    ///
    /// - Parameter sender: The slider tapped on.
    @objc
    func touchUpElevation(_ sender: UISlider) {
        elevationTimer?.invalidate()
        elevationTimer = nil
        sender.value = 0.0
    }

    /// Handle a heading slider touchUp event.  This will stop the timer.
    ///
    /// - Parameter sender: The slider tapped on.
    @objc
    func touchUpHeading(_ sender: UISlider) {
        headingTimer?.invalidate()
        headingTimer = nil
        sender.value = 0.0
    }

    /// Rotates the camera by `deltaHeading`.
    ///
    /// - Parameter deltaHeading: The amount to rotate the camera.
    private func rotate(_ deltaHeading: Double) {
        let camera = arcgisARView.originCamera
        let newHeading = camera.heading + deltaHeading
        arcgisARView.originCamera = camera.rotate(toHeading: newHeading, pitch: camera.pitch, roll: camera.roll)
    }

    /// Change the cameras altitude by `deltaAltitude`.
    ///
    /// - Parameter deltaAltitude: The amount to elevate the camera.
    private func elevate(_ deltaAltitude: Double) {
        let camera = arcgisARView.originCamera
        arcgisARView.originCamera = camera.elevate(withDeltaAltitude: deltaAltitude)
    }
}

// MARK: - tracking status display
extension CollectDataAR: ARSCNViewDelegate {
    public func session(_ session: ARSession, cameraDidChangeTrackingState camera: ARCamera) {
        // Don't show anything in roaming mode; constant location tracking reset means
        // ARKit will always be initializing
        if realScaleModePicker.selectedSegmentIndex == 0 {
            arKitStatusLabel.isHidden = true
            return
        }
        switch camera.trackingState {
        case .normal:
            arKitStatusLabel.isHidden = true
        case .notAvailable:
            arKitStatusLabel.text = "ARKit location not available"
            arKitStatusLabel.isHidden = false
        case .limited(let reason):
            arKitStatusLabel.isHidden = false
            switch reason {
            case .excessiveMotion:
                arKitStatusLabel.text = "Try moving your phone more slowly"
                arKitStatusLabel.isHidden = false
            case .initializing:
                arKitStatusLabel.text = "Keep moving your phone"
                arKitStatusLabel.isHidden = false
            case .insufficientFeatures:
                arKitStatusLabel.text = "Try turning on more lights and moving around"
                arKitStatusLabel.isHidden = false
            case .relocalizing:
                // this won't happen as this sample doesn't use relocalization
                break
            @unknown default:
                break
            }
        }
    }
}

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