无法在我的 SwiftUI 应用程序中渲染点云

Question

项目正在构建，没有任何错误或警告，当我运行应用程序时，我能够看到相机视图。但是当我点击开始扫描按钮时，相机视图冻结并且没有任何反应。当我点击开始扫描按钮时，它应该开始在环境中绘制红点，当我点击停止扫描按钮时，它应该会引导我到另一个屏幕来显示点云本身。以下是我项目中的不同文件。请让我知道我做错了什么。

ContentView.swift

import AVFoundation
import ARKit
import RealityKit
import SceneKit
import SwiftUI
import Foundation

struct ContentView: View {
    @StateObject var scanner = ScannerViewController()

    var body: some View {
        NavigationView {
            VStack {
                ARViewContainer().edgesIgnoringSafeArea(.all)

                HStack {
                    Spacer()
                    
                    Button(action: {
                        scanner.startScanning()
                    }, label: {
                        Text("Start Scanning")
                    })
                    .padding()
                    
                    Spacer()
                    
                    NavigationLink(destination: PointCloudView(pointCloud: scanner.pointCloud, pointSize: 5.0)) {
                        Text("Stop Scanning")
                    }
                    .padding()
                    
                    Spacer()
                }
            }
            .navigationBarTitle(Text("Scan an Object"))
        }
    }

    struct ARViewContainer: UIViewRepresentable {
        func makeUIView(context: Context) -> ARView {
            let arView = ARView(frame: .zero)
            return arView
        }
        
        func updateUIView(_ uiView: ARView, context: Context) {
            
        }
    }
}

PointCloudView.swift

import AVFoundation
import ARKit
import RealityKit
import SceneKit
import SwiftUI
import Foundation

struct PointCloudView: View {
    var pointCloud: [SIMD3<Float>]
    var pointSize: CGFloat
    
    var body: some View {
        ZStack {
            ForEach(pointCloud, id: \.self) { point in
                Sphere()
                    .frame(width: pointSize, height: pointSize, alignment: .center)
                    .position(CGPoint(x: CGFloat(point.x), y: CGFloat(point.y)))
                    .foregroundColor(.red)
            }
        }
    }
}

struct Sphere: Shape {
    func path(in rect: CGRect) -> Path {
        let center = CGPoint(x: rect.width / 2, y: rect.height / 2)
        let radius = min(rect.width, rect.height) / 2
        let path = Path { p in
            p.addArc(center: center, radius: radius, startAngle: .zero, endAngle: .degrees(360), clockwise: true)
        }
        return path
    }
}

ScannerViewController.swift

import AVFoundation
import ARKit
import RealityKit
import SceneKit
import SwiftUI
import Combine
import Foundation

class ScannerViewController: NSObject, ObservableObject {
    private var cancellables = Set<AnyCancellable>()

    @Published var isScanning = false
    @Published var pointCloud: [SIMD3<Float>] = []

    private let arSession = ARSession()
    private var arConfiguration: ARConfiguration {
        let configuration = ARWorldTrackingConfiguration()
        configuration.planeDetection = .horizontal
        configuration.environmentTexturing = .automatic
        return configuration
    }

    func startScanning() {
        print("started scanning")
        isScanning = true
        arSession.run(arConfiguration)
    }

    func stopScanning() {
        print("stopped scanning")
        isScanning = false
        arSession.pause()
    }

    func renderer(_ renderer: SCNSceneRenderer, updateAtTime time: TimeInterval) {
        print("continusoyl called")
        guard isScanning else { return }

        // Get the current ARFrame
        guard let currentFrame = self.arSession.currentFrame else { return }

        // Generate the point cloud data from the ARFrame
        guard let pointCloud = currentFrame.rawFeaturePoints?.points else { return }

        // Convert the point cloud data to a format that can be displayed in the PointCloudView
        let convertedPointCloud = pointCloud.map { point in
            SIMD3<Float>(point.x, point.y, point.z)
        }

        // Pass the converted point cloud data to the PointCloudView
        DispatchQueue.main.async {
            self.pointCloud = convertedPointCloud
        }
    }
}

我试过同时使用 SceneKit 和 Metal 来渲染点云并参考了苹果的文档：https://developer.apple.com/documentation/arkit/environmental_analysis/displaying_a_point_cloud_using_scene_depth

我也试过构建故事板项目，但故事板和 SceneKit 一直在制造很多错误。使用 metal 和 swiftui 构建至少没有错误，但仍然无法运行。