Removing planeDetection planes prevents placing additional planes - ios

Question

I am generating planes using ARKit and if I manually remove the plane I am unable to detect planes it the same position.
To detect planes I set the scene config
let config = ARWorldTrackingConfiguration()
config.worldAlignment = .gravity
config.providesAudioData = false
config.isLightEstimationEnabled = true
...
else if ARMode == .floor {
self.ARMode = .floor
scannerBox.isHidden=true
focusNode?.isHidden=false
plusButton.isHidden=true
config.planeDetection = .horizontal self.planeTexture="test.scnassets/Textures/Surface_Texture.png"
}
...
sceneView.session.run(config)
Add plane to the scene in renderer function
let planeNode = self.createARPlaneNode(planeAnchor: planeAnchor,
color: UIColor.yellow.withAlphaComponent(0.5))
node.addChildNode(planeNode)
If a certain button is pushed the plane and other objects should be removed
scene.rootNode.enumerateChildNodes { (node, _) in
print(node.name)
if (node.name == "sphere" ) {
node.removeFromParentNode()
}
if ( node.name == "surfacePlane") {
node.removeFromParentNode()
}
if(node.name != nil){
if (node.name?.contains("ProductModel_"))! {
node.removeFromParentNode()
}
}
}
When the above code fires the planes, spheres, and products disappear as expected.
If I try to scan the surface elsewhere in the room it works as expected but if I try to scan where the plane was and generate a new one it will not work. It will not generate a new plane and if nearby planes expand to cover the same area they disappear.
I believe the problem is likely the scene geometry of the removed planes is somehow still present and preventing new planes in the same space.
As a temporary work around I and stopping and starting the AR sessions and that removes the planes.
let config = sceneView.session.configuration as!
ARWorldTrackingConfiguration
config.planeDetection = .horizontal
sceneView.session.run(config,
options: [.resetTracking, .removeExistingAnchors])
I am trying to determine why this is the case and the planes aren't treated the same as objects I explicitly placed in the scene.

Answer 1

I believe you also need to remove the ARPlaneAnchor your plane node was attached to so that ARKit will create a new ARPlaneAnchor and kick off the renderer function that is creating your plane node.
Something like
if ( node.name == "surfacePlane") {
if let planeAnchor = sceneView.anchor(for: node) as? ARPlaneAnchor {
sceneView.session.remove(anchor: planeAnchor)
}
node.removeFromParentNode()
}