Backporting the latest-preview project to be 4.0 compatible.

Assets/Scenes/ARCollaborationData/ARCollaborationDataExample.unity

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Assets/Scenes/ARWorldMap.unity

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Assets/Scenes/CameraGrain/CameraGrain.mat

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Assets/Scenes/Check Support.unity

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Assets/Scenes/CpuImages.unity

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Assets/Scenes/EnvironmentProbes.unity

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Assets/Scenes/FaceTracking/ARCoreFaceRegions.unity

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Assets/Scenes/FaceTracking/ARKitFaceBlendShapes.unity

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Assets/Scenes/FaceTracking/DisplayFaceInfo.cs

         {
             m_FaceManager = GetComponent<ARFaceManager>();
             m_Session = GetComponent<ARSession>();
-            m_CameraManager = GetComponent<ARSessionOrigin>().camera?.GetComponent<ARCameraManager>();
+            var camera = GetComponent<ARSessionOrigin>().camera;
+            m_CameraManager = camera ? camera.GetComponent<ARCameraManager>() : null;
         }
 
         void OnEnable()
             // Detect face tracking with world-facing camera support
-            var subsystem = m_Session?.subsystem;
+            var subsystem = m_Session ? m_Session.subsystem : null;
             if (subsystem != null)
             {
                 var configs = subsystem.GetConfigurationDescriptors(Allocator.Temp);

Assets/Scenes/FaceTracking/EyeLasers.unity

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Assets/Scenes/FaceTracking/EyePoses.unity

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Assets/Scenes/FaceTracking/FaceMesh.unity

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Assets/Scenes/FaceTracking/FacePose.unity

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Assets/Scenes/FaceTracking/FixationPoint.unity

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Assets/Scenes/FaceTracking/WorldCameraWithUserFacingFaceTracking.unity

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Assets/Scenes/ImageTracking/DynamicLibrary.cs

             GUI.skin.button.fontSize = fontSize;
             GUI.skin.label.fontSize = fontSize;
 
-            float margin = 50;
+            float margin = 100;
 
             GUILayout.BeginArea(new Rect(margin, margin, Screen.width - margin * 2, Screen.height - margin * 2));
 

Assets/Scenes/Interaction/Interaction.unity

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Assets/Scenes/LightEstimation/Rotator.cs

         void Update()
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             m_Angle += Time.deltaTime * 10f;
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+            transform.rotation = Quaternion.Euler(0, m_Angle, 0);
         }
     }
 }

Assets/Scenes/Meshing/ClassificationMeshes.unity

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Assets/Scenes/Meshing/NormalMeshes.unity

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Assets/Scenes/Meshing/OcclusionMeshes.unity

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Assets/Scenes/Object Tracking/ObjectTracking.unity

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Assets/Scenes/Plane Detection/FeatheredPlanes.unity

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Assets/Scenes/Plane Detection/PlaneClassification.unity

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Assets/Scenes/Plane Detection/TogglePlaneDetection.unity

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Assets/Scenes/PlaneOcclusion/PlaneOcclusion.unity

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Assets/Scenes/PointCloud/AllPointCloudPoints.unity

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Assets/Scenes/Scale.unity

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Assets/Scenes/SimpleAR/SimpleAR.unity

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Assets/Scenes/UX/SampleUXScene.unity

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Assets/Scripts/CameraConfigController.cs

             set { m_CameraManager = value; }
         }
 
-    /// <summary>
+        /// <summary>
         /// Callback invoked when <see cref="m_Dropdown"/> changes. This
         /// lets us change the camera configuration when the user changes
         /// the selection in the UI.
                 // 1. Use a foreach to iterate over all the available configurations
                 foreach (var config in configurations)
                 {
-                    m_ConfigurationNames.Add(config.ToString());
+                    m_ConfigurationNames.Add($"{config.width}x{config.height}{(config.framerate.HasValue ? $" at {config.framerate.Value} Hz" : "")}");
                 }
                 m_Dropdown.AddOptions(m_ConfigurationNames);
 

Assets/Scripts/CpuImageSample.cs

             set => m_RawCameraImage = value;
         }
 
-        [SerializeField]
-        [Tooltip("The AROcclusionManager which will produce human depth and stencil textures.")]
-        AROcclusionManager m_OcclusionManager;
+         [SerializeField]
+         [Tooltip("The AROcclusionManager which will produce human depth and stencil textures.")]
+         AROcclusionManager m_OcclusionManager;
-        public AROcclusionManager occlusionManager
-        {
-            get => m_OcclusionManager;
-            set => m_OcclusionManager = value;
-        }
+         public AROcclusionManager occlusionManager
+         {
+             get => m_OcclusionManager;
+             set => m_OcclusionManager = value;
+         }
-        [SerializeField]
-        RawImage m_RawHumanDepthImage;
+         [SerializeField]
+         RawImage m_RawHumanDepthImage;
+
+         /// <summary>
+         /// The UI RawImage used to display the image on screen.
+         /// </summary>
+         public RawImage rawHumanDepthImage
+         {
+             get => m_RawHumanDepthImage;
+             set => m_RawHumanDepthImage = value;
+         }
-        /// <summary>
-        /// The UI RawImage used to display the image on screen.
-        /// </summary>
-        public RawImage rawHumanDepthImage
-        {
-            get => m_RawHumanDepthImage;
-            set => m_RawHumanDepthImage = value;
-        }
+         [SerializeField]
+         RawImage m_RawHumanStencilImage;
-        [SerializeField]
-        RawImage m_RawHumanStencilImage;
+         /// <summary>
+         /// The UI RawImage used to display the image on screen.
+         /// </summary>
+         public RawImage rawHumanStencilImage
+         {
+             get => m_RawHumanStencilImage;
+             set => m_RawHumanStencilImage = value;
+         }
-        /// <summary>
-        /// The UI RawImage used to display the image on screen.
-        /// </summary>
-        public RawImage rawHumanStencilImage
-        {
-            get => m_RawHumanStencilImage;
-            set => m_RawHumanStencilImage = value;
-        }
+         [SerializeField]
+         RawImage m_RawEnvironmentDepthImage;
 
         [SerializeField]
         Text m_ImageInfo;

Assets/Scripts/PlaceOnPlane.cs

 
         bool TryGetTouchPosition(out Vector2 touchPosition)
         {
-    #if UNITY_EDITOR
-            if (Input.GetMouseButton(0))
-            {
-                var mousePosition = Input.mousePosition;
-                touchPosition = new Vector2(mousePosition.x, mousePosition.y);
-                return true;
-            }
-    #else
-    #endif
 
             touchPosition = default;
             return false;
 
         ARRaycastManager m_RaycastManager;
     }
-}
+}

Assets/Scripts/UX/ARSceneSelectUI.cs

     public class ARSceneSelectUI : MonoBehaviour
     {
         [SerializeField]
+        Scrollbar m_HorizontalScrollBar;
+        public Scrollbar horizontalScrollBar
+        {
+            get => m_HorizontalScrollBar;
+            set => m_HorizontalScrollBar = value;
+        }
+
+        [SerializeField]
+        Scrollbar m_VerticalScrollBar;
+        public Scrollbar verticalScrollBar
+        {
+            get => m_VerticalScrollBar;
+            set => m_VerticalScrollBar = value;
+        }
+
+        [SerializeField]
         GameObject m_AllMenu;
         public GameObject allMenu
         {
 
         [SerializeField]
+        GameObject m_ImageTrackingMenu;
+        public GameObject imageTrackingMenu
+        {
+            get { return m_ImageTrackingMenu; }
+            set { m_ImageTrackingMenu = value; }
+        }
+
+        [SerializeField]
         GameObject m_FaceTrackingMenu;
         public GameObject faceTrackingMenu
         {
 
         [SerializeField]
-        GameObject m_HumanSegmentationMenu;
-        public GameObject humanSegmentationMenu
+        GameObject m_BodyTrackingMenu;
+        public GameObject bodyTrackingMenu
-            get { return m_HumanSegmentationMenu; }
-            set { m_HumanSegmentationMenu = value; }
+            get { return m_BodyTrackingMenu; }
+            set { m_BodyTrackingMenu = value; }
         }
 
         [SerializeField]
             set { m_MeshingMenu = value; }
         }
 
+        [SerializeField]
+        GameObject m_DepthMenu;
+        public GameObject depthMenu
+        {
+            get { return m_DepthMenu; }
+            set { m_DepthMenu = value; }
+        }
+
+        [SerializeField]
+        GameObject m_LightEstimationMenu;
+        public GameObject lightEstimationMenu
+        {
+            get { return m_LightEstimationMenu; }
+            set { m_LightEstimationMenu = value; }
+        }
+
         void Start()
         {
             if(ActiveMenu.currentMenu == MenuType.FaceTracking)
             }
+            else if(ActiveMenu.currentMenu == MenuType.ImageTracking)
+            {
+                m_ImageTrackingMenu.SetActive(true);
+                m_AllMenu.SetActive(false);
+            }
-            else if(ActiveMenu.currentMenu == MenuType.HumanSegmentation)
+            else if(ActiveMenu.currentMenu == MenuType.BodyTracking)
-                m_HumanSegmentationMenu.SetActive(true);
+                m_BodyTrackingMenu.SetActive(true);
                 m_AllMenu.SetActive(false);
             }
             else if(ActiveMenu.currentMenu == MenuType.Meshing)
             }
+            else if(ActiveMenu.currentMenu == MenuType.Depth)
+            {
+                m_DepthMenu.SetActive(true);
+                m_AllMenu.SetActive(false);
+            }
+            else if(ActiveMenu.currentMenu == MenuType.LightEstimation)
+            {
+                m_LightEstimationMenu.SetActive(true);
+                m_AllMenu.SetActive(false);
+            }
+            ScrollToStartPosition();
         }
 
         static void LoadScene(string sceneName)
 
         public void ImageTrackableButtonPressed()
         {
-            LoadScene("ImageTracking");
+            ActiveMenu.currentMenu = MenuType.ImageTracking;
+            m_ImageTrackingMenu.SetActive(true);
+            m_AllMenu.SetActive(false);
+            ScrollToStartPosition();
+        }
+
+        public void BasicImageTrackingButtonPressed()
+        {
+            LoadScene("BasicImageTracking");
+        }
+
+        public void MultiImagesTrackingButtonPressed()
+        {
+            LoadScene("ImageTrackingWithMultiplePrefabs");
         }
 
         public void AnchorsButtonPressed()
             LoadScene("SampleUXScene");
         }
 
+        public void ConfigChooserButtonPressed()
+        {
+            LoadScene("ConfigurationChooser");
+        }
+
+            ScrollToStartPosition();
         }
 
         public void ARCoreFaceRegionsButtonPressed()
             LoadScene("WorldCameraWithUserFacingFaceTracking");
         }
 
-        public void HumanSegmentationMenuButtonPressed()
+        public void BodyTrackingMenuButtonPressed()
-            ActiveMenu.currentMenu = MenuType.HumanSegmentation;
-            m_HumanSegmentationMenu.SetActive(true);
+            ActiveMenu.currentMenu = MenuType.BodyTracking;
+            m_BodyTrackingMenu.SetActive(true);
+            ScrollToStartPosition();
-        public void HumanSegmentation2DButtonPressed()
+        public void BodyTracking2DButtonPressed()
-        public void HumanSegmentation3DButtonPressed()
+        public void BodyTracking3DButtonPressed()
-        public void HumanSegmentationImagesButtonPressed()
+        public void LightEstimationMenuButtonPressed()
-            LoadScene("HumanSegmentationImages");
+            ActiveMenu.currentMenu = MenuType.LightEstimation;
+            m_LightEstimationMenu.SetActive(true);
+            m_AllMenu.SetActive(false);
+            ScrollToStartPosition();
-        public void LightEstimationButtonPressed()
+        public void BasicLightEstimationButtonPressed()
-            LoadScene("LightEstimation");
+            LoadScene("BasicLightEstimation");
+        }
+
+        public void HDRLightEstimationButtonPressed()
+        {
+            LoadScene("HDRLightEstimation");
         }
 
         public void PlaneDetectionMenuButtonPressed()
             m_AllMenu.SetActive(false);
+            ScrollToStartPosition();
         }
 
         public void FeatheredPlanesButtonPressed()
         public void BackButtonPressed()
         {
             ActiveMenu.currentMenu = MenuType.Main;
+            m_ImageTrackingMenu.SetActive(false);
-            m_HumanSegmentationMenu.SetActive(false);
+            m_BodyTrackingMenu.SetActive(false);
+            m_DepthMenu.SetActive(false);
+            m_LightEstimationMenu.SetActive(false);
+            ScrollToStartPosition();
         }
 
         public void MeshingMenuButtonPressed()
             m_AllMenu.SetActive(false);
+            ScrollToStartPosition();
+        }
+
+        public void DepthMenuButtonPressed()
+        {
+            ActiveMenu.currentMenu = MenuType.Depth;
+            m_DepthMenu.SetActive(true);
+            m_AllMenu.SetActive(false);
+            ScrollToStartPosition();
         }
 
         public void ClassificationMeshesButtonPressed()
         public void InteractionButtonPressed()
         {
             LoadScene("Interaction");
+        }
+
+        public void SimpleOcclusionButtonPressed()
+        {
+            LoadScene("SimpleOcclusion");
+        }
+
+        public void DepthImagesButtonPressed()
+        {
+            LoadScene("DepthImages");
+        }
+
+        public void InputSystemButtonPressed()
+        {
+            LoadScene("InputSystem");
+        }
+
+        void ScrollToStartPosition()
+        {
+            m_HorizontalScrollBar.value = 0;
+            m_VerticalScrollBar.value = 1;
         }
     }
 }

Assets/Scripts/UX/ActiveMenu.cs

     public enum MenuType
     {
         Main,
+        ImageTracking,
-        HumanSegmentation,
-        Meshing
+        BodyTracking,
+        Meshing,
+        Depth,
+        LightEstimation
     }
 
     public static class ActiveMenu

Assets/Scripts/UX/CheckAvailableFeatures.cs

         }
 
         [SerializeField]
-        Button m_HumanSegmentation;
-        public Button humanSegmentation
+        Button m_BodyTracking;
+        public Button bodyTracking
-            get { return m_HumanSegmentation; }
-            set { m_HumanSegmentation = value; }
+            get { return m_BodyTracking; }
+            set { m_BodyTracking = value; }
         }
 
         [SerializeField]
             get { return m_LightEstimation; }
             set { m_LightEstimation = value; }
+        }
+
+        [SerializeField]
+        Button m_BasicLightEstimation;
+        public Button basicLightEstimation
+        {
+            get { return m_BasicLightEstimation; }
+            set { m_BasicLightEstimation = value; }
+        }
+
+        [SerializeField]
+        Button m_HDRLightEstimation;
+        public Button HDRLightEstimation
+        {
+            get { return m_HDRLightEstimation; }
+            set { m_HDRLightEstimation = value; }
         }
 
         [SerializeField]
             set { m_CheckSupport = value; }
         }
 
+        [SerializeField]
+        Button m_Depth;
+        public Button depth
+        {
+            get { return m_Depth; }
+            set { m_Depth = value; }
+        }
+
+        [SerializeField]
+        Button m_ConfigChooser;
+        public Button configChooser
+        {
+            get => m_ConfigChooser;
+            set => m_ConfigChooser = value;
+        }
+
+        [SerializeField]
+        Button m_InputSystem;
+        public Button inputSystem
+        {
+            get => m_InputSystem;
+            set => m_InputSystem = value;
+        }
+
         // Start is called before the first frame update
         void Start()
         {
             var sessionDescriptors = new List<XRSessionSubsystemDescriptor>();
             SubsystemManager.GetSubsystemDescriptors<XRSessionSubsystemDescriptor>(sessionDescriptors);
 
+            var bodyTrackingDescriptors = new List<XRHumanBodySubsystemDescriptor>();
+            SubsystemManager.GetSubsystemDescriptors<XRHumanBodySubsystemDescriptor>(bodyTrackingDescriptors);
+
             if(planeDescriptors.Count > 0 && rayCastDescriptors.Count > 0)
             {
                 m_SimpleAR.interactable = true;
                 m_CheckSupport.interactable = true;
+                m_ConfigChooser.interactable = true;
+                m_InputSystem.interactable = true;
             }
 
             if(faceDescriptors.Count > 0)
             {
                 foreach(var occlusionDescriptor in occlusionDescriptors)
                 {
-                    if(occlusionDescriptor.supportsHumanSegmentationDepthImage && occlusionDescriptor.supportsHumanSegmentationStencilImage)
+#if UNITY_IOS
+                    if(occlusionDescriptor.supportsHumanSegmentationDepthImage
+                       || occlusionDescriptor.supportsHumanSegmentationStencilImage)
+                    {
+                        m_Depth.interactable = true;
+                    }
+#endif
+#if UNITY_ANDROID
+                    m_Depth.interactable = true;
+#endif
+                }
+            }
+
+            if(bodyTrackingDescriptors.Count > 0)
+            {
+                foreach(var bodyTrackingDescriptor in bodyTrackingDescriptors)
+                {
+                    if(bodyTrackingDescriptor.supportsHumanBody2D || bodyTrackingDescriptor.supportsHumanBody3D)
-                        m_HumanSegmentation.interactable = true;
-                        break;
+                        m_BodyTracking.interactable = true;
                     }
                 }
             }
+                m_LightEstimation.interactable = true;
                 foreach(var cameraDescriptor in cameraDescriptors)
                 {
                     if((cameraDescriptor.supportsAverageBrightness || cameraDescriptor.supportsAverageIntensityInLumens) &&
-                        m_LightEstimation.interactable = true;
+                        m_BasicLightEstimation.interactable = true;
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CONTRIBUTING.md

 # Contributing
 
-At this time, the repo is not accepting external contributions in the form of PRs.
+At this time, the repo is not accepting external contributions in the form of PRs. 
-We encourage you to submit bugs, suggestions, and feedback as [GitHub issues](https://github.com/Unity-Technologies/arfoundation-samples/issues).
+We encourage you to submit bugs, suggestions, and feedback as [GitHub issues](https://github.com/Unity-Technologies/arfoundation-samples/issues).

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README.md

 # AR Foundation Samples
 
-Example projects that use [*AR Foundation 4.0*](https://docs.unity3d.com/Packages/com.unity.xr.arfoundation@4.0/manual/index.html) and demonstrate its functionality with sample assets and components.
+Example projects that use [*AR Foundation 4.1*](https://docs.unity3d.com/Packages/com.unity.xr.arfoundation@4.1/manual/index.html) and demonstrate its functionality with sample assets and components.
-* ARSubsystems ([documentation](https://docs.unity3d.com/Packages/com.unity.xr.arsubsystems@4.0/manual/index.html))
-* ARCore XR Plugin ([documentation](https://docs.unity3d.com/Packages/com.unity.xr.arcore@4.0/manual/index.html))
-* ARKit XR Plugin ([documentation](https://docs.unity3d.com/Packages/com.unity.xr.arkit@4.0/manual/index.html))
-* ARKit Face Tracking ([documentation](https://docs.unity3d.com/Packages/com.unity.xr.arkit-face-tracking@4.0/manual/index.html))
-* ARFoundation ([documentation](https://docs.unity3d.com/Packages/com.unity.xr.arfoundation@4.0/manual/index.html))
+* ARSubsystems ([documentation](https://docs.unity3d.com/Packages/com.unity.xr.arsubsystems@4.1/manual/index.html))
+* ARCore XR Plugin ([documentation](https://docs.unity3d.com/Packages/com.unity.xr.arcore@4.1/manual/index.html))
+* ARKit XR Plugin ([documentation](https://docs.unity3d.com/Packages/com.unity.xr.arkit@4.1/manual/index.html))
+* ARKit Face Tracking ([documentation](https://docs.unity3d.com/Packages/com.unity.xr.arkit-face-tracking@4.1/manual/index.html))
+* ARFoundation ([documentation](https://docs.unity3d.com/Packages/com.unity.xr.arfoundation@4.1/manual/index.html))
 
 ## What version should I use?
 
 | Unity Version | ARFoundation Version |
 | ------------- | -------------------- |
 |    2018.4     | [1.5 (preview)](https://github.com/Unity-Technologies/arfoundation-samples/tree/1.5-preview)  |
-|    2019.4     | [2.1 (verified)](https://github.com/Unity-Technologies/arfoundation-samples/tree/2.1)         |
-|    2020.1     | [3.1 (verified)](https://github.com/Unity-Technologies/arfoundation-samples/tree/3.1)         |
-|    2020.2     | [4.0 (verified)](https://github.com/Unity-Technologies/arfoundation-samples/tree/4.0)         |
+|    2019.3     | [2.1 (verified)](https://github.com/Unity-Technologies/arfoundation-samples/tree/2.1)         |
+|    2020.1     | 3.0 (verified)                                                                                |
+|    2020.2     | 4.1 (preview)                                                                                 |
-ARFoundation is built on "[subsystems](https://docs.unity3d.com/2019.3/Documentation/ScriptReference/Subsystem.html)" and depends on a separate package called [ARSubsystems](https://docs.unity3d.com/Packages/com.unity.xr.arsubsystems@4.0/manual/index.html). ARSubsystems defines an interface, and the platform-specific implementations are in the [ARCore](https://docs.unity3d.com/Packages/com.unity.xr.arcore@4.0/manual/index.html) and [ARKit](https://docs.unity3d.com/Packages/com.unity.xr.arkit@4.0/manual/index.html) packages. ARFoundation turns the AR data provided by ARSubsystems into Unity `GameObject`s and `MonoBehavour`s.
+ARFoundation is built on "[subsystems](https://docs.unity3d.com/2019.3/Documentation/ScriptReference/Subsystem.html)" and depends on a separate package called [ARSubsystems](https://docs.unity3d.com/Packages/com.unity.xr.arsubsystems@4.1/manual/index.html). ARSubsystems defines an interface, and the platform-specific implementations are in the [ARCore](https://docs.unity3d.com/Packages/com.unity.xr.arcore@4.1/manual/index.html) and [ARKit](https://docs.unity3d.com/Packages/com.unity.xr.arkit@4.1/manual/index.html) packages. ARFoundation turns the AR data provided by ARSubsystems into Unity `GameObject`s and `MonoBehavour`s.
 
 The `master` branch is compatible with Unity 2019.3 and later. For 2018.4, see the [1.5-preview branch](https://github.com/Unity-Technologies/arfoundation-samples/tree/1.5-preview).
 
 
 3. Open your choice of sample scene.
 
-4. See the [AR Foundation Documentation](https://docs.unity3d.com/Packages/com.unity.xr.arfoundation@4.0/manual/index.html) for usage instructions and more information.
+4. See the [AR Foundation Documentation](https://docs.unity3d.com/Packages/com.unity.xr.arfoundation@4.1/manual/index.html) for usage instructions and more information.
 
 # Samples
 
 
 ## LightEstimation
 
-Demonstrates light estimation information from the camera frame. You should see values for "Brightness", "Color Temp", and "Color Correct" on screen. Most devices only support a subset of these 3, so some will be listed as "unavailable."
+### BasicLightEstimation
+Demonstrates basic light estimation information from the camera frame. You should see values for "Ambient Intensity" and "Ambient Color" on screen. The relevant script is [`BasicLightEstimation.cs`](https://github.com/Unity-Technologies/arfoundation-samples/blob/master/Assets/Scripts/BasicLightEstimation.cs) script.
-This sample also attempts to read HDR lighting information. On iOS, this is only available when face tracking is enabled and requires a device with a TrueDepth camera (such as an iPhone X, XS or 11). When available, a virtual arrow appears in front of the camera which indicates the estimated main light direction. The virtual light direction is also updated, so that virtual content appears to be lit from the direction of the real light source.
+### HDRLightEstimation
+This sample attempts to read HDR lighting information. You should see values for "Ambient Intensity", "Ambient Color", "Main Light Direction", "Main Light Intensity Lumens", "Main Light Color", and "Spherical Harmonics". Most devices only support a subset of these 6, so some will be listed as "Unavailable." The relevant script is [`HDRLightEstimation.cs`](https://github.com/Unity-Technologies/arfoundation-samples/blob/master/Assets/Scripts/HDRLightEstimation.cs) script.
-The relevant scripts are on the "Directional Light" GameObject.
+On iOS, this is only available when face tracking is enabled and requires a device that supports face tracking (such as an iPhone X, XS or 11). When available, a virtual arrow appears in front of the camera which indicates the estimated main light direction. The virtual light direction is also updated, so that virtual content appears to be lit from the direction of the real light source.
+
+When using `HDRLightEstimation`, the sample will automatically pick the supported camera facing direction for you, for example `World` on Android and `User` on iOS, so it does not matter which you facing direction select in the `ARCameraManager.cs` component.
 
 ## Anchors
 
 
 ## ImageTracking
 
-This sample demonstrates image tracking. Image tracking is supported on ARCore and ARKit. To enable image tracking, you must first create an `XRReferenceImageLibrary`. This is the set of images to look for in the environment. [Click here](https://docs.unity3d.com/Packages/com.unity.xr.arsubsystems@4.0/manual/image-tracking.html) for instructions on creating one.
+There are two samples demonstrating image tracking. The image tracking samples are supported on ARCore, ARKit, and Magic Leap. To enable image tracking, you must first create an `XRReferenceImageLibrary`. This is the set of images to look for in the environment. [Click here](https://docs.unity3d.com/Packages/com.unity.xr.arsubsystems@4.1/manual/image-tracking.html) for instructions on creating one.
-At runtime, ARFoundation will generate an `ARTrackedImage` for each detected reference image. This sample uses the [`TrackedImageInfoManager.cs`](https://github.com/Unity-Technologies/arfoundation-samples/blob/master/Assets/Scenes/ImageTracking/TrackedImageInfoManager.cs) script to overlay the original image on top of the detected image, along with some meta data.
+Run the sample on an ARCore or ARKit-capable device and point your device at one of the images in [`Assets/Scenes/ImageTracking/Images`](https://github.com/Unity-Technologies/arfoundation-samples/tree/master/Assets/Scenes/ImageTracking/Images). They can be displayed on a computer monitor; they do not need to be printed out.
+
+### BasicImageTracking
+
+At runtime, ARFoundation will generate an `ARTrackedImage` for each detected reference image. This sample uses the [`TrackedImageInfoManager.cs`](https://github.com/Unity-Technologies/arfoundation-samples/blob/master/Assets/Scenes/ImageTracking/BasicImageTracking/TrackedImageInfoManager.cs) script to overlay the original image on top of the detected image, along with some meta data.
+
+### ImageTrackingWithMultiplePrefabs
-Run the sample on an ARCore or ARKit-capable device and point your device at one of the images in [`Assets/Scenes/ImageTracking/Images`](https://github.com/Unity-Technologies/arfoundation-samples/tree/master/Assets/Scenes/ImageTracking/Images). They can be displayed on a computer monitor; they do not need to be printed out.
+With [`PrefabImagePairManager.cs`](https://github.com/Unity-Technologies/arfoundation-samples/blob/master/Assets/Scenes/ImageTracking/ImageTrackingWithMultiplePrefabs/PrefabImagePairManager.cs) script, you can assign different prefabs for each image in the reference image library.
+You can also change prefabs at runtime. This sample includes a button that switch between the original and alternative prefab for the first image in the reference image library. See the script [`DynamicPrefab.cs`](https://github.com/Unity-Technologies/arfoundation-samples/blob/master/Assets/Scenes/ImageTracking/ImageTrackingWithMultiplePrefabs/DynamicPrefab.cs) for example code.
-Similar to the image tracking sample, this sample detects a 3D object from a set of reference objects in an `XRReferenceObjectLibrary`. [Click here](https://docs.unity3d.com/Packages/com.unity.xr.arsubsystems@4.0/manual/object-tracking.html) for instructions on creating one.
+Similar to the image tracking sample, this sample detects a 3D object from a set of reference objects in an `XRReferenceObjectLibrary`. [Click here](https://docs.unity3d.com/Packages/com.unity.xr.arsubsystems@4.1/manual/object-tracking.html) for instructions on creating one.
 
 To use this sample, you must have a physical object the device can recognize. The sample's reference object library is built using two reference objects. The sample includes [printable templates](https://github.com/Unity-Technologies/arfoundation-samples/tree/master/Assets/Scenes/Object%20Tracking/Printable%20Templates) which can be printed on 8.5x11 inch paper and folded into a cube and cylinder.
 
 
 This sample requires a device with an A12 bionic chip running iOS 13.
 
-## HumanSegmentationImages
+## DepthImages
-This sample demonstrates "people occlusion", which can produce stencil and depth textures for detected persons. This sample is very primitive and simply displays the raw texture on the screen. We are currently working on a better sample.
+This sample demonstrates raw texture depth images from different methods.
+* Environment depth (certain Android devices and Apple devices with the LiDAR sensor)
+* Human stencil (Apple devices with an A12 bionic chip (or later) running iOS 13 or later)
+* Human depth (Apple devices with an A12 bionic chip (or later) running iOS 13 or later)
+
+## SimpleOcclusion
-This sample requires a device with an A12 bionic chip running iOS 13.
+This sample demonstrates occlusion of virtual content by real world content through the use of environment depth images on supported Android and iOS devices.
 
 ## AllPointCloudPoints
 
 
 This sample scene demonstrates the functionality of the `XR Interaction Toolkit` package. In the scene, you are able to place a cube on a plane which you can translate, rotate and scale with gestures. See the [`XR Interaction Toolkit Documentation`](https://docs.unity3d.com/Packages/com.unity.xr.interaction.toolkit@0.9/manual/index.html) for more details.
 
+## Input System
+This sample demonstrates a version of the SimpleAR scene using Unity's new Input System. See the [`Input System Documentation`](https://docs.unity3d.com/Packages/com.unity.inputsystem@1.0/manual/index.html) for more details.
+
 # Community and Feedback
 
 The intention of this reposititory is to provide a means for getting started with the features in ARFoundation. The samples are intentionally simplistic with a focus on teaching basic scene setup and APIs. If you you have a question, find a bug, or would like to request a new feature concerning any of the ARFoundation packages or these samples please [submit a GitHub issue](https://github.com/Unity-Technologies/arfoundation-samples/issues). New issues are reviewed regularly.
-We are not accepting pull requests at this time. If you find an issue with the samples, our would like to request a new sample, please [submit a GitHub issue](https://github.com/Unity-Technologies/arfoundation-samples/issues).
+We are not accepting pull requests at this time. If you find an issue with the samples, or would like to request a new sample, please [submit a GitHub issue](https://github.com/Unity-Technologies/arfoundation-samples/issues).

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.github/pull_request_template.md

+# Please create an issue instead
+
+Hi there! Thanks for your input; however, we are not accepting pull requests at this time. If you have a suggestion or think you've found a bug, please create an [issue](https://github.com/Unity-Technologies/arfoundation-samples/issues/new/choose) instead.

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