# Extended Reality: Types and Applications
## 5 Software in XR
### Software Classification by Facilities and XR Toolkits  
A toolkit is needed to create 3D applications, in addition to a 3D engine. An XR toolkit is a set of specialized software tools that are already configured and simplify the creation of various interactive visualizations from scratch. Toolkits are used to interact with the equipment, interchange data from the headset sensors to the 3D engine, and then receive feedback in the form of an image. It is necessary to correctly interpret the data between the equipment and the 3D engine. The main XR toolkit features are provided below in Table 3. \begin{table}
\begin{tabular}{c c c c c c c c} \hline \hline
**XR Toolkits** & **Type of XR** & **Compatibility with Robots** & **Supported Platforms** & **Tracking and Navigation** & **SDK and Integration Support** & **Main Use Cases** & **References** \\ \hline ARtoolkitX & AR & Partial & Windows, Linux, Android, iOS & Marker tracking & Open-source custom integration & Prototypes, testing, tracking & [76; 77] \\ \hline Google ARCore & AR & Limited & Android, partly iOS & SLAM, surface tracking & SDK for Android & Android apps & [78; 79] \\ \hline Apple ARKit & AR & Limited & iOS & SLAM, object tracking & SDK for IOS apps & [80; 81] \\ \hline Vuforia & AR & Good & Android, iOS, Windows & SLAM, marker and object tracking & Unity integration, API support & Marketing, industry, robots with cameras & [82] \\ \hline Unity XR & AR, VR & Good & Android, iOS, Windows, HoloLens & SLAM, object tracking & Support for custom integration & Games, simulations, robotics, visualizations & [83; 84] \\ \hline Unreal Engine XR & AR, VR & Average & Windows, iOS, Android, HoloLens, Magic Leap & SLAM, spatial tracking & Support for custom integration & Cinema, simulations, robotics, architecture & [85; 86] \\ \hline MRTK & AR, VR & Average & \
\begin{tabular}{c} HoloLens, Windows \\ Mixed Reality, iOS \\ \end{tabular} & Gestures, hand tracking & Integration via Unity or.NET & Industrial training, mixed reality & [87; 88] \\ \hline MLSDK & MR & Average & Magic Leap & SLAM, spatial tracking & Limited support of SDK & Interactive simulations, visualizations & [89; 90] \\ \hline OpenXR & AR, VR, MR &
\begin{tabular}{c} Good (with device support) \\ \end{tabular} & Cross-platform & Universal tracking & Compatibility with various standard & Developing XR devices and applications & [90; 91] \\ \hline RViz & VR, 3D visualization & High (via ROS) & Windows, Linux & Tracking and displaying sensor data & ROS integration, plugin support & Visualization of sensors, robot status, debugging & [92; 93] \\ \hline \hline \end{tabular}
\end{table} 
Table 3: XR toolkits classification by facilities and opportunities. ARtoolkitX is an opensource toolkit that supports the most popular platform and can be adapted for different tasks and prototypes. It is a continuation of AR toolkit, one of the first tools to create and work with AR [76; 77]. Google ARCore is a platform to create AR applications for Android devices that was created by Google. This platform can also determine the plane and depth. This allows the use AR without graphic markers and the visualization of virtual objects on any surface [78]. Apple ARKit is a framework for creating an AR application for IOS devices that was developed by Apple. Like This framework works using object tracking method, and it is also does not need graphic markers [81]. Vuforia is a popular platform for creating AR, which integrates Unity, a game engine that supports Windows, Android, and IOS. It is often used to create educational applications [94]. Unity XR is a complex solution for VR, AR, and MR. Unity XR is a built-in module in Unity. It has an exceptionally large community and support for many devices and platforms, from Windows and Android to gaming consoles and augmented reality headsets. It has a powerful physics engine, which allows you to realistically process the movement of objects in the XR [84]. Unreal Engine XR is a powerful game engine integration that supports various platforms of AR, VR, and MR technologies.