# PhotogrammetrySession.Pose A 6DOF pose relative to the estimated coordinate system. ``` struct Pose ``` ## Topics ### Instance Properties [`var intrinsics: simd_float3x3?`](/documentation/RealityKit/PhotogrammetrySession/Pose/intrinsics) If available, the estimated pinhole camera intrinsics matrix associated with the input image. If not available, `nil`. [`var lensDistortionData: LensDistortionData?`](/documentation/RealityKit/PhotogrammetrySession/Pose/lensDistortionData) If available, the estimated lens distortion data for the associated input image. This can be used to rectify the image for computer vision applications. If not available, this is nil. [`let rotation: simd_quatf`](/documentation/RealityKit/PhotogrammetrySession/Pose/rotation) Rotation (orientation) of the pose relative to the reference coordinate system. [`var transform: Transform`](/documentation/RealityKit/PhotogrammetrySession/Pose/transform) A unit scale transform that represents a 6DoF pose. [`let translation: SIMD3`](/documentation/RealityKit/PhotogrammetrySession/Pose/translation) Position of the pose relative to the reference coordinate system. ## Relationships ### Conforms To [`Sendable`](/documentation/Swift/Sendable) [`SendableMetatype`](/documentation/Swift/SendableMetatype) --- Copyright © 2026 Apple Inc. All rights reserved. | [Terms of Use](https://www.apple.com/legal/internet-services/terms/site.html) | [Privacy Policy](https://www.apple.com/privacy/privacy-policy)