# extrinsicMatrix A matrix relating a camera’s position and orientation to a world or scene coordinate system. ``` var extrinsicMatrix: matrix_float4x3 { get } ``` ## Discussion The extrinsic matrix consists of a unitless 3 x 3 rotation matrix (`R`) on the left and a 3 x 1 column vector translation (`t`) on the right. The translation vector’s units are millimeters.  The camera’s pose is expressed with respect to a reference camera (camera-to-world view). If the rotation matrix is an identity matrix, then this camera is the reference camera. > Note: > A matrix is column major with 3 rows and 4 columns. --- 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)