---
title: extrinsicMatrix
framework: avfoundation
role: symbol
role_heading: Instance Property
path: avfoundation/avcameracalibrationdata/extrinsicmatrix
---

# extrinsicMatrix

A matrix relating a camera’s position and orientation to a world or scene coordinate system.

## Declaration

```swift
var extrinsicMatrix: matrix_float4x3 { get }
```

## Discussion

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_float4x3 matrix is column major with 3 rows and 4 columns.

## See Also

### Mapping pixels to scene geometry

- [intrinsicMatrix](avfoundation/avcameracalibrationdata/intrinsicmatrix.md)
- [intrinsicMatrixReferenceDimensions](avfoundation/avcameracalibrationdata/intrinsicmatrixreferencedimensions.md)
- [pixelSize](avfoundation/avcameracalibrationdata/pixelsize.md)