I have seen this question asked in various contexts since ARKit was published, but never found a straight answer. I am using the ARKit 4 on iPad OS 14 Beta. The issue I am struggling with is when I pull the AR camera's current transform (which is updated for every frame), as follows: ARSession.currentFrame.camera.transform ...it returns a 4x4 matrix with rotation and translation, but only translation is changing. Rotation is the same for every frame, regardless of camera yaw, pitch, and roll. I was under the impression, from reading documentation on ARWorldTrackingConfiguration that the ARCamera transform relays 6 DOF which includes rotation and translation. Clearly, this is not the case. here are some values: FRAME 1: 0.9986219 0.034667697 0.039401535 ~0.019907176 0.9448786 ~0.3268153 ~0.048559602 0.3255805 0.94426656 ~0.016681878 ~0.017129783 ~0.0130903125 FRAME 2: 0.9986219 0.034667697 0.039401535 ~0.019907176 0.9448786 ~0.3268153 ~0.048559602 0.3255805 0.94426656 0.10855365 ~0.06680643 0.9586861 FRAME 3: 0.9986219 0.034667697 0.039401535 ~0.019907176 0.9448786 ~0.3268153 ~0.048559602 0.3255805 0.94426656 0.8597136 ~1.5562118 0.4360383 I am using tildes instead of minus symbols, and the Apple Developer forum interprets them as bullets (when beginning a line with a minus). These are looking at an object from 3 different positions (front, right, and left), but rotation remains stable. No heading change. I am obviously missing something fundamental. Why would the AR session return the same rotation matrix for every single frame, regardless of camera tilt and heading? This makes absolutely no sense. There is a eulerAngles property that can be used, but I'd rather avoid touching it, because as you are likely aware, every platform applies those angles in different order, and it's not always consistent with documentation. A transform matrix is cleaner and easier to port over to any other system. Perhaps this is a bug in ARKit 4. There is no logical reason why rotation would remain stable. Even in a sequence that moves around 360 degrees, heading / yaw does not budge in the rotation matrix. I have tried multiplying the camera.transform by viewMatrix and / or projectionMatrix just to see if anything would change -- and it doesn't. There is literally nothing you can with the iPad camera in an AR session that will yield updated rotation matrices.

Debugging iOS apps was working perfectly fine before upgrading our iPad Pro 12.9-inch Gen4 to 15.2 recently. Now, Xcode is no longer able to see the device. It shows up in the USB tree in Sys Information (MacOS 11.6.2), but is no longer visible in the Finder nor Xcode. I'm very much hoping Apple is aware of this problem and is working on a fix. All our development pipelines are completely shutdown now unless we downgrade the devices to a previous iOS version.

I have cleared out my Apple Developer account by revoking all existing certificates and profiles. Following that, I manually deleted all mobileprovision files and deleted the certificates in the keychain. Even after all of that, XCode shows multiple certificates (Preferences > Account > Manage Certificates), many of them with an "unknown" label, and it is not possible to right-click them and delete them. Where are those "ghost" certificates coming from? With all due respect, let's not say (again and again) that Xcode is pulling these certs directly from the developer account. As I have mentioned above, the developer account has been emptied out (all profiles and certs revoked. So either there is a cache on the account or a cache in Xcode. Either way, documentation does not touch on this feature, and as it stands, I can't compile or distribute anything because Xcode not only doesn't see the new certs, it is still pointing to the old (deleted) ones. I did not see this problem before moving to v13.