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I was finally able to figure this out using SceneKit functions: let currentFaceTransform = currentFaceAnchor!.transform
let currentCameraTransform = frame.camera.transform
let newFaceMatrix = SCNMatrix4.init(currentFaceTransform)
let newCameraMatrix = SCNMatrix4.init(currentCameraTransform)
let cameraNode = SCNNode()
cameraNode.transform = newCameraMatrix
let originNode = SCNNode()
originNode.transform = SCNMatrix4Identity
//Converts a transform from the node’s local coordinate space to that of another node.
let transformInCameraSpace = originNode.convertTransform(newFaceMatrix, to: cameraNode)
let faceTransformFromCamera = simd_float4x4(transformInCameraSpace)I hope this helps some others out there!