Using ARKit for facetracking, I get faceAnchor (ARFaceAnchor) as soon as the face is detected, which provides a simd_float4x4 matrix. I know about transformation matrices, and am also aware that the topic has been partially addressed (here: How to get values from simd_float4 in objective-c , and here: simd_float4x4 Columns), but is there a straighforward way to get yaw/pitch/rool values from the face anchor? (in order to feed my y/p/r values in the code below).
func renderer(_ renderer: SCNSceneRenderer, didUpdate node: SCNNode, for anchor: ARAnchor) {
let faceAnchor = anchor as? ARFaceAnchor
let data = faceAnchor?.transform
print(data!)
let message = OSCMessage(
OSCAddressPattern("/orientation"),
yawValue,
pitchValue,
rollValue
)
client.send(message)
print(message)
}
FYI, OSCMessage comes from the SwiftOSC framework which is embedded in my project.
As there is apparently not (yet) a function provided by Apple for that purpose, it is a priori required to implement quaternion to euler angles computation. With these mathematical resources, and a radian-to-degrees conversion function, this can be implemented as an extension, as follows:
extension matrix_float4x4 {
// Function to convert rad to deg
func radiansToDegress(radians: Float32) -> Float32 {
return radians * 180 / (Float32.pi)
}
var translation: SCNVector3 {
get {
return SCNVector3Make(columns.3.x, columns.3.y, columns.3.z)
}
}
// Retrieve euler angles from a quaternion matrix
var eulerAngles: SCNVector3 {
get {
// Get quaternions
let qw = sqrt(1 + self.columns.0.x + self.columns.1.y + self.columns.2.z) / 2.0
let qx = (self.columns.2.y - self.columns.1.z) / (qw * 4.0)
let qy = (self.columns.0.z - self.columns.2.x) / (qw * 4.0)
let qz = (self.columns.1.x - self.columns.0.y) / (qw * 4.0)
// Deduce euler angles
/// yaw (z-axis rotation)
let siny = +2.0 * (qw * qz + qx * qy)
let cosy = +1.0 - 2.0 * (qy * qy + qz * qz)
let yaw = radiansToDegress(radians:atan2(siny, cosy))
// pitch (y-axis rotation)
let sinp = +2.0 * (qw * qy - qz * qx)
var pitch: Float
if abs(sinp) >= 1 {
pitch = radiansToDegress(radians:copysign(Float.pi / 2, sinp))
} else {
pitch = radiansToDegress(radians:asin(sinp))
}
/// roll (x-axis rotation)
let sinr = +2.0 * (qw * qx + qy * qz)
let cosr = +1.0 - 2.0 * (qx * qx + qy * qy)
let roll = radiansToDegress(radians:atan2(sinr, cosr))
/// return array containing ypr values
return SCNVector3(yaw, pitch, roll)
}
}
}