How to get world fixed CAD models


I am a new structure developer and I do have a question which did not find in the forum. I hope that I didn’T overlook something in the search but as non-native speaker I might have used the wrong search terms.

I am working on an app which make use of CAD models fixed in the real-world (same behavior as the cube in the scanner app once you entered the scanning mode). While I was able to include my own OpenGL render code that draws my models, I am not able to figure out how to use the provided transformation matrices (cameraViewpoint, depthCameraPose and cameraGLprojection) to keep my models fixed/static. They are still moving similar to the cubePlacement mode with following the iPad movement (and it looks like they also still get kind of distorted/bent but that is probably another issue).

Am I overlooking something obvious?

Thanks in advance for any help pointing me in the right direction.

EDIT: Solved it, one only has to know that using the cameraViewpoint as view transformation is not the best idea and (obviously in hindsight) I should use the inverse. Then everything works fine…