问如何将OpenGLES modelView转换为CATransform3D？

EN

- (void)augmentedRealityView:(EAGLView *)view foundTrackableResult:(const QCAR::TrackableResult *)trackableResult
{
    // find out where the target is in Core Animation space
    const QCAR::ImageTarget* imageTarget = static_cast<const QCAR::ImageTarget*>(&(trackableResult->getTrackable()));
    TrackableObject *trackable = [self trackableForName: TrackableName(imageTarget)];
    trackable.tracked = YES;
    QCAR::Vec2F size = imageTarget->getSize();
    QCAR::Matrix44F modelViewMatrix = QCAR::Tool::convertPose2GLMatrix(trackableResult->getPose());
    CGFloat ScreenScale = [[UIScreen mainScreen] scale];
    float xscl = qUtils.viewport.sizeX/ScreenScale/2;
    float yscl = qUtils.viewport.sizeY/ScreenScale/2;
    QCAR::Matrix44F projectedTransform = {1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1};
    QCAR::Matrix44F qcarTransform = {1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1};
    /* this sizeFudge constant is here to put the label in the correct place in this demo; I had thought that
     * the problem was related to the units used (I defined the length of the target in mm in the Target Manager;
     * the fact that I've got to multiply by ten here could be indicative of the app interpreting length in cm).
     * That turned out not to be the case, when I changed the reported length of the target it stopped drawing the
     * label at the correct size. Currently, therefore, the app and the target database are both using mm, but
     * there's the following empirically-divised fudge factor to get the app to position the correctly-sized view
     * in the correct position relative to the detected object.
     */
    const double sizeFudge = 10.0;
    ShaderUtils::translatePoseMatrix(sizeFudge * size.data[0] / 2, sizeFudge * size.data[1] / 2, 0, projectedTransform.data);
    ShaderUtils::scalePoseMatrix(xscl, -yscl, 1.0, projectedTransform.data); // flip along y axis
    ShaderUtils::multiplyMatrix(projectedTransform.data, qUtils.projectionMatrix.data, qcarTransform.data);
    ShaderUtils::multiplyMatrix(qcarTransform.data, modelViewMatrix.data, qcarTransform.data);
    CATransform3D transform = *((CATransform3D*)qcarTransform.data); // both are array[16] of float
    transform = CATransform3DScale(transform,1,-1,0); //needs flipping to draw
    trackable.transform = transform;
}