C++ 如何使用ArCore确定点相对于相机的世界坐标？

使用下面的代码，我试图从深度图像创建3d点，但当着色器通过投影和视图矩阵变换点时，这些点位于我认为的世界坐标中的0,0位置。 当我试图让着色器使用带有投影和视图矩阵的模型矩阵时，根本看不到点

for(int i=0 ; i < image_height * image_width ; i++)
{
        int r_i = i / (int)image_width;
        int c_i = i % (int)image_width;
        u_short* pixel = nullptr;
      
        pixel = (u_short*)&depth_data[i * image_pixel_stride];
        //~2-3 feet capture zone.
        if(*pixel < 1000 || *pixel > 1500)
           continue;
        
        float x,y,z;
        float d_i = (float)*pixel / (float)8191;
        //calculate x-coordinate
        float alpha_h = (M_PI - fovW) / 2;
        float gamma_i_h = alpha_h + (float)c_i*(fovW / image_width);
        x= ( d_i / tan(gamma_i_h));
        
        //calculate y-coordinate
        float alpha_v = 2 * M_PI - (fovH / 2);
        float gamma_i_v = alpha_v + (float)r_i*(fovH / image_height);
        y = ( d_i * tan(gamma_i_v)*-1);
        
        //z-coordinate
        vertices[vertexIndex++] = x;
        vertices[vertexIndex++] = y;
        vertices[vertexIndex++] = d_i;
}

ArAnchor* aa;
  ArSession_acquireNewAnchor(ar_session, arCameraPose, &aa);

  
  glm::mat4 model_mat(1.0f);

    ArTrackingState tracking_state = AR_TRACKING_STATE_STOPPED;
    ArAnchor_getTrackingState(ar_session, aa,
                              &tracking_state);
    if (tracking_state == AR_TRACKING_STATE_TRACKING) {
      // Render object only if the tracking state is AR_TRACKING_STATE_TRACKING.
      util::GetTransformMatrixFromAnchor(*aa, ar_session,
                                         &model_mat);...