diff --git a/src/xrt/auxiliary/math/m_api.h b/src/xrt/auxiliary/math/m_api.h
index 9c1c0cfee..03032efb4 100644
--- a/src/xrt/auxiliary/math/m_api.h
+++ b/src/xrt/auxiliary/math/m_api.h
@@ -268,6 +268,17 @@ void
 math_matrix_4x4_view_from_pose(const struct xrt_pose *pose,
                                struct xrt_matrix_4x4 *result);
 
+/*!
+ * Compute quad layer model matrix from xrt_pose and xrt_vec2 size.
+ *
+ * @relates xrt_matrix_4x4
+ * @ingroup aux_math
+ */
+void
+math_matrix_4x4_quad_model(const struct xrt_pose *pose,
+                           const struct xrt_vec2 *size,
+                           struct xrt_matrix_4x4 *result);
+
 /*
  *
  * Pose functions.
diff --git a/src/xrt/auxiliary/math/m_base.cpp b/src/xrt/auxiliary/math/m_base.cpp
index 7c1aa4d3d..11916d14b 100644
--- a/src/xrt/auxiliary/math/m_base.cpp
+++ b/src/xrt/auxiliary/math/m_base.cpp
@@ -265,6 +265,22 @@ math_matrix_4x4_view_from_pose(const struct xrt_pose *pose,
 	map_matrix_4x4(*result) = transformation.matrix().inverse();
 }
 
+void
+math_matrix_4x4_quad_model(const struct xrt_pose *pose,
+                           const struct xrt_vec2 *size,
+                           struct xrt_matrix_4x4 *result)
+{
+	Eigen::Vector3f position = copy(&pose->position);
+	Eigen::Quaternionf orientation = copy(&pose->orientation);
+
+	auto scale = Eigen::Scaling(size->x, size->y, 1.0f);
+
+	Eigen::Translation3f translation(position);
+	Eigen::Affine3f transformation = translation * orientation * scale;
+
+	map_matrix_4x4(*result) = transformation.matrix();
+}
+
 /*
  *
  * Exported pose functions.