objective-c – 如何使用CADisplayLink在CMRotationMatrix上应用

如何在CMRotationMatrix上应用过滤器？也许卡尔曼过滤器.我需要修复CMRotationMatrix(transformFromCMRotationMatrix)的噪声,得到结果矩阵的线性值

这个矩阵值将转换为XYZ,在我的情况下,我在2D屏幕上模拟3D,如下所示：

//将矩阵转换为x,y

vec4f_t v;
multiplyMatrixAndVector(v,projectionCameraTransform,boxMatrix);

float x = (v[0] / v[3] + 1.0f) * 0.5f;
float y = (v[1] / v[3] + 1.0f) * 0.5f;

CGPointMake(x * self.bounds.size.width,self.bounds.size.height - (y * self.bounds.size.height));

码：

//定义变量

mat4f_t cameraTransform;

//启动显示链接循环

- (void)startDisplayLink
{
    displayLink = [CADisplayLink displayLinkWithTarget:self selector:@selector(onDisplayLink:)];
    [displayLink setFrameInterval:1];
    [displayLink addToRunLoop:[NSRunLoop currentRunLoop] forMode:NSDefaultRunLoopMode];
}

//停止显示链接循环

- (void)stopDisplayLink
{
    [displayLink invalidate];
    displayLink = nil;      
}

//显示链接的事件

- (void)onDisplayLink:(id)sender
{
    CMDeviceMotion *d = motionManager.deviceMotion;

    if (d != nil) {
        CMRotationMatrix r = d.attitude.rotationMatrix;

        transformFromCMRotationMatrix(cameraTransform,&r);
        [self setNeedsDisplay];
    }
}

// [self setNeedDisplay]之前的函数触发器;

void transformFromCMRotationMatrix(vec4f_t mout,const CMRotationMatrix *m)
{    
    mout[0] = (float)m->m11;
    mout[1] = (float)m->m21;
    mout[2] = (float)m->m31;
    mout[3] = 0.0f;

    mout[4] = (float)m->m12;
    mout[5] = (float)m->m22;
    mout[6] = (float)m->m32;
    mout[7] = 0.0f;

    mout[8] = (float)m->m13;
    mout[9] = (float)m->m23;
    mout[10] = (float)m->m33;
    mout[11] = 0.0f;

    mout[12] = 0.0f;
    mout[13] = 0.0f;
    mout[14] = 0.0f;
    mout[15] = 1.0f;
}

// Matrix-vector和matrix-matricx乘法例程

void multiplyMatrixAndVector(vec4f_t vout,const mat4f_t m,const vec4f_t v)
{
    vout[0] = m[0]*v[0] + m[4]*v[1] + m[8]*v[2] + m[12]*v[3];
    vout[1] = m[1]*v[0] + m[5]*v[1] + m[9]*v[2] + m[13]*v[3];
    vout[2] = m[2]*v[0] + m[6]*v[1] + m[10]*v[2] + m[14]*v[3];
    vout[3] = m[3]*v[0] + m[7]*v[1] + m[11]*v[2] + m[15]*v[3];
}