Android:理解函数remapCoordinateSystem

Question

我一直在努力理解这两行代码

SensorManager.getRotationMatrix(RTmp, I, grav, mag); 
SensorManager.remapCoordinateSystem(RTmp, SensorManager.AXIS_X,SensorManager.AXIS_MINUS_Z, Rot);

我读了the documentation of remapCoordinateSystem() ，但是我迷路了。

谁能给我解释一下 getRotationMatrix 和 remapCoordinateSystem 到底做了什么？特别是 SensorManager.AXIS_X、SensorManager.AXIS_MINUS_Z？

Answer 1

我相信getRotationMatrix() 会返回一个将设备坐标 转换为世界坐标 的旋转矩阵，如android documentation 中所述，而不是“世界”到“设备”。

Computes the inclination matrix I as well as the rotation matrix R transforming a vector from the device coordinate system to the world's coordinate system which is defined as a direct orthonormal basis, where