add some code

managed_components/espressif__esp-dsp/examples/apps/3d_graphics/CMakeLists.txt

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+# For more information about build system see
+# https://docs.espressif.com/projects/esp-idf/en/latest/api-guides/build-system.html
+# The following five lines of boilerplate have to be in your project's
+# CMakeLists in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.5)
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+add_compile_options("-Wno-format")
+project(esp-dsp-azure-board-app-3d-graphics)

managed_components/espressif__esp-dsp/examples/apps/3d_graphics/README.md

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+# ESP-DSP ESP32-Azure IoT kit 3d graphics demo application
+
+The demo is developed for [ESP32-Azure IoT kit](https://github.com/espressif/esp-bsp/tree/master/esp32_azure_iot_kit) development board and is demonstrating the usage of matrices with `ESP-DSP` `Mat` class, Kalman filter and basic 3D graphics.
+
+The 3D Graphics demo displays a 2D graphics, converted to 3D as a 3D rotating object, on the development board's display. Button press changes the rotation direction of the 3D object. Run the menuconfig using the following command: 
+
+    idf.py mencuonfig
+
+In the menuconfig's menu item `Demo user configuration` select which 3D object to display. It's either a 3D cube, or ESP logo, or a user-defined graphics. Getting the user-defined graphics is described in an [example](../../graphics/img_to_3d_matrix/example/)
+
+## Running the demo
+
+To start the demo, run the following command:
+
+    idf.py build flash monitor
+
+The expected output is the following:
+
+    I (570) 3D image demo: Selected 3D image - ESP Logo
+    I (570) 3D image demo: Showing ESP text
+    I (6730) 3D image demo: Showing 3D image
+
+Note, that the first line `Selected 3D image` from the expected output depends on the user's Kconfing menu selection
+
+<div align="center">
+  <img src= "applications/azure_board_apps/apps/3d_graphics/3d_graphics.gif">
+</div>

managed_components/espressif__esp-dsp/examples/apps/3d_graphics/main/3d_graphics_demo.cpp

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+/*
+ * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <stdio.h>
+#include "esp_log.h"
+#include "ssd1306.h"
+#include "bsp/esp-bsp.h"
+#include "esp_dsp.h"
+#include "cube_matrix.h"
+#include "esp_logo.h"
+#include "esp_text.h"
+#include "graphics_support.h"
+#include "image_to_3d_matrix.h"
+
+static ssd1306_handle_t ssd1306_dev = NULL;
+static bool button_pressed = true;
+
+dspm::Mat perspective_matrix(MATRIX_SIZE, MATRIX_SIZE);
+
+extern "C" void app_main();
+
+/**
+ * @brief Initialize 3d image structure
+ *
+ * Assigns a 3d image to be displayed to the 3d image structure based on the Kconfig menu result.
+ * The Kconfig menu is operated by a user
+ *
+ * @param image: 3d image structure
+ */
+static void init_3d_matrix_struct(image_3d_matrix_t *image)
+{
+#ifdef CONFIG_3D_OBJECT_ESP_LOGO
+    image->matrix = image_3d_matrix_esp_logo;
+    image->matrix_len = ((sizeof(image_3d_matrix_esp_logo)) / sizeof(float)) / MATRIX_SIZE;
+    ESP_LOGI("3D image demo", "Selected 3D image - ESP Logo");
+#elif CONFIG_3D_OBJECT_CUSTOM
+    image->matrix = image_to_3d_matrix_custom;
+    image->matrix_len = ((sizeof(image_to_3d_matrix_custom)) / sizeof(float)) / MATRIX_SIZE;
+    ESP_LOGI("3D image demo", "Selected 3D image - User's custom image");
+#elif CONFIG_3D_OBJECT_CUBE
+    image->matrix = cube_vectors_3d;
+    image->matrix_len = ((sizeof(cube_vectors_3d)) / sizeof(float)) / MATRIX_SIZE;
+    ESP_LOGI("3D image demo", "Selected 3D image - 3D cube");
+#endif
+}
+
+/**
+ * @brief Initialize display
+ */
+static void app_ssd1306_init(void)
+{
+    ssd1306_dev = ssd1306_create((i2c_port_t)BSP_I2C_NUM, SSD1306_I2C_ADDRESS);
+    ssd1306_clear_screen(ssd1306_dev, 0x00);
+    ssd1306_refresh_gram(ssd1306_dev);
+}
+
+/**
+ * @brief Display a 3d image
+ *
+ * If the object is the 3d cube, connect the projected cube points by lines and display the lines
+ * For any other 3d object lit pixels on the display from provided XY coordinates
+ *
+ * @param projected_image: 3d matrix from Mat class after projection
+ */
+static void display_3d_image(dspm::Mat projected_image)
+{
+    ssd1306_clear_screen(ssd1306_dev, 0);
+
+    if (OBJECT_3D_CUBE) {
+        // For the 3D cube, only the 6 points of the cube are transformed
+        // Cube edges, connecting transformed 3D cube points are connected with lines here
+        for (uint8_t cube_point = 0; cube_point < CUBE_EDGES; cube_point++) {
+            ssd1306_draw_line(ssd1306_dev,
+                              (int16_t)projected_image(cube_dict_line_begin[cube_point], 0),
+                              (int16_t)projected_image(cube_dict_line_begin[cube_point], 1),
+                              (int16_t)projected_image(cube_dict_line_end[cube_point], 0),
+                              (int16_t)projected_image(cube_dict_line_end[cube_point], 1));
+        }
+    } else {
+        // Every other 3D image is drawn here pixel by pixel
+        for (uint32_t pixel = 0; pixel < projected_image.rows; pixel++ ) {
+            ssd1306_fill_point(ssd1306_dev, projected_image(pixel, 0), projected_image(pixel, 1), 1);
+        }
+    }
+    ssd1306_refresh_gram(ssd1306_dev);
+}
+
+/**
+ * @brief Display ESPRESSIF text
+ *
+ * To demonstrate usage of the translation and scaling matrices
+ */
+static void dispaly_esp_text(void)
+{
+    image_3d_matrix_t esp_text;
+    esp_text.matrix = image_3d_array_esp_text;
+    esp_text.matrix_len = ((sizeof(image_3d_array_esp_text)) / sizeof(float)) / MATRIX_SIZE;
+    int16_t shift_x = -SSD1606_X_CENTER;
+
+    dspm::Mat T = dspm::Mat::eye(MATRIX_SIZE);                      // Transformation matrix
+    dspm::Mat transformed_image(esp_text.matrix_len, MATRIX_SIZE);  // 3D image matrix after transformation
+    dspm::Mat matrix_3d((float *)esp_text.matrix[0], esp_text.matrix_len, MATRIX_SIZE);
+
+    ESP_LOGI("3D image demo", "Showing ESP text");
+
+    for (int i = 0; i < 52; i++) {
+        update_translation_matrix(T, true, (float)shift_x, (float)SSD1606_Y_CENTER, 0);
+        transformed_image = matrix_3d * T;
+
+        ssd1306_clear_screen(ssd1306_dev, 0);
+        for (uint32_t point = 0; point < transformed_image.rows; point++ ) {
+            ssd1306_fill_point(ssd1306_dev, transformed_image(point, 0), transformed_image(point, 1), 1);
+        }
+        ssd1306_refresh_gram(ssd1306_dev);
+        vTaskDelay(50 / portTICK_PERIOD_MS);
+
+        shift_x += 5;
+    }
+
+    ssd1306_clear_screen(ssd1306_dev, 0);
+    ssd1306_draw_bitmap(ssd1306_dev, 0, 24, &image_bmp_array_esp_text[0], 128, 24);
+    ssd1306_refresh_gram(ssd1306_dev);
+
+    update_translation_matrix(T, true, (float)SSD1606_X_CENTER, (float)SSD1606_Y_CENTER, 0);
+    vTaskDelay(100 / portTICK_PERIOD_MS);
+
+    float scale = 1;
+    for (int i = 0; i < 20; i++) {
+        update_scaling_matrix(T, false, scale, scale, 1);
+        transformed_image = matrix_3d * T;
+
+        ssd1306_clear_screen(ssd1306_dev, 0);
+        for (uint32_t point = 0; point < transformed_image.rows; point++ ) {
+            ssd1306_fill_point(ssd1306_dev, transformed_image(point, 0), transformed_image(point, 1), 1);
+        }
+        ssd1306_refresh_gram(ssd1306_dev);
+        vTaskDelay(50 / portTICK_PERIOD_MS);
+
+        if (i < 10) {
+            scale -= 0.05;
+        } else {
+            scale += 0.05;
+        }
+    }
+}
+
+/**
+ * @brief RTOS task to draw a 3d image.
+ *
+ * Updates 3d matrices, prepares the final 3d matrix to be displayed on the display
+ *
+ * @param arg: pointer to RTOS task arguments, 3d image structure in this case
+ */
+static void draw_3d_image_task(void *arg)
+{
+    float rot_y = 0, rot_x = 0;
+    const float angle_increment = 4;
+    image_3d_matrix_t *image = (image_3d_matrix_t *)arg;
+
+    dspm::Mat T = dspm::Mat::eye(MATRIX_SIZE);                      // Transformation matrix
+    dspm::Mat transformed_image(image->matrix_len, MATRIX_SIZE);    // 3D image matrix after transformation
+    dspm::Mat projected_image(image->matrix_len, MATRIX_SIZE);      // 3D image matrix after projection
+    dspm::Mat matrix_3d((float *)image->matrix[0], image->matrix_len, MATRIX_SIZE);
+
+    if (OBJECT_3D_CUBE) {
+        rot_x = 45;
+    }
+
+    while (1) {
+        if (button_pressed) {
+            rot_y += angle_increment;
+            if (rot_y >= 360) {
+                rot_y -= 360;
+            }
+        } else {
+            rot_y -= angle_increment;
+            if (rot_y <= 0) {
+                rot_y += 360;
+            }
+        }
+
+        // Apply rotation in all the axes to the transformation matrix
+        update_rotation_matrix(T, rot_x, rot_y, 0);
+        // Apply translation to the transformation matrix
+        update_translation_matrix(T, true, ((float)SSD1606_X_CENTER), ((float)SSD1606_Y_CENTER), 0);
+
+        // explanation for the matrix multiplication is for the 3D cube scenario, applies for all of the objects
+        // where matrix rows for the transformed image and the projected image are set according to the specific 3d object
+
+        // matrix mul cube_matirx(8x4) * transformation_matrix(4x4) = transformed_cube(8x4)
+        transformed_image = matrix_3d * T;
+        // matrix mul transformed_cube(8x4) * perspective_matrix(4x4) = projected_cube(8x4)
+        projected_image = transformed_image * perspective_matrix;
+
+        display_3d_image(projected_image);
+        vTaskDelay(20 / portTICK_PERIOD_MS);
+    }
+}
+
+void app_main(void)
+{
+    static bool button_prev_val = false;
+    image_3d_matrix_t image;
+    ekf_imu13states *ekf13 = new ekf_imu13states();
+    ekf13->Init();
+
+    // Init all board components
+    bsp_i2c_init();
+    app_ssd1306_init();                         // display init
+    bsp_leds_init();                            // LEDs init
+    bsp_i2c_set_clk_speed(I2C_CLK_600KHZ);      // Set I2C to 600kHz
+
+    init_perspective_matrix(perspective_matrix);
+    init_3d_matrix_struct(&image);
+
+    dispaly_esp_text();
+    vTaskDelay(1000 / portTICK_PERIOD_MS);
+
+    xTaskCreate(draw_3d_image_task, "draw_3d_image", 2048, &image, 4, NULL);
+    ESP_LOGI("3D image demo", "Showing 3D image");
+
+    while (1) {
+        if (bsp_button_get()) {
+            button_pressed = !button_pressed;
+        }
+
+        if (button_prev_val != button_pressed) {
+            button_prev_val = button_pressed;
+            if (button_pressed) {
+                bsp_led_set(BSP_LED_AZURE, true);
+            } else {
+                bsp_led_set(BSP_LED_AZURE, false);
+            }
+        }
+        vTaskDelay(100 / portTICK_PERIOD_MS);
+    }
+}

managed_components/espressif__esp-dsp/examples/apps/3d_graphics/main/CMakeLists.txt

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+idf_component_register(SRCS "3d_graphics_demo.cpp" 
+                            "../../../graphics/3d_matrix/3d_matrix_data/esp_logo.c"
+                            "../../../graphics/3d_matrix/3d_matrix_data/esp_text.c" 
+                            "../../../graphics/3d_matrix/3d_matrix_data/image_to_3d_matrix.c"
+                            "../../../graphics/3d_matrix/3d_matrix_src/graphics_support.cpp" 
+                       INCLUDE_DIRS "."
+                                    "../../../graphics/3d_matrix/3d_matrix_data"
+                                    "../../../graphics/3d_matrix/3d_matrix_src")

managed_components/espressif__esp-dsp/examples/apps/3d_graphics/main/Kconfig.projbuild

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+menu "Demo user configuration"
+    choice
+        prompt "Select 3D object"
+        config 3D_OBJECT_CUBE
+            bool "3D cube"
+            help
+                3D graphics to be displayed is cube
+
+        config 3D_OBJECT_ESP_LOGO
+            bool "3D ESP Logo"
+            help
+                3D graphics to be displayed is ESP Logo
+
+        config 3D_OBJECT_CUSTOM
+            bool "User-defined graphics"
+            help
+                3D graphics to be displayed is a user-defined graphics
+    endchoice
+endmenu

managed_components/espressif__esp-dsp/examples/apps/3d_graphics/main/idf_component.yml

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+## IDF Component Manager Manifest File
+description: ESP-DSP azure board application 3d graphics
+dependencies:
+  espressif/esp32_azure_iot_kit: "*"
+  espressif/esp-dsp:
+    version: "*"
+    override_path: "../../../../../../esp-dsp"
+