Example usage for android.hardware SensorManager getRotationMatrix

From source file:com.javadog.cgeowear.cgeoWear.java

/**
 * Interprets watch compass if user has requested that feature.
 *///from   www  . j  a  v a 2  s.com
@Override
public void onSensorChanged(SensorEvent event) {
    if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER) {
        gravity = event.values.clone();
    } else if (event.sensor.getType() == Sensor.TYPE_MAGNETIC_FIELD) {
        geomagnetic = event.values.clone(); //TODO: Some watches don't let me access the compass correctly yet.
    }

    if (gravity != null && geomagnetic != null) {
        float[] R = new float[9];
        float[] I = new float[9];

        boolean success = SensorManager.getRotationMatrix(R, I, gravity, geomagnetic);
        if (success) {
            float[] orientation = new float[3];
            SensorManager.getOrientation(R, orientation);
            float azimuth = (float) Math.toDegrees(orientation[0]);

            if (currentLocation != null) {
                float smoothedLatitude = smoothSensorValues(oldLatitude, (float) currentLocation.getLatitude(),
                        1 / 3f);
                float smoothedLongitude = smoothSensorValues(oldLongitude,
                        (float) currentLocation.getLongitude(), 1 / 3f);
                float smoothedAltitude = smoothSensorValues(oldAltitude, (float) currentLocation.getAltitude(),
                        1 / 3f);

                GeomagneticField geomagneticField = new GeomagneticField(smoothedLatitude, smoothedLongitude,
                        smoothedAltitude, System.currentTimeMillis());
                azimuth += geomagneticField.getDeclination();

                float bearing = currentLocation.bearingTo(geocacheLocation);

                direction = smoothSensorValues(oldDirection, -(azimuth - bearing), 1 / 5f);

                //Set old values to current values (for smoothing)
                oldDirection = direction;
                oldLatitude = smoothedLatitude;
                oldLongitude = smoothedLongitude;
                oldAltitude = smoothedAltitude;

                //Display direction on compass if update interval has passed
                long currentTime = System.currentTimeMillis();
                if ((currentTime - prevTime) > DIRECTION_UPDATE_SPEED) {
                    rotateCompass(direction);
                    prevTime = currentTime;
                }
            }
        }
    }
}

From source file:com.samebits.beacon.locator.ui.view.RadarScanView.java

private synchronized void calcBearing(SensorEvent event) {

    if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER) {
        System.arraycopy(event.values, 0, mLastAccelerometer, 0, event.values.length);
        mLastAccelerometerSet = true;//  ww w .  j  a  va  2 s  . c  o  m
    } else if (event.sensor.getType() == Sensor.TYPE_MAGNETIC_FIELD) {
        System.arraycopy(event.values, 0, mLastMagnetometer, 0, event.values.length);
        mLastMagnetometerSet = true;
    }
    if (mLastAccelerometerSet && mLastMagnetometerSet) {

        /* Create rotation Matrix */
        float[] rotationMatrix = new float[9];
        if (SensorManager.getRotationMatrix(rotationMatrix, null, mLastAccelerometer, mLastMagnetometer)) {
            SensorManager.getOrientation(rotationMatrix, mOrientation);

            float azimuthInRadians = mOrientation[0];

            angleLowpassFilter.add(azimuthInRadians);

            mLast_bearing = (float) (Math.toDegrees(angleLowpassFilter.average()) + 360) % 360;

            postInvalidate();

            //Log.d(Constants.TAG, "orientation bearing: " + mLast_bearing);

        }
    }
}

From source file:com.cubic9.android.droidglove.Main.java

@Override
public void onSensorChanged(SensorEvent event) {
    Float[] avgAngles = new Float[3];
    float[] rotationMatrix = new float[9];
    float[] attitude = new float[3];

    switch (event.sensor.getType()) {
    case Sensor.TYPE_MAGNETIC_FIELD:
        geomagnetic = event.values.clone();
        break;//w w  w.j  a  va2  s .  c o  m
    case Sensor.TYPE_ACCELEROMETER:
        gravity = event.values.clone();
        break;
    }

    if (geomagnetic != null && gravity != null) {
        SensorManager.getRotationMatrix(rotationMatrix, null, gravity, geomagnetic);
        SensorManager.getOrientation(rotationMatrix, attitude);

        if (!mInitirizedSensor) {
            if (mCountBeforeInit > 20) {
                mInitirizedSensor = true;
                initYaw = (float) Math.toDegrees(attitude[0]);
            } else {
                mCountBeforeInit++;
            }
        }

        for (int i = 0; i < 3; i++) {
            for (int j = AVERAGE_AMOUNT - 1; j > 0; j--) {
                mOrigAngles[i][j] = mOrigAngles[i][j - 1];
            }
        }

        mOrigAngles[0][0] = (float) Math.toDegrees(attitude[0]) - initYaw;
        mOrigAngles[1][0] = (float) Math.toDegrees(attitude[1]);
        mOrigAngles[2][0] = (float) Math.toDegrees(attitude[2]);

        for (int i = 0; i < 3; i++) {
            avgAngles[i] = 0f;
            for (int j = 0; j < AVERAGE_AMOUNT; j++) {
                avgAngles[i] += mOrigAngles[i][j];
            }
            avgAngles[i] /= AVERAGE_AMOUNT;
        }

        /*
         * textViewX.setText(avgAngles[0].toString());
         * textViewY.setText(avgAngles[1].toString());
         * textViewZ.setText(avgAngles[2].toString());
         * textViewGrip.setText(Float.toString(mYDiff));
         */

        // create message for send
        List<Object> valueList = new ArrayList<Object>();
        valueList.add(avgAngles[1]);
        valueList.add(avgAngles[0]);
        valueList.add(-avgAngles[2]);
        valueList.add(Integer.valueOf((int) mYDiff));
        OSCMessage message = new OSCMessage(OSC_ADDRESS_TO_PC, valueList);

        // send
        try {
            mSender.send(message);
        } catch (IOException e) {
            e.printStackTrace();
        }
    }
}

From source file:com.javadog.cgeowear.WearService.java

/**
 * Handles compass rotation.//  w w w . j a  v a 2s .  c o  m
 */
@Override
public void onSensorChanged(SensorEvent event) {
    if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER) {
        gravity = event.values.clone();
    } else if (event.sensor.getType() == Sensor.TYPE_MAGNETIC_FIELD) {
        geomagnetic = event.values.clone();
    }

    if (gravity != null && geomagnetic != null) {
        float[] R = new float[9];
        float[] I = new float[9];

        boolean success = SensorManager.getRotationMatrix(R, I, gravity, geomagnetic);
        if (success) {
            float[] orientation = new float[3];
            SensorManager.getOrientation(R, orientation);
            float azimuth = (float) Math.toDegrees(orientation[0]);
            float pitch = (float) Math.toDegrees(orientation[1]);

            if (currentLocation != null) {
                float smoothedLatitude = smoothSensorValues(oldLatitude, (float) currentLocation.getLatitude(),
                        1 / 3f);
                float smoothedLongitude = smoothSensorValues(oldLongitude,
                        (float) currentLocation.getLongitude(), 1 / 3f);
                float smoothedAltitude = smoothSensorValues(oldAltitude, (float) currentLocation.getAltitude(),
                        1 / 3f);

                GeomagneticField geomagneticField = new GeomagneticField(smoothedLatitude, smoothedLongitude,
                        smoothedAltitude, System.currentTimeMillis());
                azimuth += geomagneticField.getDeclination();

                float bearing = currentLocation.bearingTo(geocacheLocation);

                float direction = smoothSensorValues(oldDirection, -(azimuth - bearing), 1 / 5f);

                //If the user puts the phone in his/her pocket upside-down, invert the compass
                if (pitch > 0) {
                    direction += 180f;
                }

                //Set old values to current values (for smoothing)
                oldDirection = direction;
                oldLatitude = smoothedLatitude;
                oldLongitude = smoothedLongitude;
                oldAltitude = smoothedAltitude;

                //Send direction update to Android Wear if update interval has passed
                long currentTime = System.currentTimeMillis();
                if ((currentTime - prevTime) > DIRECTION_UPDATE_SPEED) {
                    wearInterface.sendDirectionUpdate(direction);
                    prevTime = currentTime;
                }
            }
        }
    }
}

From source file:com.thalmic.android.sample.helloworld.HelloWorldActivity.java

public void calculateAngles(float[] result, float[] rVector, float[] accVector, float[] magVector) {
    //caculate temp rotation matrix from rotation vector first
    SensorManager.getRotationMatrix(rMatrix, null, accVector, magVector);
    SensorManager.getQuaternionFromVector(quaternion, rVector);

    roll = Math.atan2(2.0f * (quaternion[0] * quaternion[1] + quaternion[2] * quaternion[3]),
            1.0f - 2.0f * (quaternion[1] * quaternion[1] + quaternion[2] * quaternion[2]));
    pitch = Math.asin(2.0f * (quaternion[0] * quaternion[2] - quaternion[3] * quaternion[1]));
    yaw = Math.atan2(2.0f * (quaternion[0] * quaternion[3] + quaternion[1] * quaternion[2]),
            1.0f - 2.0f * (quaternion[2] * quaternion[2] + quaternion[3] * quaternion[3]));

    rollW = ((roll + Math.PI) / (Math.PI * 2.0) * SCALE);
    pitchW = ((pitch + Math.PI / 2.0) / Math.PI * SCALE);
    yawW = ((yaw + Math.PI) / (Math.PI * 2.0) * SCALE);

    //calculate Euler angles now
    SensorManager.getOrientation(rMatrix, result);

    //Now we can convert it to degrees
    convertToDegrees(result);/* w  w w. j  ava  2 s  . co m*/
}

From source file:com.thousandthoughts.tutorials.SensorFusionActivity.java

public void calculateAccMagOrientation() {
    if (SensorManager.getRotationMatrix(rotationMatrix, null, accel, magnet)) {
        SensorManager.getOrientation(rotationMatrix, accMagOrientation);
    }/*  w w  w  . ja  va2  s  . c  o  m*/
}

From source file:com.example.zoetablet.BasicFragmentActivity.java

public float[] calculateOrientation() {
    float[] values = new float[3];
    float[] R = new float[9];
    float[] outR = new float[9];

    SensorManager.getRotationMatrix(R, null, aValues, mValues);
    SensorManager.remapCoordinateSystem(R, SensorManager.AXIS_X, SensorManager.AXIS_Y, outR);

    SensorManager.getOrientation(outR, values);

    // Convert from Radians to Degrees.
    values[0] = (float) Math.toDegrees(values[0]);
    values[1] = (float) Math.toDegrees(values[1]);
    values[2] = (float) Math.toDegrees(values[2]);

    // System.out.println("Compass " + values[0] + " " + values[1] + " " + values[2]);
    if (values[0] != 0.0 && values[1] != 0.0) {
        compassV0 = values[0];// w  w w. j a v a 2s  .co m
        compassV1 = values[1];
        compassV2 = values[2];
    }

    if (values[0] == 0.0 && values[1] == 0.0) {
        //If data is spitting out zeros, keep last good value
        values[0] = compassV0;
        values[1] = compassV1;
        values[2] = compassV2;
    }
    return values;
}

From source file:uk.org.rivernile.edinburghbustracker.android.fragments.general.BusStopDetailsFragment.java

/**
 * Update the direction needle so that it is pointing towards the bus stop,
 * based on the device location and the direction it is facing.
 *//* w  ww.ja  v  a2  s  . c  o m*/
private void updateDirectionNeedle() {
    // We need values for location, the accelerometer and magnetometer to
    // continue.
    if (lastLocation == null || accelerometerValues == null || magnetometerValues == null) {
        // Make sure the needle isn't showing.
        txtDistance.setCompoundDrawablesWithIntrinsicBounds(null, null, null, null);
        recycleNeedleBitmapIfNotNull(null);

        return;
    }

    // Calculating the rotation matrix may fail, for example, if the device
    // is in freefall. In that case we cannot continue as the values will
    // be unreliable.
    if (!SensorManager.getRotationMatrix(rotationMatrix, null, accelerometerValues, magnetometerValues)) {
        return;
    }

    // The screen rotation was obtained earlier.
    switch (screenRotation) {
    // There's lots of information about this elsewhere, but briefly;
    // The values from the sensors are in the device's coordinate system
    // which may be correct if the device is in its natural orientation,
    // but it needs to be remapped if the device is rotated.
    case Surface.ROTATION_0:
        SensorManager.remapCoordinateSystem(rotationMatrix, SensorManager.AXIS_X, SensorManager.AXIS_Z,
                rotationMatrix);
        break;
    case Surface.ROTATION_90:
        SensorManager.remapCoordinateSystem(rotationMatrix, SensorManager.AXIS_Z, SensorManager.AXIS_MINUS_X,
                rotationMatrix);
        break;
    case Surface.ROTATION_180:
        SensorManager.remapCoordinateSystem(rotationMatrix, SensorManager.AXIS_MINUS_X,
                SensorManager.AXIS_MINUS_Z, rotationMatrix);
        break;
    case Surface.ROTATION_270:
        SensorManager.remapCoordinateSystem(rotationMatrix, SensorManager.AXIS_MINUS_Z, SensorManager.AXIS_X,
                rotationMatrix);
        break;
    }

    // Get the X, Y and Z orientations, which are in radians. Covert this
    // in to degrees East of North.
    SensorManager.getOrientation(rotationMatrix, headings);
    double heading = Math.toDegrees(headings[0]);

    // If there's a GeomagneticField value, then adjust the heading to take
    // this in to account.
    if (geoField != null) {
        heading -= geoField.getDeclination();
    }

    // The orientation is in the range of -180 to +180. Convert this in to
    // a range of 0 to 360.
    final float bearingTo = distance[1] < 0 ? distance[1] + 360 : distance[1];

    // This is the heading to the bus stop.
    heading = bearingTo - heading;

    // The above calculation may come out as a negative number again. Put
    // this back in to the range of 0 to 360.
    if (heading < 0) {
        heading += 360;
    }

    // This 'if' statement is required to prevent a crash during device
    // rotation. It ensured that the Fragment is still part of the Activity.
    if (isAdded()) {
        // Get the arrow bitmap from the resources.
        final Bitmap needleIn = BitmapFactory.decodeResource(getResources(), R.drawable.heading_arrow);
        // Get an identity matrix and rotate it by the required amount.
        final Matrix m = new Matrix();
        m.setRotate((float) heading % 360, (float) needleIn.getWidth() / 2, (float) needleIn.getHeight() / 2);
        // Apply the rotation matrix to the Bitmap, to create a new Bitmap.
        final Bitmap needleOut = Bitmap.createBitmap(needleIn, 0, 0, needleIn.getWidth(), needleIn.getHeight(),
                m, true);

        // Recycle the needle read in if it's not the same as the rotated
        // needle.
        if (needleIn != needleOut) {
            needleIn.recycle();
        }

        // This Bitmap needs to be converted to a Drawable type.
        final BitmapDrawable drawable = new BitmapDrawable(getResources(), needleOut);
        // Set the new needle to be on the right hand side of the TextView.
        txtDistance.setCompoundDrawablesWithIntrinsicBounds(null, null, drawable, null);
        recycleNeedleBitmapIfNotNull(needleOut);
    } else {
        // If the Fragment is not added to the Activity, then make sure
        // there's no needle.
        txtDistance.setCompoundDrawablesWithIntrinsicBounds(null, null, null, null);
        recycleNeedleBitmapIfNotNull(null);
    }
}

From source file:com.davidmascharka.lips.MainActivity.java

@Override
public void onSensorChanged(SensorEvent event) {
    /*//  w  w w  .j  a  v  a2s .c o m
     * Because Android doesn't let us query a sensor reading whenever we want so
     * we have to keep track of the readings at all times. Here we just update
     * the class members with the values associated with each reading we're
     * interested in.
     */
    switch (event.sensor.getType()) {
    case Sensor.TYPE_ACCELEROMETER:
        accelerometerX = event.values[0];
        accelerometerY = event.values[1];
        accelerometerZ = event.values[2];
        break;
    case Sensor.TYPE_MAGNETIC_FIELD:
        magneticX = event.values[0];
        magneticY = event.values[1];
        magneticZ = event.values[2];
        break;
    case Sensor.TYPE_LIGHT:
        light = event.values[0];
        break;
    case Sensor.TYPE_ROTATION_VECTOR:
        rotationX = event.values[0];
        rotationY = event.values[1];
        rotationZ = event.values[2];
        break;
    default:
        break;
    }

    SensorManager.getRotationMatrix(rotation, inclination,
            new float[] { accelerometerX, accelerometerY, accelerometerZ },
            new float[] { magneticX, magneticY, magneticZ });
    orientation = SensorManager.getOrientation(rotation, orientation);
}

From source file:org.osm.keypadmapper2.KeypadMapper2Activity.java

@Override
public void onSensorChanged(SensorEvent event) {
    synchronized (this) {
        if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER)
            mGravity = event.values;/*from   w  w w.j  a va2s  .  c om*/
        if (event.sensor.getType() == Sensor.TYPE_MAGNETIC_FIELD)
            mGeomagnetic = event.values;
        if (mGravity != null && mGeomagnetic != null) {
            float R[] = new float[9];
            float I[] = new float[9];
            boolean success = SensorManager.getRotationMatrix(R, I, mGravity, mGeomagnetic);
            if (success) {
                float orientation[] = new float[3];
                SensorManager.getOrientation(R, orientation);
                azimuth = orientation[0]; // orientation contains: azimuth, pitch and roll
            }
        }
    }
}

• «
• 1
• 2
• 3
• »