List of usage examples for android.hardware SensorManager remapCoordinateSystem
public static boolean remapCoordinateSystem(float[] inR, int X, int Y, float[] outR)
Rotates the supplied rotation matrix so it is expressed in a different coordinate system.
From source file:com.android.gpstest.GpsTestActivity.java
@TargetApi(Build.VERSION_CODES.GINGERBREAD) @Override/*from w ww .ja v a 2 s. c o m*/ public void onSensorChanged(SensorEvent event) { double orientation = Double.NaN; double tilt = Double.NaN; switch (event.sensor.getType()) { case Sensor.TYPE_ROTATION_VECTOR: // Modern rotation vector sensors if (!mTruncateVector) { try { SensorManager.getRotationMatrixFromVector(mRotationMatrix, event.values); } catch (IllegalArgumentException e) { // On some Samsung devices, an exception is thrown if this vector > 4 (see #39) // Truncate the array, since we can deal with only the first four values Log.e(TAG, "Samsung device error? Will truncate vectors - " + e); mTruncateVector = true; // Do the truncation here the first time the exception occurs getRotationMatrixFromTruncatedVector(event.values); } } else { // Truncate the array to avoid the exception on some devices (see #39) getRotationMatrixFromTruncatedVector(event.values); } int rot = getWindowManager().getDefaultDisplay().getRotation(); switch (rot) { case Surface.ROTATION_0: // No orientation change, use default coordinate system SensorManager.getOrientation(mRotationMatrix, mValues); // Log.d(TAG, "Rotation-0"); break; case Surface.ROTATION_90: // Log.d(TAG, "Rotation-90"); SensorManager.remapCoordinateSystem(mRotationMatrix, SensorManager.AXIS_Y, SensorManager.AXIS_MINUS_X, mRemappedMatrix); SensorManager.getOrientation(mRemappedMatrix, mValues); break; case Surface.ROTATION_180: // Log.d(TAG, "Rotation-180"); SensorManager.remapCoordinateSystem(mRotationMatrix, SensorManager.AXIS_MINUS_X, SensorManager.AXIS_MINUS_Y, mRemappedMatrix); SensorManager.getOrientation(mRemappedMatrix, mValues); break; case Surface.ROTATION_270: // Log.d(TAG, "Rotation-270"); SensorManager.remapCoordinateSystem(mRotationMatrix, SensorManager.AXIS_MINUS_Y, SensorManager.AXIS_X, mRemappedMatrix); SensorManager.getOrientation(mRemappedMatrix, mValues); break; default: // This shouldn't happen - assume default orientation SensorManager.getOrientation(mRotationMatrix, mValues); // Log.d(TAG, "Rotation-Unknown"); break; } orientation = Math.toDegrees(mValues[0]); // azimuth tilt = Math.toDegrees(mValues[1]); break; case Sensor.TYPE_ORIENTATION: // Legacy orientation sensors orientation = event.values[0]; break; default: // A sensor we're not using, so return return; } // Correct for true north, if preference is set if (mFaceTrueNorth && mGeomagneticField != null) { orientation += mGeomagneticField.getDeclination(); // Make sure value is between 0-360 orientation = MathUtils.mod((float) orientation, 360.0f); } for (GpsTestListener listener : mGpsTestListeners) { listener.onOrientationChanged(orientation, tilt); } }
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];//from ww w . ja va2 s . c o 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. j a v a 2 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.dragon4.owo.ar_trace.ARCore.MixView.java
public void onSensorChanged(SensorEvent evt) { try {//from w w w.j a va 2 s . c o m // killOnError(); // ?? , ? ??? ? ? ? if (evt.sensor.getType() == Sensor.TYPE_ACCELEROMETER) { grav[0] = evt.values[0]; grav[1] = evt.values[1]; grav[2] = evt.values[2]; augScreen.postInvalidate(); // ? } else if (evt.sensor.getType() == Sensor.TYPE_MAGNETIC_FIELD) { mag[0] = evt.values[0]; mag[1] = evt.values[1]; mag[2] = evt.values[2]; augScreen.postInvalidate(); // ? } // ? SensorManager.getRotationMatrix(RTmp, I, grav, mag); // (?) SensorManager.remapCoordinateSystem(RTmp, SensorManager.AXIS_X, SensorManager.AXIS_MINUS_Z, Rot); // ? ? tempR.set(Rot[0], Rot[1], Rot[2], Rot[3], Rot[4], Rot[5], Rot[6], Rot[7], Rot[8]); // , finalR.toIdentity(); finalR.prod(m4); finalR.prod(m1); finalR.prod(tempR); finalR.prod(m3); finalR.prod(m2); finalR.invert(); // ? ? ? ?? ... histR[rHistIdx].set(finalR); rHistIdx++; if (rHistIdx >= histR.length) rHistIdx = 0; smoothR.set(0f, 0f, 0f, 0f, 0f, 0f, 0f, 0f, 0f); for (int i = 0; i < histR.length; i++) { smoothR.add(histR[i]); } smoothR.mult(1 / (float) histR.length); synchronized (mixContext.rotationM) { mixContext.rotationM.set(smoothR); } } catch (Exception ex) { ex.printStackTrace(); } }
From source file:org.mixare.MixViewActivity.java
public void onSensorChanged(SensorEvent evt) { try {/*www . j a v a2s . c om*/ if (getMixViewData().getSensorGyro() != null) { if (evt.sensor.getType() == Sensor.TYPE_GYROSCOPE) { getMixViewData().setGyro(evt.values); } if (evt.sensor.getType() == Sensor.TYPE_ACCELEROMETER) { getMixViewData().setGrav( getMixViewData().getGravFilter().lowPassFilter(evt.values, getMixViewData().getGrav())); } else if (evt.sensor.getType() == Sensor.TYPE_MAGNETIC_FIELD) { getMixViewData().setMag( getMixViewData().getMagFilter().lowPassFilter(evt.values, getMixViewData().getMag())); } getMixViewData().setAngle(getMixViewData().getMagFilter().complementaryFilter( getMixViewData().getGrav(), getMixViewData().getGyro(), 30, getMixViewData().getAngle())); SensorManager.getRotationMatrix(getMixViewData().getRTmp(), getMixViewData().getI(), getMixViewData().getGrav(), getMixViewData().getMag()); } else { if (evt.sensor.getType() == Sensor.TYPE_ACCELEROMETER) { getMixViewData().setGrav(evt.values); } else if (evt.sensor.getType() == Sensor.TYPE_MAGNETIC_FIELD) { getMixViewData().setMag(evt.values); } SensorManager.getRotationMatrix(getMixViewData().getRTmp(), getMixViewData().getI(), getMixViewData().getGrav(), getMixViewData().getMag()); } // augmentedView.postInvalidate(); hudView.postInvalidate(); projectedMapView.postInvalidate(); int rotation = Compatibility.getRotation(this); if (rotation == 1) { SensorManager.remapCoordinateSystem(getMixViewData().getRTmp(), SensorManager.AXIS_X, SensorManager.AXIS_MINUS_Z, getMixViewData().getRot()); } else { SensorManager.remapCoordinateSystem(getMixViewData().getRTmp(), SensorManager.AXIS_Y, SensorManager.AXIS_MINUS_Z, getMixViewData().getRot()); } getMixViewData().getTempR().set(getMixViewData().getRot()[0], getMixViewData().getRot()[1], getMixViewData().getRot()[2], getMixViewData().getRot()[3], getMixViewData().getRot()[4], getMixViewData().getRot()[5], getMixViewData().getRot()[6], getMixViewData().getRot()[7], getMixViewData().getRot()[8]); getMixViewData().getFinalR().toIdentity(); getMixViewData().getFinalR().prod(getMixViewData().getM4()); getMixViewData().getFinalR().prod(getMixViewData().getM1()); getMixViewData().getFinalR().prod(getMixViewData().getTempR()); getMixViewData().getFinalR().prod(getMixViewData().getM3()); getMixViewData().getFinalR().prod(getMixViewData().getM2()); getMixViewData().getFinalR().invert(); getMixViewData().getHistR()[getMixViewData().getrHistIdx()].set(getMixViewData().getFinalR()); int histRLenght = getMixViewData().getHistR().length; getMixViewData().setrHistIdx(getMixViewData().getrHistIdx() + 1); if (getMixViewData().getrHistIdx() >= histRLenght) getMixViewData().setrHistIdx(0); getMixViewData().getSmoothR().set(0f, 0f, 0f, 0f, 0f, 0f, 0f, 0f, 0f); for (int i = 0; i < histRLenght; i++) { getMixViewData().getSmoothR().add(getMixViewData().getHistR()[i]); } getMixViewData().getSmoothR().mult(1 / (float) histRLenght); MixContext.getInstance().updateSmoothRotation(getMixViewData().getSmoothR()); // float[] orientation = new float[3]; // float[] rTemp = getMixViewData().getRTmp(); // SensorManager.getOrientation(rTemp, orientation); // Log.d("PROJECT_MAP", "Sensor Angles"); // Log.d("PROJECT_MAP", orientation[0] + ", " + orientation[1] + ", " + orientation[2]); // Log.d("PROJECT_MAP", "Rotation Matrix Before Smoothing"); // Log.d("PROJECT_MAP", rTemp[0] + ", " + rTemp[1] + ", " + rTemp[2]); // Log.d("PROJECT_MAP", rTemp[3] + ", " + rTemp[4] + ", " + rTemp[5]); // Log.d("PROJECT_MAP", rTemp[6] + ", " + rTemp[7] + ", " + rTemp[8]); } catch (Exception ex) { ex.printStackTrace(); } }