I'm using FusedLocationProviderClient class in android to get user's last location. Everything is fine and I can get latitude and longitude but task.getResult().getBearing() returns 0.0 and task.getResult().hasBearing() returns false. How can I get user's bearing information?
I'm getting ACCESS_FINE_LOCATION and ACCESS_COARSE_LOCATION permissions both in AndroidManifest file and at runtime.
This is the piece of code related to user location I'm using:
#SuppressLint("MissingPermission")
private void getLastLocation() {
fusedLocationClient
.getLastLocation()
.addOnCompleteListener(this, new OnCompleteListener<Location>() {
#Override
public void onComplete(#NonNull Task<Location> task) {
if (task.isSuccessful() && task.getResult() != null) {
onLocationChange(task.getResult());
Log.i(TAG, "lat " + task.getResult().getLatitude() + " lng " + task.getResult().getLongitude());
Log.i(TAG, "bearing? " + task.getResult().hasBearing());
} else {
Toast.makeText(MainActivity.this, "Location Not Found!", Toast.LENGTH_SHORT).show();
}
}
});
}
private void onLocationChange(Location location) {
//do something
}
According to documentation
If this location does not have a bearing then 0.0 is returned.
I solved my problem using accelerometer and magnetic field sensors. This is the Compass class I use to get bearing of my cell phone:
import android.content.Context;
import android.hardware.Sensor;
import android.hardware.SensorEvent;
import android.hardware.SensorEventListener;
import android.hardware.SensorManager;
public class Compass implements SensorEventListener {
private static final String TAG = "Compass";
public interface CompassListener {
void onNewAzimuth(float azimuth);
}
private CompassListener listener;
private SensorManager sensorManager;
private Sensor gsensor;
private Sensor msensor;
private float[] mGravity = new float[3];
private float[] mGeomagnetic = new float[3];
private float[] R = new float[9];
private float[] I = new float[9];
private float azimuth;
private float azimuthFix;
public Compass(Context context) {
sensorManager = (SensorManager) context
.getSystemService(Context.SENSOR_SERVICE);
gsensor = sensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
msensor = sensorManager.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD);
}
public void start() {
sensorManager.registerListener(this, gsensor,
SensorManager.SENSOR_DELAY_GAME);
sensorManager.registerListener(this, msensor,
SensorManager.SENSOR_DELAY_GAME);
}
public void stop() {
sensorManager.unregisterListener(this);
}
public void setAzimuthFix(float fix) {
azimuthFix = fix;
}
public void resetAzimuthFix() {
setAzimuthFix(0);
}
public void setListener(CompassListener l) {
listener = l;
}
#Override
public void onSensorChanged(SensorEvent event) {
final float alpha = 0.97f;
synchronized (this) {
if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER) {
mGravity[0] = alpha * mGravity[0] + (1 - alpha)
* event.values[0];
mGravity[1] = alpha * mGravity[1] + (1 - alpha)
* event.values[1];
mGravity[2] = alpha * mGravity[2] + (1 - alpha)
* event.values[2];
// mGravity = event.values;
// Log.e(TAG, Float.toString(mGravity[0]));
}
if (event.sensor.getType() == Sensor.TYPE_MAGNETIC_FIELD) {
// mGeomagnetic = event.values;
mGeomagnetic[0] = alpha * mGeomagnetic[0] + (1 - alpha)
* event.values[0];
mGeomagnetic[1] = alpha * mGeomagnetic[1] + (1 - alpha)
* event.values[1];
mGeomagnetic[2] = alpha * mGeomagnetic[2] + (1 - alpha)
* event.values[2];
// Log.e(TAG, Float.toString(event.values[0]));
}
boolean success = SensorManager.getRotationMatrix(R, I, mGravity,
mGeomagnetic);
if (success) {
float orientation[] = new float[3];
SensorManager.getOrientation(R, orientation);
// Log.d(TAG, "azimuth (rad): " + azimuth);
azimuth = (float) Math.toDegrees(orientation[0]); // orientation
azimuth = (azimuth + azimuthFix + 360) % 360;
// Log.d(TAG, "azimuth (deg): " + azimuth);
if (listener != null) {
listener.onNewAzimuth(azimuth);
}
}
}
}
#Override
public void onAccuracyChanged(Sensor sensor, int accuracy) {
}
}
I calibrated the value by adding 352 to bearing received by onNewAzimuth method of this class and used it in my code:
Compass compass = new Compass(this);
Compass.CompassListener cl = new Compass.CompassListener() {
#Override
public void onNewAzimuth(float azimuth) {
// using (360 - (azimuth) + 8) value
}
};
compass.setListener(cl);
Related
I am trying to create an Android indoor tracking App using IMU.
Right now my app is based on accelerometer and software sensor ROTATION_VECTOR which is suposed to by created by fusing data from ACCELEROMETER, GEOMAGNETIC_FIELD and GYROSCOPE. I am using accelerometer for detecting steps and ROTATION_VECTOR sensor for orientation. When the step is detected, I take the data from ROTATION VECTOR, calculate the angle difference between starting and curent angle, calculate the new coordinates and display the new location.(I use steps with fixed length)
The problematic part is the accuarcy of the orientation. I read some papers which suggest use Kalman filter, However it's still a mystery for me how to implement it.
I would be very gratefull if someone help me with this problem. Suggest some tutorials how to understand Kalman filter, or show me the way how to improve the accuracy of my app.
Thanks a lot.
My code:
package com.example.jozef.gyrouhol;
import android.hardware.Sensor;
import android.hardware.SensorEvent;
import android.hardware.SensorEventListener;
import android.hardware.SensorManager;
import android.os.Bundle;
import android.support.v7.app.AppCompatActivity;
import android.widget.TextView;
import android.widget.Toast;
import android.app.Activity;
import java.lang.Math;
import java.util.ArrayList;
import java.util.List;
import java.util.Locale;
import java.util.concurrent.TimeUnit;
public class Gyro extends AppCompatActivity implements SensorEventListener {
private SensorManager mSensorManager;
private Sensor mRotationSensor, mStepSensor;
private static final int SENSOR_DELAY = 1000;
private static final int FROM_RADS_TO_DEGS = -57;
private double norming;
private ObjectHandler mData;
private int count = 0;
private int pmin = 0, pmax=0;
private long actualTime = 0;
private float mStartingAngle;
private HouseBackground myView;
#Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
myView = new HouseBackground(this);
setContentView(myView);
try {
mSensorManager = (SensorManager) getSystemService(Activity.SENSOR_SERVICE);
mRotationSensor = mSensorManager.getDefaultSensor(Sensor.TYPE_ROTATION_VECTOR);
mStepSensor = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
mSensorManager.registerListener(this, mRotationSensor, SENSOR_DELAY);
mSensorManager.registerListener(this,mStepSensor,SENSOR_DELAY);
}
catch (Exception e) {
Toast.makeText(this, "Hardware compatibility issue", Toast.LENGTH_LONG).show();
}
mData = new ObjectHandler();
}
#Override
public void onAccuracyChanged(Sensor sensor, int accuracy) {
// TODO Auto-generated method stub
}
#Override
public void onSensorChanged(SensorEvent event) {
if (event.sensor == mRotationSensor) {
update(event.values);
}
if(event.sensor == mStepSensor) {
norming = Math.sqrt((event.values[0]*event.values[0])+(event.values[1]*event.values[1])+(event.values[2]*event.values[2]));
stepCount(norming);
}
}
private void update(float[] vectors) {
float[] rotationMatrix = new float[9];
SensorManager.getRotationMatrixFromVector(rotationMatrix, vectors);
float[] orientation = new float[3];
SensorManager.getOrientation(rotationMatrix, orientation);
float xdeg = orientation[0]* FROM_RADS_TO_DEGS;
mData.ObjectHandlersetAngle(xdeg);
}
protected void onPause() {
mSensorManager.unregisterListener((SensorEventListener) this);
super.onPause();
}
public void stepCount (double mNorming){
if (norming > 10.403 )
pmax = 1;
if (norming < 8.45)
pmin = 1;
if (pmax == 1 && pmin == 1) {
if (count == 0){
count++;
actualTime = System.currentTimeMillis();
if(mStartingAngle == 0)
{
mStartingAngle = mData.ObjectHandlergetAngle();
}
myView.newPointAdd((int) (myView.getLastX()-Math.round(93*Math.cos(Math.toRadians(mData.ObjectHandlergetAngle()-mStartingAngle))) ), (int) (myView.getLastY()-Math.round(93*Math.sin(Math.toRadians(mData.ObjectHandlergetAngle()-mStartingAngle)))));
}
else {
if (System.currentTimeMillis() - actualTime > 400) {
count++;
actualTime = System.currentTimeMillis();
int xnew = (int) (myView.getLastX()-Math.round(93*Math.cos(Math.toRadians(mData.ObjectHandlergetAngle()-mStartingAngle))));
int ynew = (int) (myView.getLastY()-Math.round(93*Math.sin(Math.toRadians(mData.ObjectHandlergetAngle()-mStartingAngle))));
myView.newPointAdd(xnew,ynew);
}
}
pmin = 0;
pmax = 0;
}
}
}
#Override
public void onSensorChanged(SensorEvent event) {
final float alpha = 0.97f;
synchronized (this) {
if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER) {
mGravity[0] = alpha * mGravity[0] + (1 - alpha)
* event.values[0];
mGravity[1] = alpha * mGravity[1] + (1 - alpha)
* event.values[1];
mGravity[2] = alpha * mGravity[2] + (1 - alpha)
* event.values[2];
}
if (event.sensor.getType() == Sensor.TYPE_MAGNETIC_FIELD) {
mGeomagnetic[0] = alpha * mGeomagnetic[0] + (1 - alpha)
* event.values[0];
mGeomagnetic[1] = alpha * mGeomagnetic[1] + (1 - alpha)
* event.values[1];
mGeomagnetic[2] = alpha * mGeomagnetic[2] + (1 - alpha)
* event.values[2];
}
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);
float azimuth = orientation[0]; //in radians
azimuth = azimuth * 360 / (2 * (float) Math.PI); // -180 to 180
}
}
}
I want to show the west direction in my app using compass. No matter where my user are my compass will always navigate to west direction. I am confused about it that how can i achieve and rotate my image in only one direction . Below is my code -
public class Compass implements SensorEventListener {
private static final String TAG = "Compass";
private SensorManager sensorManager;
private Sensor gsensor;
private Sensor msensor;
private float[] mGravity = new float[3];
private float[] mGeomagnetic = new float[3];
private float azimuth = 0f;
private float currectAzimuth = 0;
private Context context ;
PackageManager packageManager ;
// compass arrow to rotate
public ImageView arrowView = null;
public Compass(Context context) {
this.context = context;
sensorManager = (SensorManager) context
.getSystemService(Context.SENSOR_SERVICE);
gsensor = sensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
msensor = sensorManager.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD);
packageManager = context.getPackageManager();
}
public void start() {
if(packageManager.hasSystemFeature(PackageManager.FEATURE_SENSOR_COMPASS)){
sensorManager.registerListener(this, gsensor,
SensorManager.SENSOR_DELAY_GAME);
sensorManager.registerListener(this, msensor,
SensorManager.SENSOR_DELAY_GAME);
}
else{
Toast.makeText(context,"No Compass Sensor !", Toast.LENGTH_SHORT).show();
}
}
public void stop() {
sensorManager.unregisterListener(this);
}
private void adjustArrow() {
if (arrowView == null) {
Log.i(TAG, "arrow view is not set");
return;
}
Log.i(TAG, "will set rotation from " + currectAzimuth + " to "
+ azimuth);
Animation an = new RotateAnimation(-currectAzimuth, -azimuth,
Animation.RELATIVE_TO_SELF, 0.5f, Animation.RELATIVE_TO_SELF,
0.5f);
currectAzimuth = azimuth;
an.setDuration(500);
an.setRepeatCount(0);
an.setFillAfter(true);
arrowView.startAnimation(an);
}
#Override
public void onSensorChanged(SensorEvent event) {
final float alpha = 0.97f;
synchronized (this) {
if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER) {
mGravity[0] = alpha * mGravity[0] + (1 - alpha)
* event.values[0];
mGravity[1] = alpha * mGravity[1] + (1 - alpha)
* event.values[1];
mGravity[2] = alpha * mGravity[2] + (1 - alpha)
* event.values[2];
// mGravity = event.values;
// Log.e(TAG, Float.toString(mGravity[0]));
}
if (event.sensor.getType() == Sensor.TYPE_MAGNETIC_FIELD) {
// mGeomagnetic = event.values;
mGeomagnetic[0] = alpha * mGeomagnetic[0] + (1 - alpha)
* event.values[0];
mGeomagnetic[1] = alpha * mGeomagnetic[1] + (1 - alpha)
* event.values[1];
mGeomagnetic[2] = alpha * mGeomagnetic[2] + (1 - alpha)
* event.values[2];
// Log.e(TAG, Float.toString(event.values[0]));
}
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);
Log.d(TAG, "azimuth (rad): " + azimuth);
azimuth = (float) Math.toDegrees(orientation[0]); // orientation
azimuth = (azimuth + 360) % 360;
Log.d(TAG, "azimuth (deg): " + azimuth);
adjustArrow();
}
}
}
#Override
public void onAccuracyChanged(Sensor sensor, int accuracy) {
}
}
Why don't you use trigonometry to calculate the correct angle for the image based on north being at 0 degrees.
If north is 0 degrees, west would be -90 degrees or 270 degrees in comparison. So simply set the rotation of the image to north + 270 degrees?
I have AsyncTask and in doInBackground i set a timerTask that instantiates the UpdateLogFile class which is posted below. As you see in that class
i registered a sensor listener and unregister it in onCancelled and in onPostExecute, but the problem is the sensor lsitener is always registered
and can't be unregistered because even if i cancel the AsyncTask i still receive the Log.w(TAG, CSubTag.msg("onSensorChanged"));
Please let me know why that is happening and how to unregister it correctly.
code:
#Override
protected void onPostExecute(Void aVoid) {
super.onPostExecute(aVoid);
Log.w(TAG, CSubTag.msg("ATRx.onPostExecute"));
mSenMgr.unregisterListener(mSEL);
}
..
..
..
private class UpdateLogFile extends TimerTask {
private File mLogFile = null;
private long mStartTs;
private double mLng;
private double mLat;
private long mTs;
UpdateLogFile(File logFile, long startTs) {
this.mLogFile = logFile;
this.mStartTs = startTs;
mSenMgr = (SensorManager) getSystemService(Context.SENSOR_SERVICE);
mSensAcc = mSenMgr.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
mSensMag = mSenMgr.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD);
mSEL = new SensorEventListener() {
float[] mGravity;
float[] mGeomagnetic;
#Override
public void onSensorChanged(SensorEvent event) {
Log.w(TAG, CSubTag.msg("onSensorChanged"));
Sensor mySensor = event.sensor;
if (mySensor.getType() == Sensor.TYPE_ACCELEROMETER) {
mGravity = event.values;
}
if (mySensor.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);
mAzimuth = orientation[0];
mPitch = orientation[1];
mRoll = orientation[2];
}
}
}
#Override
public void onAccuracyChanged(Sensor sensor, int accuracy) {
}
};
mSenMgr.registerListener(mSEL, mSensAcc, SensorManager.SENSOR_DELAY_NORMAL);
mSenMgr.registerListener(mSEL, mSensMag, SensorManager.SENSOR_DELAY_NORMAL);
}
#Override
public void run() {
long endTs = TimeUtils.getTSSec();
this.mTs = endTs - this.mStartTs;
this.mLng = mGPSCtrl.getLng();
this.mLat = mGPSCtrl.getLat();
IOCtrl.writeLog(this.mLogFile, this.mTs, this.mLng, this.mLat, mAzimuth, mPitch, mRoll, mFMSMsg1, mFMSMsg2, mFMSMsg3, mFMSMsg4, mFMSMsg7, mFMSMsg8, mFMSMsg12);
Log.d(TAG, CSubTag.msg("UpdateTimer.run", "line: " + this.mLng + "," + this.mLat + "," + mAzimuth + "," + mPitch + "," + mRoll + "," + mFMSMsg1 + "," + mFMSMsg2 + "," + mFMSMsg3 + "," + mFMSMsg4 + "," + mFMSMsg7 + "," + mFMSMsg8 + "," + mFMSMsg12));
}
}
Have you checked whether mSEL is null when you unregister the listener?
If you want to listen on sensors you should either create an Activity/Service/AsyncTask/... that implements the
android.hardware.SensorEventListener interface. (This page gives an introduction into SensorEventListeners.) Then you can simply unregister the listener (mSenMgr.unregisterListener(this)) at any time.
Try the following:
public class CustomTask extends AsyncTask<SensorManager, Void, Void> implements SensorEventListener {
private SensorManager sensorManager;
#Override
public void onSensorChanged(SensorEvent event) { }
#Override
public void onAccuracyChanged(Sensor sensor, int accuracy) { }
#Override
protected Void doInBackground(SensorManager... params) {
sensorManager = params[0];
return null;
}
#Override
protected void onPostExecute(Void aVoid) {
super.onPostExecute(aVoid);
sensorManager.unregisterListener(this);
}
}
This is the code for registering the listener:
SensorManager mSenMgr = (SensorManager) getActivity().getSystemService(Context.SENSOR_SERVICE);
Sensor mSensAcc = mSenMgr.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
CustomTask task = new CustomTask();
task.doInBackground(mSenMgr);
mSenMgr.registerListener(task, mSensAcc, SensorManager.SENSOR_DELAY_NORMAL);
I was using Sensor.TYPE_ORIENTATION to determine current angle of device but TYPE_ORIENTATION is deprecated on API version 8. In SensorManager manual it refers to getOrientation() function in order to use TYPE_ORIENTATION.
Here is the manual
Here is my old code :
public void onSensorChanged(SensorEvent event) {
Log.d("debug","Sensor Changed");
if (event.sensor.getType()==Sensor.TYPE_ORIENTATION) {
Log.d("debug",Float.toString(event.values[0]));
float mAzimuth = event.values[0];
float mPitch = event.values[1];
float mRoll = event.values[2];
Log.d("debug","mAzimuth :"+Float.toString(mAzimuth));
Log.d("debug","mPitch :"+Float.toString(mPitch));
Log.d("debug","mRoll :"+Float.toString(mRoll));
}
}
I'm really confused about using getOrientation() function, can anyone please show me an example how to get the angles?
You now use two sensors (ACCELEROMETER and MAGNETIC_FIELD) to get that information. See blog post for more detail.
public class CompassActivity extends Activity implements SensorEventListener {
private SensorManager mSensorManager;
Sensor accelerometer;
Sensor magnetometer;
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(mCustomDrawableView); // Register the sensor listeners
mSensorManager = (SensorManager)getSystemService(SENSOR_SERVICE);
accelerometer = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
magnetometer = mSensorManager.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD);
}
protected void onResume() {
super.onResume();
mSensorManager.registerListener(this, accelerometer, SensorManager.SENSOR_DELAY_UI);
mSensorManager.registerListener(this, magnetometer, SensorManager.SENSOR_DELAY_UI);
}
protected void onPause() {
super.onPause();
mSensorManager.unregisterListener(this);
}
public void onAccuracyChanged(Sensor sensor, int accuracy) { }
float[] mGravity;
float[] mGeomagnetic;
public void onSensorChanged(SensorEvent event) {
if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER)
mGravity = event.values;
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);
azimut = orientation[0]; // orientation contains: azimut, pitch and roll
}
}
}
}
Permissions:
<uses-permission android:name="android.permission.ACCESS_FINE_LOCATION"/>
Regarding your second question. When you are registering your sensor listeners, change your code to read:
protected void onResume() {
super.onResume();
mSensorManager.registerListener(this, accelerometer, SensorManager.SENSOR_DELAY_NORMAL);
mSensorManager.registerListener(this, magnetometer, SensorManager.SENSOR_DELAY_NORMAL);
}
Google has a great demo app for orientation in their google-developer-training series called TiltSpot. Because it has an Apache license, I've taken the liberty of turning it into a small library called johnnylambada-orientation that makes getting orientation as simple adding this to your activity:
getLifecycle().addObserver(new OrientationReporter(this, (a, p, r) -> {
Log.i("orientation","a="+a+" p="+p+" r="+r);
}));
My Answer is for those who getting jumping values of heading. For further instruction let me know in the comment.
Sensor accelerometer;
Sensor magnetometer;
private float[] mGravity = new float[3];
private float[] mGeomagnetic = new float[3];
private float[] Rv = new float[9];
private float[] I = new float[9];
class MapsActivity
public class MapsActivity extends FragmentActivity implements OnMapReadyCallback, SensorEventListener{
onSensorChanged(SensorEvent event)
#Override
public void onSensorChanged(SensorEvent event) {
synchronized (this) {
float INITIAL_ALPHA = 0.97f;
if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER) {
mGravity[0] = INITIAL_ALPHA * mGravity[0] + (1 - INITIAL_ALPHA)
* event.values[0];
mGravity[1] = INITIAL_ALPHA * mGravity[1] + (1 - INITIAL_ALPHA)
* event.values[1];
mGravity[2] = INITIAL_ALPHA * mGravity[2] + (1 - INITIAL_ALPHA)
* event.values[2];
}
if (event.sensor.getType() == Sensor.TYPE_MAGNETIC_FIELD) {
mGeomagnetic[0] = INITIAL_ALPHA * mGeomagnetic[0] + (1 - INITIAL_ALPHA)
* event.values[0];
mGeomagnetic[1] = INITIAL_ALPHA * mGeomagnetic[1] + (1 - INITIAL_ALPHA)
* event.values[1];
mGeomagnetic[2] = INITIAL_ALPHA * mGeomagnetic[2] + (1 - INITIAL_ALPHA)
* event.values[2];
if (Math.abs(mGeomagnetic[2]) > Math.abs(mGeomagnetic[1])) {
magStrength = Math.round(Math.abs(mGeomagnetic[2]));
} else {
magStrength = Math.round(Math.abs(mGeomagnetic[1]));
}
}
boolean success = SensorManager.getRotationMatrix(Rv, I, mGravity, mGeomagnetic);
if (success) {
float[] orientation = new float[3];
SensorManager.getOrientation(Rv, orientation);
azimuth = (float) Math.toDegrees(orientation[0]);
azimuth = (azimuth + 360) % 360;
// Log.d(TAG, "azimuth (deg): " + azimuth);
float degree = Math.round(azimuth);
// create a rotation animation (reverse turn degree degrees)
RotateAnimation ra = new RotateAnimation(
currentDegree,
-degree,
Animation.RELATIVE_TO_SELF, 0.5f,
Animation.RELATIVE_TO_SELF,
0.5f);
ra.setDuration(500);
ra.setFillAfter(true);
ra.setRepeatCount(0);
binding.compassImage.startAnimation(ra);
showDirection(degree);
currentDegree = -degree;
}
}
}
onAccuracyChanged
#Override
public void onAccuracyChanged(Sensor sensor, int accuracy) {
}
onResume()
#Override
protected void onResume() {
super.onResume();
if (mSensorManager == null) {
mSensorManager = (SensorManager) getSystemService(SENSOR_SERVICE);
accelerometer =
mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
magnetometer =
mSensorManager.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD);
}
mSensorManager.registerListener(this, accelerometer,
SensorManager.SENSOR_DELAY_UI);
mSensorManager.registerListener(this, magnetometer,
SensorManager.SENSOR_DELAY_UI);
}
onPause()
#Override
protected void onPause() {
super.onPause();
mSensorManager.unregisterListener(MapsActivity.this);
}
I need suggestion about how to detect the amount of movement of an android device. Suppose I have put the phone on a table or bed and then if somebody taps the table or sits or laydown on the bed then I want to detect the movement of the android device.
Actually I know that android has motion sensors APIs but I don't know which sensor to use and what sensor type is best for this type of movement detection.
I would be glad if someone can share some basic demo code.
Definitely work with the accelerometer:
// Start with some variables
private SensorManager sensorMan;
private Sensor accelerometer;
private float[] mGravity;
private float mAccel;
private float mAccelCurrent;
private float mAccelLast;
// In onCreate method
sensorMan = (SensorManager)getSystemService(SENSOR_SERVICE);
accelerometer = sensorMan.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
mAccel = 0.00f;
mAccelCurrent = SensorManager.GRAVITY_EARTH;
mAccelLast = SensorManager.GRAVITY_EARTH;
// And these:
#Override
public void onResume() {
super.onResume();
sensorMan.registerListener(this, accelerometer,
SensorManager.SENSOR_DELAY_UI);
}
#Override
protected void onPause() {
super.onPause();
sensorMan.unregisterListener(this);
}
#Override
public void onSensorChanged(SensorEvent event) {
if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER){
mGravity = event.values.clone();
// Shake detection
float x = mGravity[0];
float y = mGravity[1];
float z = mGravity[2];
mAccelLast = mAccelCurrent;
mAccelCurrent = FloatMath.sqrt(x*x + y*y + z*z);
float delta = mAccelCurrent - mAccelLast;
mAccel = mAccel * 0.9f + delta;
// Make this higher or lower according to how much
// motion you want to detect
if(mAccel > 3){
// do something
}
}
}
#Override
public void onAccuracyChanged(Sensor sensor, int accuracy) {
// required method
}
I used the following class:
public class MovementDetector implements SensorEventListener {
protected final String TAG = getClass().getSimpleName();
private SensorManager sensorMan;
private Sensor accelerometer;
private MovementDetector() {
}
private static MovementDetector mInstance;
public static MovementDetector getInstance() {
if (mInstance == null) {
mInstance = new MovementDetector();
mInstance.init();
}
return mInstance;
}
//////////////////////
private HashSet<Listener> mListeners = new HashSet<MovementDetector.Listener>();
private void init() {
sensorMan = (SensorManager) GlobalData.getInstance().getContext().getSystemService(Context.SENSOR_SERVICE);
accelerometer = sensorMan.getDefaultSensor(Sensor.TYPE_LINEAR_ACCELERATION);
}
public void start() {
sensorMan.registerListener(this, accelerometer, SensorManager.SENSOR_DELAY_NORMAL);
}
public void stop() {
sensorMan.unregisterListener(this);
}
public void addListener(Listener listener) {
mListeners.add(listener);
}
/* (non-Javadoc)
* #see android.hardware.SensorEventListener#onSensorChanged(android.hardware.SensorEvent)
*/
#Override
public void onSensorChanged(SensorEvent event) {
if (event.sensor.getType() == Sensor.TYPE_LINEAR_ACCELERATION) {
float x = event.values[0];
float y = event.values[1];
float z = event.values[2];
float diff = (float) Math.sqrt(x * x + y * y + z * z);
if (diff > 0.5) // 0.5 is a threshold, you can test it and change it
Log.d(TAG,"Device motion detected!!!!");
for (Listener listener : mListeners) {
listener.onMotionDetected(event, diff);
}
}
}
/* (non-Javadoc)
* #see android.hardware.SensorEventListener#onAccuracyChanged(android.hardware.Sensor, int)
*/
#Override
public void onAccuracyChanged(Sensor sensor, int accuracy) {
// TODO Auto-generated method stub
}
public interface Listener {
void onMotionDetected(SensorEvent event, float acceleration);
}
}
Usage:
On my activity onCrate():
MovementDetector.getInstance().addListener(new MovementDetector.Listener() {
#Override
public void onMotionDetected(SensorEvent event, float acceleration) {
mMotionDetectionTextView.setText("Acceleration: ["+String.format("%.3f",event.values[0])+","+String.format("%.3f",event.values[1])+","+String.format("%.3f",event.values[2])+"] "+String.format("%.3f", acceleration));
if (acceleration > SettingsHelper.getInstance().getMotionDetectionThreshold()){
mMotionDetectionTextView.setTextColor(Color.RED);
} else {
mMotionDetectionTextView.setTextColor(Color.WHITE);
}
}
});
On my activity onResume():
MovementDetector.getInstance().start();
On my activity onPause():
MovementDetector.getInstance().stop();
This code is for walking detection (Modified from #anthropomo code)
to get smoother value.
// initialize
private SensorManager sensorMan;
private Sensor accelerometer;
private float[] mGravity;
private double mAccel;
private double mAccelCurrent;
private double mAccelLast;
private boolean sensorRegistered = false;
// onCreate
sensorMan = (SensorManager) context.getSystemService(Context.SENSOR_SERVICE);
accelerometer = sensorMan.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
mAccel = 0.00f;
mAccelCurrent = SensorManager.GRAVITY_EARTH;
mAccelLast = SensorManager.GRAVITY_EARTH;
sensorMan.registerListener(this, accelerometer,
SensorManager.SENSOR_DELAY_NORMAL);
sensorRegistered = true;
// onSensorChanged
private int hitCount = 0;
private double hitSum = 0;
private double hitResult = 0;
private final int SAMPLE_SIZE = 50; // change this sample size as you want, higher is more precise but slow measure.
private final double THRESHOLD = 0.2; // change this threshold as you want, higher is more spike movement
#Override
public void onSensorChanged(SensorEvent event) {
if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER) {
mGravity = event.values.clone();
// Shake detection
double x = mGravity[0];
double y = mGravity[1];
double z = mGravity[2];
mAccelLast = mAccelCurrent;
mAccelCurrent = Math.sqrt(x * x + y * y + z * z);
double delta = mAccelCurrent - mAccelLast;
mAccel = mAccel * 0.9f + delta;
if (hitCount <= SAMPLE_SIZE) {
hitCount++;
hitSum += Math.abs(mAccel);
} else {
hitResult = hitSum / SAMPLE_SIZE;
Log.d(TAG, String.valueOf(hitResult));
if (hitResult > THRESHOLD) {
Log.d(TAG, "Walking");
} else {
Log.d(TAG, "Stop Walking");
}
hitCount = 0;
hitSum = 0;
hitResult = 0;
}
}
}
I have been working with a similar idea to measure the displacement of the phone. I have found that the LINEAR ACCELERATION (and ACCELERATION) are not accurate enough to correctly measure the displacement.
This code should work a little better:
(ititialize)
private SensorManager sensorManager;
private Sensor accelerometer;
double[] maxAccelerations = new double[3];
double[] position = new double[3];
long[] times = new long[3];
// time combined with maxAcceleration can approximate the change in position,
// with the formula Δpos = (maxAcceleration * time ^ 2) / 6
long currentTime;
(onCreate)
sensorManager = (SensorManager) getSystemService(SENSOR_SERVICE);
if (sensorManager.getDefaultSensor(Sensor.TYPE_LINEAR_ACCELERATION) != null) {
accelerometer = sensorManager.getDefaultSensor(Sensor.TYPE_LINEAR_ACCELERATION);
sensorManager.registerListener(this, accelerometer, sensorManager.SENSOR_DELAY_FASTEST);
}
currentTime = System.currentTimeMillis();
for(int i=0;i<3;i++){
times[i]=currentTime;
}
else{
throw "Error";
//Which will throw an error, if not the error that is expected. 😉
}
(onSensorChanged and onAccuracyChanged)
#Override
public void onAccuracyChanged(Sensor ignore, int thisFunction) {
}
#Override
public void onSensorChanged(SensorEvent event) {
if (event.sensor.getType() == Sensor.TYPE_LINEAR_ACCELERATION) {
for(int i=0;i<3;i++){
if(Math.abs(event.values[i])<0.01){
// Note: this is to try to prevent accelerating time from being counted when the phone is stationary. 0.01 should be
// changed to an appropriate sensitivity level that can be calculated by finding an average noise level when the phone is stationary.
times[i]=System.currentTimeMillis();
}
if(event.values[i]>maxAccelerations[i] && maxAccelerations[i]>=0){
maxAccelerations[i]=event.values[i];
}
else if(event.values[i]<maxAccelerations[i] && maxAccelerations[i]<=0){
maxAccelerations[i]=event.values[i];
}
else if(event.values[i]>0 && maxAccelerations[i]<0){
currentTime = System.currentTimeMillis();
position[i]+=maxAccelerations[i] * (times[i]-currentTime)*(times[i]-currentTime) / 6;
times[i]=currentTime;
maxAccelerations[i]=event.values[i];
}
else if(event.values[i]<0 && maxAccelerations[i]>0){
currentTime = System.currentTimeMillis();
position[i]+=maxAccelerations[i] * (times[i]-currentTime)*(times[i]-currentTime) / 6;
times[i]=currentTime;
maxAccelerations[i]=event.values[i];
}
}
}
}
While I don't have demo code (since you aren't specific enough), a good start is here: http://developer.android.com/guide/topics/sensors/sensors_motion.html (and other items on the left).
if you are trying to find the displacement of your phone, you need to find the
Linear acceleration acting on your phone rather than the acceleration due to gravity
android has a built in converter to find the LINEAR ACCELERATION acting on your mobile phone
https://github.com/yuvaramsingh94/AndroidSensorTestCode/tree/master
this is a code where you can see how to get the raw value of LINEAR ACCELERATION