i cant solve the problem of titlename.
like you see in the following sourcecode, ive already tried to add 360 on
my result if the sign is negtive. but it seems it didnt work a well.
OnSensorChanged()
public void onSensorChanged(SensorEvent event) {
if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER) {
mAccelerometer = event.values;
}
if (event.sensor.getType() == Sensor.TYPE_MAGNETIC_FIELD) {
mGeomagnetic = event.values;
}
if (mAccelerometer != null && mGeomagnetic != null) {
float R[] = new float[9];
float I[] = new float[9];
boolean success = SensorManager.getRotationMatrix(R, I,
mAccelerometer, mGeomagnetic);
if (success) {
float orientation[] = new float[3];
SensorManager.getOrientation(R, orientation);
// An dieser Stelle enthält das Array orientation[] die Werte für azimuth, pitch und roll.
double tempAzimuth = 180 * orientation[0] / Math.PI;
if(tempAzimuth < 0){
swAzimuth = tempAzimuth + 360;
}
else{
swAzimuth = tempAzimuth;
}
//
//double pitch = 180 * orientation[1] / Math.PI;
//double roll = 180 * orientation[2] / Math.PI;
txt.setText(String.valueOf(swAzimuth));
Log.d("direction", String.valueOf(swAzimuth));
}
}
}
Related
I have this app in which the screen orientation is fixed on portrait and instead of doing a full screen rotation, and having to re-build the activity, I have decided to use the accelerometer instead.
The following code works fine on all the devices I test until I came across this one device (One+ running 6.0), in which I was unable to get the geomagnetic field in order to calculate the orientation.
Is this a problem from the hardware? am I missing some permissions?
I have looked into it and I didn't find any documentation saying I need to ask for permissions during runtime for an accelerometer.
Here is the code of the onSensor:
public void onSensorChanged(SensorEvent event) {
boolean isOrientationEnabled;
try {
isOrientationEnabled = Settings.System.getInt(getContentResolver(),
Settings.System.ACCELEROMETER_ROTATION) == 1;
} catch (Settings.SettingNotFoundException e) {
isOrientationEnabled = false;
}
if (!isOrientationEnabled){
if(this.Orientation!= ORIENTATION_PORTRAIT)rotateViews(ORIENTATION_PORTRAIT);
this.Orientation = ORIENTATION_PORTRAIT;
return;
}
if(allow_rotation) {
if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER)
mGravity = event.values;
if (event.sensor.getType() == Sensor.TYPE_MAGNETIC_FIELD)
mGeomagnetic = event.values;
//mGeomagnetic is null
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);
// orientation contains: azimut, pitch and roll
float pitch = (float) Math.toDegrees(orientation[1]);
if (pitch < -45 && pitch > -135) {
// if device is laid flat on a surface
if(this.Orientation!= ORIENTATION_PORTRAIT) rotateViews(ORIENTATION_PORTRAIT);
this.Orientation = ORIENTATION_PORTRAIT;
return;
}
float roll = (float) Math.abs(Math.toDegrees(orientation[2]));
if ((roll > 60 && roll < 135)) {
// The device is closer to landscape orientation. Enable fullscreen
int landscape_mode;//0 = right, 2 = left
if (Math.toDegrees(orientation[2]) > 0) landscape_mode = ORIENTATION_LANDSCAPE_RIGHT;
else landscape_mode = ORIENTATION_LANDSCAPE_LEFT;
if(this.Orientation!=landscape_mode) rotateViews(landscape_mode);
this.Orientation = landscape_mode;
} else if (roll < 45 && roll > 135) {
// The device is closer to portrait orientation. Disable fullscreen
if(this.Orientation!=1)rotateViews(ORIENTATION_PORTRAIT);
this.Orientation = ORIENTATION_PORTRAIT;
}
}
}
}
}
You do not need Magnetic sensor for pitch and roll. Just low pass filter accelerometer to get gravity.
private static final float ALPHA = 0.8;
private float[] mGravity;
public void onSensorChanged(SensorEvent event) {
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];
double gravityNorm = Math.sqrt(mGravity[0] * mGravity[0] + mGravity[1] * mGravity[1] + mGravity[2] * mGravity[2]);
pitch = (float) Math.asin(-mGravity[1] / gravityNorm);
roll = (float) Math.atan2(-mGravity[0] / gravityNorm, mGravity[2] / gravityNorm);
}
Which is the inclination of the moving angle to an angle 0 which corresponds to mobile laid flat.
I want exactly measure angle on the corner walls (between 2 walls)
I already use this code, and the results obtained:
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.clone();
}
if (event.sensor.getType() == Sensor.TYPE_MAGNETIC_FIELD)
mGeomagnetic = event.values.clone();
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];
mAzimuthView.setText(String.format("%.2f",Math.toDegrees(azimut)) + '°');
tv.setText(String.format("%.2f", Math.toDegrees(azimut-angle_reset)) + '°');
}
}
}
1 - GSM is a flat vertical -> azimuth = 37 ° .
2 - Turn GSM Horizontally 90 ° -> = -111 ° azimuth .
So the difference ( 111-37 ) is 74 ° !!!! ( But normally I have to get 90 °)
Fast and simple. How to get the quaternion data from the sensors?
basically I need:
float quaternion_x = ?
float quaternion_y = ?
float quaternion_z = ?
float quaternion_w = ?
I have something like this:
if (event.sensor.getType() == Sensor.TYPE_ROTATION_VECTOR)
{
float[] values = event.values;
float quaternion_x = values[0];
float quaternion_y = values[1];
float quaternion_z = values[2];
float quaternion_w = values[3]; <----- ERROR HERE
}
I get an index out of bound exception because values has only 3 values inside. According to this page:
http://developer.android.com/guide/topics/sensors/sensors_motion.html
There should be 4 values or am I understanding something wrong?
The SensorManager class offers a helper function to convert for you:
SensorManager.getQuaternionFromVector(Q, values);
float[] quaternion_w = Q[0];
float[] quaternion_x = Q[1];
float[] quaternion_y = Q[2];
float[] quaternion_z = Q[3];
The android implementation of getOrientation returns the same values of getQuaterionFromVector.
So, you can take those values and construct the Quaternion if you want;
float[] quaternion = new float[4];
quaternion[0] = 0; //w
quaternion[1] = orientation[0]; //x
quaternion[2] = orientation[1]; //y
quaternion[3] = orientation[2]; //z
I checked it out with this code.
#Override
public void onSensorChanged(SensorEvent event) {
if (event.sensor.getType() == Sensor.TYPE_MAGNETIC_FIELD)
mMagneticField = event.values;
if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER)
mGravity = event.values;
if ((mGravity == null) || (mMagneticField == null))
return;
float R[] = new float[9];
float I[] = new float[9];
boolean success = SensorManager.getRotationMatrix(R, I, mGravity, mMagneticField);
if (success) {
mOrientation = new float[3];
mQuaternion = new float[4];
SensorManager.getOrientation(R, mOrientation);
mAzimut = mOrientation[0]; // orientation contains: azimut, pitch and roll
mPitch = mOrientation[1];
mRoll = mOrientation[2];
SensorManager.getQuaternionFromVector(mQuaternion, mOrientation);
if(mAzimut - mQuaternion[1] == 0 && mPitch - mQuaternion[2] == 0 && mRoll - mQuaternion[3] == 0){
Log.d("ORIENTATION", "QUATERNION IS THE SAME");
}
notifyObservers();
}
}
I want to calculate the distance between the camera and the recognized object.For this I tried a lot of methods, I tried to find the angle between the object and the camera using accelerometer and then use
d = h * tan a
h is height of from from the base generally which is 1.4
and i tried to calculate the angle by using get orientation method. Kindly let me know where am I doing wrong. Its been more than 2 days I have been struggling with this requirement. We have looked into various Camera applications which are available on Android Store and have tried to understand the functionality of the same but nothing has been fruitful.
mSensorManager = (SensorManager) getSystemService(SENSOR_SERVICE);
accSensor = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
magnetSensor = mSensorManager
.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD);
#Override
public void onAccuracyChanged(Sensor sensor, int accuracy) {
// TODO Auto-generated method stub
}
#Override
public void onSensorChanged(SensorEvent event) {
// TODO Auto-generated method stub
if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER)
gravity = event.values;
if (event.sensor.getType() == Sensor.TYPE_MAGNETIC_FIELD)
geoMagnetic = event.values;
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) {
/* Orientation has azimuth, pitch and roll */
float orientation[] = new float[3];
//SensorManager.remapCoordinateSystem(R, 1, 3, orientation);
SensorManager.getOrientation(R, orientation);
azimut = 57.29578F * orientation[0];
pitch = 57.29578F * orientation[1];
roll = 57.29578F * orientation[2];
}
}
}
captureButton.setOnClickListener(new View.OnClickListener() {
#Override
public void onClick(View v) {
// get an image from the camera
double d = (Math.tan(Math.toRadians(Math.abs(pitch))) * sensorHeight);
Toast.makeText(
getApplicationContext(),
"Distance = "
+ String.valueOf(d)
+ "m Angle = "
+ String.valueOf(Math.toRadians(Math.abs(pitch))),
Toast.LENGTH_LONG).show();
}
});
protected void onResume() {
super.onResume();
mSensorManager.registerListener(this, accSensor,
SensorManager.SENSOR_DELAY_NORMAL);
mSensorManager.registerListener(this, magnetSensor,
SensorManager.SENSOR_DELAY_NORMAL);
}
Your getRotationMatrix is probably returning false! You should copy the values to your own vectors so they don't get mixed up! Use the clone() method to do so!
if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER)
gravity = event.values.clone();
if (event.sensor.getType() == Sensor.TYPE_MAGNETIC_FIELD)
geoMagnetic = event.values.clone();
Using your code plus this change I was able to get the azimuth/pitch/roll values, without this change the success flag returns false:
Log.d("a", "orientation values: " + azimut + " / " + pitch + " / " + roll);
05-21 16:07:55.743: D/a(29429): orientation values: 77.71578 / 43.352722 / -152.39603
05-21 16:07:55.883: D/a(29429): orientation values: 175.26134 / 23.031355 / -148.72844
05-21 16:07:56.793: D/a(29429): orientation values: -146.3089 / 4.1098075 / -14.46417
You should use the PITCH value if you are holding the phone in portrait mode, if you are holding the phone in landscape mode you should use the ROLL value.
If you are holding the phone at a 1.4 height then you will have:
float dist = Math.abs((float) (1.4f * Math.tan(pitch * Math.PI / 180)));
Please note that you should use RADIANS and not DEGREES on the Math.tan function.
I tested here and the values seem to be valid!
The final code is
mSensorManager = (SensorManager) getSystemService(SENSOR_SERVICE);
accSensor = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
magnetSensor = mSensorManager
.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD);
#Override
public void onAccuracyChanged(Sensor sensor, int accuracy) {
// TODO Auto-generated method stub
}
#Override
public void onSensorChanged(SensorEvent event) {
// TODO Auto-generated method stub
if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER)
gravity = event.values;
if (event.sensor.getType() == Sensor.TYPE_MAGNETIC_FIELD)
geoMagnetic = event.values;
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) {
/* Orientation has azimuth, pitch and roll */
float orientation[] = new float[3];
//SensorManager.remapCoordinateSystem(R, 1, 3, orientation);
SensorManager.getOrientation(R, orientation);
azimut = 57.29578F * orientation[0];
pitch = 57.29578F * orientation[1];
roll = 57.29578F * orientation[2];
}
}
}
captureButton.setOnClickListener(new View.OnClickListener() {
#Override
public void onClick(View v) {
// get an image from the camera
float d = Math.abs((float) (1.4f * Math.tan(pitch * Math.PI / 180)));
Toast.makeText(
getApplicationContext(),
"Distance = "
+ String.valueOf(d)
+ "m Angle = "
+ String.valueOf(Math.toRadians(Math.abs(pitch))),
Toast.LENGTH_LONG).show();
}
});
protected void onResume() {
super.onResume();
mSensorManager.registerListener(this, accSensor,
SensorManager.SENSOR_DELAY_NORMAL);
mSensorManager.registerListener(this, magnetSensor,
SensorManager.SENSOR_DELAY_NORMAL);
}
I am trying to get the compass bearing in degrees (i.e. 0-360) using the following method:
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);
float azimut = orientation[0];
bearing.setText("Bearing: "+ azimut);
}
}
}
The azimuth value (i.e. orientation[0]) should be 0<=azimuth<360 but I am getting only values from -3 to 3 as I rotate my device. Can someone please tell me what the problem might be please?
The values are in radian, you have to convert to degree of arc
int azimut = (int) Math.round(Math.toDegrees(orientation[0]));
It is true that it is in Radians. Thanks Hoan. I added some logic to get that bearing in degrees from 0 to 360 becuase if I only converted it to degrees, I was getting values from -180 to 180.
float azimuthInRadians = orientation[0];
float azimuthInDegress = (float)Math.toDegrees(azimuthInRadians)+360)%360;
// This answer applies to Google Maps api v2.
// It is possible by registering your application with Sensor Listener for Orientation and get the
// angle relative to true north inside onSensorChanged and update camera accordingly.
// Angle can be used for bearing. Following code can be used:
// Instead of using Sensor.TYPE_ORIENTATION try using getOrinetation api. Sensor.TYPE_ORIENTATION
// has been deprecated.
#Override
protected void onResume() {
// TODO Auto-generated method stub
super.onResume();
if (sensorManager != null)
sensorManager.registerListener(this,
sensorManager.getDefaultSensor(Sensor.TYPE_ORIENTATION),
SensorManager.SENSOR_DELAY_GAME);
}
public void onSensorChanged(SensorEvent event) {
float compassBearingRelativeToTrueNorth = Math.round(event.values[0]);
Log.d(TAG, "Degree ---------- " + degree);
updateCamera(compassBearingRelativeToTrueNorth);
}
private void updateCamera(float bearing) {
CameraPosition oldPos = googleMap.getCameraPosition();
CameraPosition pos = CameraPosition.builder(oldPos).bearing(bearing)
.build();
googleMap.moveCamera(CameraUpdateFactory.newCameraPosition(pos));
}