Example usage for android.hardware SensorManager getRotationMatrixFromVector

Introduction

In this page you can find the example usage for android.hardware SensorManager getRotationMatrixFromVector.

Prototype

public static void getRotationMatrixFromVector(float[] R, float[] rotationVector) 

Source Link

Document

Helper function to convert a rotation vector to a rotation matrix.

Usage

From source file:Main.java

public static void sensorRotationVector2Matrix(SensorEvent event, int rotation, float[] output) {
    float[] values = event.values;
    switch (rotation) {
    case Surface.ROTATION_0:
    case Surface.ROTATION_180: /* Notice: not supported for ROTATION_180! */
        SensorManager.getRotationMatrixFromVector(output, values);
        break;/*  w w w.java  2  s  .c o m*/
    case Surface.ROTATION_90:
        SensorManager.getRotationMatrixFromVector(mTmp, values);
        SensorManager.remapCoordinateSystem(mTmp, SensorManager.AXIS_Y, SensorManager.AXIS_MINUS_X, output);
        break;
    case Surface.ROTATION_270:
        SensorManager.getRotationMatrixFromVector(mTmp, values);
        SensorManager.remapCoordinateSystem(mTmp, SensorManager.AXIS_MINUS_Y, SensorManager.AXIS_X, output);
        break;
    }
    Matrix.rotateM(output, 0, 90.0F, 1.0F, 0.0F, 0.0F);
}

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From source file:Main.java

public static void sensorRotationVector2Matrix(SensorEvent event, int rotation, float[] output) {
    if (!sIsTruncated) {
        try {/* ww  w .  ja va 2  s . com*/
            SensorManager.getRotationMatrixFromVector(sUIThreadTmp, event.values);
        } catch (Exception e) {
            // On some Samsung devices, SensorManager#getRotationMatrixFromVector throws an exception
            // if the rotation vector has more than 4 elements. Since only the four first elements are used,
            // we can truncate the vector without losing precision.
            Log.e(TAG, "maybe Samsung bug, will truncate vector");
            sIsTruncated = true;
        }
    }

    if (sIsTruncated) {
        System.arraycopy(event.values, 0, sTruncatedVector, 0, 4);
        SensorManager.getRotationMatrixFromVector(sUIThreadTmp, sTruncatedVector);
    }

    float[] values = event.values;
    switch (rotation) {
    case Surface.ROTATION_0:
    case Surface.ROTATION_180: /* Notice: not supported for ROTATION_180! */
        SensorManager.getRotationMatrixFromVector(output, values);
        break;
    case Surface.ROTATION_90:
        SensorManager.getRotationMatrixFromVector(sUIThreadTmp, values);
        SensorManager.remapCoordinateSystem(sUIThreadTmp, SensorManager.AXIS_Y, SensorManager.AXIS_MINUS_X,
                output);
        break;
    case Surface.ROTATION_270:
        SensorManager.getRotationMatrixFromVector(sUIThreadTmp, values);
        SensorManager.remapCoordinateSystem(sUIThreadTmp, SensorManager.AXIS_MINUS_Y, SensorManager.AXIS_X,
                output);
        break;
    }
    Matrix.rotateM(output, 0, 90.0F, 1.0F, 0.0F, 0.0F);
}

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From source file:Main.java

public static float[] getRotationFromGyro(float[] values, float timestamp, float nowTimeStamp,
        float[] currentRotMatrix, boolean swapX, boolean swapY, boolean swapZ) {
    float[] deltaRotationVector = new float[4];
    if (timestamp != 0) {
        final float dT = (nowTimeStamp - timestamp) * NS2S;
        float axisX = swapX ? -values[0] : values[0];
        float axisY = swapY ? -values[1] : values[1];
        float axisZ = swapZ ? -values[2] : values[2];

        float omegaMagnitude = (float) Math.sqrt(axisX * axisX + axisY * axisY + axisZ * axisZ);
        if (omegaMagnitude > 0.1f) {
            axisX /= omegaMagnitude;/* ww  w .  ja va2  s  .  co m*/
            axisY /= omegaMagnitude;
            axisZ /= omegaMagnitude;
        }

        float thetaOverTwo = omegaMagnitude * dT / 2.0f;
        float sinThetaOverTwo = (float) Math.sin(thetaOverTwo);
        float cosThetaOverTwo = (float) Math.cos(thetaOverTwo);
        deltaRotationVector[0] = sinThetaOverTwo * axisX;
        deltaRotationVector[1] = sinThetaOverTwo * axisY;
        deltaRotationVector[2] = sinThetaOverTwo * axisZ;
        deltaRotationVector[3] = cosThetaOverTwo;
    }
    float[] deltaRotationMatrix = new float[16];
    SensorManager.getRotationMatrixFromVector(deltaRotationMatrix, deltaRotationVector);
    return naivMatrixMultiply(currentRotMatrix, deltaRotationMatrix);
}

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From source file:com.bolatu.gezkoncsvlogger.GyroOrientation.GyroscopeOrientation.java

/**
 * The orientation of the device. Euler angles in units of radians.
 * values[0]: azimuth, rotation around the Z axis. values[1]: pitch,
 * rotation around the X axis. values[2]: roll, rotation around the Y axis.
 *//*from  www . j ava2 s. co m*/
public float[] getOrientation() {
    if (isOrientationValidAccelMag) {
        // Now we get a structure we can pass to get a rotation matrix, and
        // then an orientation vector from Android.
        qvOrientation[0] = (float) qGyroscope.getVectorPart()[0];
        qvOrientation[1] = (float) qGyroscope.getVectorPart()[1];
        qvOrientation[2] = (float) qGyroscope.getVectorPart()[2];
        qvOrientation[3] = (float) qGyroscope.getScalarPart();

        // We need a rotation matrix so we can get the orientation vector...
        // Getting Euler
        // angles from a quaternion is not trivial, so this is the easiest
        // way,
        // but perhaps
        // not the fastest way of doing this.
        SensorManager.getRotationMatrixFromVector(rmGyroscope, qvOrientation);

        // Get the fused orienatation
        SensorManager.getOrientation(rmGyroscope, vOrientation);
    }

    return vOrientation;
}

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From source file:com.example.johnny.multipong.sensorFilters.Filters.GyroscopeOrientation.java

/**
 * The orientation of the device. Euler angles in units of radians.
 * values[0]: azimuth, rotation around the Z axis. values[1]: pitch,
 * rotation around the X axis. values[2]: roll, rotation around the Y axis.
 *//*from  w  ww.j  a  v  a 2s.com*/
public float[] getOrientation() {
    //Log.i("Gyroscope", "Getting orientation!");
    if (isOrientationValidAccelMag) {
        // Now we get a structure we can pass to get a rotation matrix, and
        // then an orientation vector from Android.
        qvOrientation[0] = (float) qGyroscope.getVectorPart()[0];
        qvOrientation[1] = (float) qGyroscope.getVectorPart()[1];
        qvOrientation[2] = (float) qGyroscope.getVectorPart()[2];
        qvOrientation[3] = (float) qGyroscope.getScalarPart();

        // We need a rotation matrix so we can get the orientation vector...
        // Getting Euler
        // angles from a quaternion is not trivial, so this is the easiest
        // way,
        // but perhaps
        // not the fastest way of doing this.
        SensorManager.getRotationMatrixFromVector(rmGyroscope, qvOrientation);

        // Get the fused orienatation
        SensorManager.getOrientation(rmGyroscope, vOrientation);
    }

    return vOrientation;
}

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From source file:com.adstrosoftware.notificationcompass.CompassService.java

@Override
public void onSensorChanged(SensorEvent event) {
    if (event.sensor.getType() == Sensor.TYPE_ROTATION_VECTOR) {
        if (previousEventTimeStamp == Long.MIN_VALUE
                || (event.timestamp - previousEventTimeStamp) > DELAY_IN_NS) {
            previousEventTimeStamp = event.timestamp;

            float[] orientation = new float[3];
            float[] rotationMatrix = new float[16];
            float[] remappedRotationMatrix = new float[16];

            SensorManager.getRotationMatrixFromVector(rotationMatrix, event.values);

            if (event.values[0] <= -45) {
                SensorManager.remapCoordinateSystem(rotationMatrix, SensorManager.AXIS_X, SensorManager.AXIS_Z,
                        remappedRotationMatrix);
            } else {
                remappedRotationMatrix = rotationMatrix;
            }/*from   w  w w  .j  a v  a 2 s  .  c  om*/

            SensorManager.getOrientation(remappedRotationMatrix, orientation);

            Notification notification;

            double azimuth = Math.toDegrees(orientation[0]);

            if (BuildConfig.DEBUG) {
                Log.d(TAG, "Azimuth = " + azimuth);
            }

            if (azimuth <= (NORTH + ANGLE) && azimuth >= (NORTH - ANGLE)) {
                if (BuildConfig.DEBUG)
                    Log.d(TAG, "NORTH");
                notification = buildNotification(R.string.north, R.drawable.ic_stat_north, azimuth);
            } else if (azimuth <= (NORTH_EAST + ANGLE) && azimuth > 0) {
                if (BuildConfig.DEBUG)
                    Log.d(TAG, "NORTH_EAST");
                notification = buildNotification(R.string.north_east, R.drawable.ic_stat_north_east, azimuth);
            } else if (azimuth >= (NORTH_WEST - ANGLE) && azimuth < 0) {
                if (BuildConfig.DEBUG)
                    Log.d(TAG, "NORTH_WEST");
                notification = buildNotification(R.string.north_west, R.drawable.ic_stat_north_west, azimuth);
            } else if (azimuth <= (EAST + ANGLE) && azimuth > 0) {
                if (BuildConfig.DEBUG)
                    Log.d(TAG, "EAST");
                notification = buildNotification(R.string.east, R.drawable.ic_stat_east, azimuth);
            } else if (azimuth >= (WEST - ANGLE) && azimuth < 0) {
                if (BuildConfig.DEBUG)
                    Log.d(TAG, "WEST");
                notification = buildNotification(R.string.west, R.drawable.ic_stat_west, azimuth);
            } else if (azimuth <= (SOUTH_EAST + ANGLE) && azimuth > 0) {
                if (BuildConfig.DEBUG)
                    Log.d(TAG, "SOUTH_EAST");
                notification = buildNotification(R.string.south_east, R.drawable.ic_stat_south_east, azimuth);
            } else if (azimuth >= (SOUTH_WEST - ANGLE) && azimuth < 0) {
                if (BuildConfig.DEBUG)
                    Log.d(TAG, "SOUTH_WEST");
                notification = buildNotification(R.string.south_west, R.drawable.ic_stat_south_west, azimuth);
            } else {
                if (BuildConfig.DEBUG)
                    Log.d(TAG, "SOUTH");
                notification = buildNotification(R.string.south, R.drawable.ic_stat_south, azimuth);
            }

            notificationManager.notify(NOTIFICATION_ID, notification);
        }
    }
}

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From source file:ch.fhnw.comgr.GLES3Activity.java

@Override
public void onSensorChanged(SensorEvent event) {
    if (event.sensor.getType() == Sensor.TYPE_ROTATION_VECTOR && GLES3Lib.usesRotation()) {
        // The ROTATION_VECTOR sensor is a virtual fusion sensor
        // The quality strongly depends on the underlying algorithm and on
        // the sensor manufacturer. (See also chapter 7 in the book:
        // "Professional Sensor Programming (WROX Publishing)"

        // Get 3x3 rotation matrix from XYZ-rotation vector (see docs)
        float R[] = new float[9];
        SensorManager.getRotationMatrixFromVector(R, event.values);

        // Get yaw, pitch & roll rotation angles in radians from rotation matrix
        float[] YPR = new float[3];
        SensorManager.getOrientation(R, YPR);

        // Check display orientation (a preset orientation is set in the AndroidManifext.xml)
        Display display = getWindowManager().getDefaultDisplay();
        DisplayMetrics displaymetrics = new DisplayMetrics();
        display.getMetrics(displaymetrics);
        int screenWidth = displaymetrics.widthPixels;
        int screenHeight = displaymetrics.heightPixels;

        if (screenWidth < screenHeight) { // Map pitch, yaw and roll to portrait display orientation
            final float p = YPR[1] * -1.0f - (float) Math.PI * 0.5f;
            final float y = YPR[0] * -1.0f;
            final float r = YPR[2] * -1.0f;
            myView.queueEvent(new Runnable() {
                public void run() {
                    GLES3Lib.onRotationPYR(p, y, r);
                }//from w w  w  .  jav  a2  s  .  c  o  m
            });
        } else { // Map pitch, yaw and roll to landscape display orientation for Oculus Rift conformance
            final float p = YPR[2] * -1.0f - (float) Math.PI * 0.5f;
            final float y = YPR[0] * -1.0f;
            final float r = YPR[1];
            myView.queueEvent(new Runnable() {
                public void run() {
                    GLES3Lib.onRotationPYR(p, y, r);
                }
            });
        }

        /*
           // Get the rotation quaternion from the XYZ-rotation vector (see docs)
        final float Q[] = new float[4];
        SensorManager.getQuaternionFromVector(Q, event.values);
        myView.queueEvent(new Runnable() {public void run() {GLES3Lib.onRotationQUAT(Q[1],Q[2],Q[3],Q[0]);}});
        */
    }
}

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From source file:com.example.casthelloworld.MainActivity.java

@Override
public void onSensorChanged(SensorEvent sensorEvent) {

    if (sensorEvent.accuracy == SensorManager.SENSOR_STATUS_UNRELIABLE) {
        return;// w  w  w.j a v  a2  s .com
    }

    SensorManager.getRotationMatrixFromVector(mRotationMatrix, sensorEvent.values);

    SensorManager.remapCoordinateSystem(mRotationMatrix, SensorManager.AXIS_X, SensorManager.AXIS_Z,
            mRotationMatrix);

    SensorManager.getOrientation(mRotationMatrix, orientationVals);

    orientationVals[2] = (float) Math.toDegrees(orientationVals[2]);

    float Roll = orientationVals[2];

    if (Roll < -85 && Roll > -95 && lastVal != 0.0f) {
        // Log.d("Middle: ", "" + Roll);
        lastVal = 0.0f;
        try {
            directionMessage.put("direction", (double) lastVal);
        } catch (JSONException e) {
            e.printStackTrace();
        }
        mGameManagerClient.sendGameMessage(directionMessage);
    } else if (Roll <= -95 && Roll > -105 && lastVal != -0.2f) {
        // Log.d("Left", "" + Roll);
        lastVal = -0.2f;
        try {
            directionMessage.put("direction", (double) lastVal);
        } catch (JSONException e) {
            e.printStackTrace();
        }
        mGameManagerClient.sendGameMessage(directionMessage);
    } else if (Roll >= -85 && Roll < -75 && lastVal != 0.2f) {
        // Log.d("Right", "" + Roll);
        lastVal = 0.2f;
        try {
            directionMessage.put("direction", (double) lastVal);
        } catch (JSONException e) {
            e.printStackTrace();
        }
        mGameManagerClient.sendGameMessage(directionMessage);
    } else if (Roll <= -105 && Roll > -115 && lastVal != -0.4f) {
        // Log.d("Left", "" + Roll);
        lastVal = -0.4f;
        try {
            directionMessage.put("direction", (double) lastVal);
        } catch (JSONException e) {
            e.printStackTrace();
        }
        mGameManagerClient.sendGameMessage(directionMessage);
    } else if (Roll >= -75 && Roll < -65 && lastVal != 0.4f) {
        // Log.d("Right", "" + Roll);
        lastVal = 0.4f;
        try {
            directionMessage.put("direction", (double) lastVal);
        } catch (JSONException e) {
            e.printStackTrace();
        }
        mGameManagerClient.sendGameMessage(directionMessage);
    } else if (Roll <= -115 && Roll > -125 && lastVal != -0.6f) {
        // Log.d("Left", "" + Roll);
        lastVal = -0.6f;
        try {
            directionMessage.put("direction", (double) lastVal);
        } catch (JSONException e) {
            e.printStackTrace();
        }
        mGameManagerClient.sendGameMessage(directionMessage);
    } else if (Roll >= -65 && Roll < -55 && lastVal != 0.6f) {
        // Log.d("Right", "" + Roll);
        lastVal = 0.6f;
        try {
            directionMessage.put("direction", (double) lastVal);
        } catch (JSONException e) {
            e.printStackTrace();
        }
        mGameManagerClient.sendGameMessage(directionMessage);
    } else if (Roll <= -125 && Roll > -135 && lastVal != -0.8f) {
        // Log.d("Left", "" + Roll);
        lastVal = -0.8f;
        try {
            directionMessage.put("direction", (double) lastVal);
        } catch (JSONException e) {
            e.printStackTrace();
        }
        mGameManagerClient.sendGameMessage(directionMessage);
    } else if (Roll >= -55 && Roll < -45 && lastVal != 0.8f) {
        // Log.d("Right", "" + Roll);
        lastVal = 0.8f;
        try {
            directionMessage.put("direction", (double) lastVal);
        } catch (JSONException e) {
            e.printStackTrace();
        }
        mGameManagerClient.sendGameMessage(directionMessage);
    } else if (Roll <= -135 && lastVal != -1.0f && lastVal != 1.0f) {
        // Log.d("Left", "" + Roll);
        lastVal = -1.0f;
        try {
            directionMessage.put("direction", (double) lastVal);
        } catch (JSONException e) {
            e.printStackTrace();
        }
        mGameManagerClient.sendGameMessage(directionMessage);
    } else if (Roll >= -45 && lastVal != 1.0f && lastVal != -1.0f) {
        // Log.d("Right", "" + Roll);
        lastVal = 1.0f;
        try {
            directionMessage.put("direction", (double) lastVal);
        } catch (JSONException e) {
            e.printStackTrace();
        }
        mGameManagerClient.sendGameMessage(directionMessage);
    }

}

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From source file:jp.co.recruit_lifestyle.android.widget.BeerSwipeRefreshLayout.java

@Override
public void onSensorChanged(SensorEvent event) {
    if (event.sensor.getType() != Sensor.TYPE_ROTATION_VECTOR || !mBeerView.isMax()) {
        return;/*from w  w  w .jav a  2s  .c om*/
    }

    float[] rotationMatrix = new float[9];
    SensorManager.getRotationMatrixFromVector(rotationMatrix, event.values);

    float[] adjustedRotationMatrix = new float[9];
    SensorManager.remapCoordinateSystem(rotationMatrix, SensorManager.AXIS_X, SensorManager.AXIS_Z,
            adjustedRotationMatrix);

    float[] orientation = new float[3];
    SensorManager.getOrientation(adjustedRotationMatrix, orientation);

    float roll = orientation[2] * -57;

    if (roll < ROLL_LIMIT && roll > -ROLL_LIMIT) {
        mBeerView.drawGlass(-roll);
        mBeerView.drawGlassFroth(-roll, 1);
        mOldRoll = -roll;
    } else {
        mBeerView.drawGlass(mOldRoll);
        mBeerView.drawGlassFroth(mOldRoll, 1);
    }
}

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From source file:com.example.basensortracker.SensorFusionActivity.java

public void gyroFunction(SensorEvent event) {
    // don't start until first accelerometer/magnetometer orientation has
    // been acquired
    if (accMagOrientation == null)
        return;/* www.ja v a2 s  .  co m*/

    // initialisation of the gyroscope based rotation matrix
    if (initState) {
        float[] initMatrix = new float[9];
        initMatrix = getRotationMatrixFromOrientation(accMagOrientation);
        float[] test = new float[3];
        SensorManager.getOrientation(initMatrix, test);
        gyroMatrix = matrixMultiplication(gyroMatrix, initMatrix);
        initState = false;
    }

    // copy the new gyro values into the gyro array
    // convert the raw gyro data into a rotation vector
    float[] deltaVector = new float[4];
    if (timestamp != 0) {
        final float dT = (event.timestamp - timestamp) * NS2S;
        System.arraycopy(event.values, 0, gyro, 0, 3);
        getRotationVectorFromGyro(gyro, deltaVector, dT / 2.0f);
    }

    // measurement done, save current time for next interval
    timestamp = event.timestamp;

    // convert rotation vector into rotation matrix
    float[] deltaMatrix = new float[9];
    SensorManager.getRotationMatrixFromVector(deltaMatrix, deltaVector);

    // apply the new rotation interval on the gyroscope based rotation
    // matrix
    gyroMatrix = matrixMultiplication(gyroMatrix, deltaMatrix);

    // get the gyroscope based orientation from the rotation matrix
    SensorManager.getOrientation(gyroMatrix, gyroOrientation);
}

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