(编辑:我在 augmented reality framework 中添加了最佳工作方法，现在还考虑了陀螺仪，使其再次更加稳定:DroidAR framework)
我编写了一个TestSuite 来了解如何根据您在SensorEventListener.onSensorChanged() 中获得的数据计算旋转角度。
我真的希望你能完成我的解决方案，以帮助像我一样有同样问题的人。下面是代码，我想你看了就明白了。
随意更改它，主要思想是实现几种方法将方向角发送到 opengl View 或任何其他需要它的目标。
方法 1 到 4 正在工作，它们直接将旋转矩阵发送到 OpenGL View 。
方法 6 现在也可以了，但我无法解释为什么必须进行 y x z 的旋转..
所有其他方法都不起作用或有问题，我希望有人知道让它们起作用。我认为最好的方法是方法 5，如果它有效，因为它最容易理解，但我不确定如何效率很高。完整的代码没有优化，所以我建议不要在你的项目中使用它。
这里是:
/**
* This class provides a basic demonstration of how to use the
* {@link android.hardware.SensorManager SensorManager} API to draw a 3D
* compass.
*/
public class SensorToOpenGlTests extends Activity implements Renderer,
SensorEventListener {
private static final boolean TRY_TRANSPOSED_VERSION = false;
/*
* MODUS overview:
*
* 1 - unbufferd data directly transfaired from the rotation matrix to the
* modelview matrix
*
* 2 - buffered version of 1 where both acceleration and magnetometer are
* buffered
*
* 3 - buffered version of 1 where only magnetometer is buffered
*
* 4 - buffered version of 1 where only acceleration is buffered
*
* 5 - uses the orientation sensor and sets the angles how to rotate the
* camera with glrotate()
*
* 6 - uses the rotation matrix to calculate the angles
*
* 7 to 12 - every possibility how the rotationMatrix could be constructed
* in SensorManager.getRotationMatrix (see
* http://www.songho.ca/opengl/gl_anglestoaxes.html#anglestoaxes for all
* possibilities)
*/
private static int MODUS = 2;
private GLSurfaceView openglView;
private FloatBuffer vertexBuffer;
private ByteBuffer indexBuffer;
private FloatBuffer colorBuffer;
private SensorManager mSensorManager;
private float[] rotationMatrix = new float[16];
private float[] accelGData = new float[3];
private float[] bufferedAccelGData = new float[3];
private float[] magnetData = new float[3];
private float[] bufferedMagnetData = new float[3];
private float[] orientationData = new float[3];
// private float[] mI = new float[16];
private float[] resultingAngles = new float[3];
private int mCount;
final static float rad2deg = (float) (180.0f / Math.PI);
private boolean landscape;
public SensorToOpenGlTests() {
}
/** Called with the activity is first created. */
@Override
public void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
mSensorManager = (SensorManager) getSystemService(Context.SENSOR_SERVICE);
openglView = new GLSurfaceView(this);
openglView.setRenderer(this);
setContentView(openglView);
}
@Override
protected void onResume() {
// Ideally a game should implement onResume() and onPause()
// to take appropriate action when the activity looses focus
super.onResume();
openglView.onResume();
if (((WindowManager) getSystemService(WINDOW_SERVICE))
.getDefaultDisplay().getOrientation() == 1) {
landscape = true;
} else {
landscape = false;
}
mSensorManager.registerListener(this, mSensorManager
.getDefaultSensor(Sensor.TYPE_ACCELEROMETER),
SensorManager.SENSOR_DELAY_GAME);
mSensorManager.registerListener(this, mSensorManager
.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD),
SensorManager.SENSOR_DELAY_GAME);
mSensorManager.registerListener(this, mSensorManager
.getDefaultSensor(Sensor.TYPE_ORIENTATION),
SensorManager.SENSOR_DELAY_GAME);
}
@Override
protected void onPause() {
// Ideally a game should implement onResume() and onPause()
// to take appropriate action when the activity looses focus
super.onPause();
openglView.onPause();
mSensorManager.unregisterListener(this);
}
public int[] getConfigSpec() {
// We want a depth buffer, don't care about the
// details of the color buffer.
int[] configSpec = { EGL10.EGL_DEPTH_SIZE, 16, EGL10.EGL_NONE };
return configSpec;
}
public void onDrawFrame(GL10 gl) {
// clear screen and color buffer:
gl.glClear(GL10.GL_COLOR_BUFFER_BIT | GL10.GL_DEPTH_BUFFER_BIT);
// set target matrix to modelview matrix:
gl.glMatrixMode(GL10.GL_MODELVIEW);
// init modelview matrix:
gl.glLoadIdentity();
// move camera away a little bit:
if ((MODUS == 1) || (MODUS == 2) || (MODUS == 3) || (MODUS == 4)) {
if (landscape) {
// in landscape mode first remap the rotationMatrix before using
// it with glMultMatrixf:
float[] result = new float[16];
SensorManager.remapCoordinateSystem(rotationMatrix,
SensorManager.AXIS_Y, SensorManager.AXIS_MINUS_X,
result);
gl.glMultMatrixf(result, 0);
} else {
gl.glMultMatrixf(rotationMatrix, 0);
}
} else {
//in all other modes do the rotation by hand
//the order y x z is important!
gl.glRotatef(resultingAngles[2], 0, 1, 0);
gl.glRotatef(resultingAngles[1], 1, 0, 0);
gl.glRotatef(resultingAngles[0], 0, 0, 1);
}
//move the axis to simulate augmented behaviour:
gl.glTranslatef(0, 2, 0);
// draw the 3 axis on the screen:
gl.glVertexPointer(3, GL_FLOAT, 0, vertexBuffer);
gl.glColorPointer(4, GL_FLOAT, 0, colorBuffer);
gl.glDrawElements(GL_LINES, 6, GL_UNSIGNED_BYTE, indexBuffer);
}
public void onSurfaceChanged(GL10 gl, int width, int height) {
gl.glViewport(0, 0, width, height);
float r = (float) width / height;
gl.glMatrixMode(GL10.GL_PROJECTION);
gl.glLoadIdentity();
gl.glFrustumf(-r, r, -1, 1, 1, 10);
}
public void onSurfaceCreated(GL10 gl, EGLConfig config) {
gl.glDisable(GL10.GL_DITHER);
gl.glClearColor(1, 1, 1, 1);
gl.glEnable(GL10.GL_CULL_FACE);
gl.glShadeModel(GL10.GL_SMOOTH);
gl.glEnable(GL10.GL_DEPTH_TEST);
gl.glEnableClientState(GL10.GL_VERTEX_ARRAY);
gl.glEnableClientState(GL10.GL_COLOR_ARRAY);
// load the 3 axis and there colors:
float vertices[] = { 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1 };
float colors[] = { 0, 0, 0, 0, 1, 0, 0, 1, 0, 1, 0, 1, 0, 0, 1, 1 };
byte indices[] = { 0, 1, 0, 2, 0, 3 };
ByteBuffer vbb;
vbb = ByteBuffer.allocateDirect(vertices.length * 4);
vbb.order(ByteOrder.nativeOrder());
vertexBuffer = vbb.asFloatBuffer();
vertexBuffer.put(vertices);
vertexBuffer.position(0);
vbb = ByteBuffer.allocateDirect(colors.length * 4);
vbb.order(ByteOrder.nativeOrder());
colorBuffer = vbb.asFloatBuffer();
colorBuffer.put(colors);
colorBuffer.position(0);
indexBuffer = ByteBuffer.allocateDirect(indices.length);
indexBuffer.put(indices);
indexBuffer.position(0);
}
public void onAccuracyChanged(Sensor sensor, int accuracy) {
}
public void onSensorChanged(SensorEvent event) {
// load the new values:
loadNewSensorData(event);
if (MODUS == 1) {
SensorManager.getRotationMatrix(rotationMatrix, null, accelGData,
magnetData);
}
if (MODUS == 2) {
rootMeanSquareBuffer(bufferedAccelGData, accelGData);
rootMeanSquareBuffer(bufferedMagnetData, magnetData);
SensorManager.getRotationMatrix(rotationMatrix, null,
bufferedAccelGData, bufferedMagnetData);
}
if (MODUS == 3) {
rootMeanSquareBuffer(bufferedMagnetData, magnetData);
SensorManager.getRotationMatrix(rotationMatrix, null, accelGData,
bufferedMagnetData);
}
if (MODUS == 4) {
rootMeanSquareBuffer(bufferedAccelGData, accelGData);
SensorManager.getRotationMatrix(rotationMatrix, null,
bufferedAccelGData, magnetData);
}
if (MODUS == 5) {
// this mode uses the sensor data recieved from the orientation
// sensor
resultingAngles = orientationData.clone();
if ((-90 > resultingAngles[1]) || (resultingAngles[1] > 90)) {
resultingAngles[1] = orientationData[0];
resultingAngles[2] = orientationData[1];
resultingAngles[0] = orientationData[2];
}
}
if (MODUS == 6) {
SensorManager.getRotationMatrix(rotationMatrix, null, accelGData,
magnetData);
final float[] anglesInRadians = new float[3];
SensorManager.getOrientation(rotationMatrix, anglesInRadians);
//TODO check for landscape mode
resultingAngles[0] = anglesInRadians[0] * rad2deg;
resultingAngles[1] = anglesInRadians[1] * rad2deg;
resultingAngles[2] = anglesInRadians[2] * -rad2deg;
}
if (MODUS == 7) {
SensorManager.getRotationMatrix(rotationMatrix, null, accelGData,
magnetData);
rotationMatrix = transpose(rotationMatrix);
/*
* this assumes that the rotation matrices are multiplied in x y z
* order Rx*Ry*Rz
*/
resultingAngles[2] = (float) (Math.asin(rotationMatrix[2]));
final float cosB = (float) Math.cos(resultingAngles[2]);
resultingAngles[2] = resultingAngles[2] * rad2deg;
resultingAngles[0] = -(float) (Math.acos(rotationMatrix[0] / cosB))
* rad2deg;
resultingAngles[1] = (float) (Math.acos(rotationMatrix[10] / cosB))
* rad2deg;
}
if (MODUS == 8) {
SensorManager.getRotationMatrix(rotationMatrix, null, accelGData,
magnetData);
rotationMatrix = transpose(rotationMatrix);
/*
* this assumes that the rotation matrices are multiplied in z y x
*/
resultingAngles[2] = (float) (Math.asin(-rotationMatrix[8]));
final float cosB = (float) Math.cos(resultingAngles[2]);
resultingAngles[2] = resultingAngles[2] * rad2deg;
resultingAngles[1] = (float) (Math.acos(rotationMatrix[9] / cosB))
* rad2deg;
resultingAngles[0] = (float) (Math.asin(rotationMatrix[4] / cosB))
* rad2deg;
}
if (MODUS == 9) {
SensorManager.getRotationMatrix(rotationMatrix, null, accelGData,
magnetData);
rotationMatrix = transpose(rotationMatrix);
/*
* this assumes that the rotation matrices are multiplied in z x y
*
* note z axis looks good at this one
*/
resultingAngles[1] = (float) (Math.asin(rotationMatrix[9]));
final float minusCosA = -(float) Math.cos(resultingAngles[1]);
resultingAngles[1] = resultingAngles[1] * rad2deg;
resultingAngles[2] = (float) (Math.asin(rotationMatrix[8]
/ minusCosA))
* rad2deg;
resultingAngles[0] = (float) (Math.asin(rotationMatrix[1]
/ minusCosA))
* rad2deg;
}
if (MODUS == 10) {
SensorManager.getRotationMatrix(rotationMatrix, null, accelGData,
magnetData);
rotationMatrix = transpose(rotationMatrix);
/*
* this assumes that the rotation matrices are multiplied in y x z
*/
resultingAngles[1] = (float) (Math.asin(-rotationMatrix[6]));
final float cosA = (float) Math.cos(resultingAngles[1]);
resultingAngles[1] = resultingAngles[1] * rad2deg;
resultingAngles[2] = (float) (Math.asin(rotationMatrix[2] / cosA))
* rad2deg;
resultingAngles[0] = (float) (Math.acos(rotationMatrix[5] / cosA))
* rad2deg;
}
if (MODUS == 11) {
SensorManager.getRotationMatrix(rotationMatrix, null, accelGData,
magnetData);
rotationMatrix = transpose(rotationMatrix);
/*
* this assumes that the rotation matrices are multiplied in y z x
*/
resultingAngles[0] = (float) (Math.asin(rotationMatrix[4]));
final float cosC = (float) Math.cos(resultingAngles[0]);
resultingAngles[0] = resultingAngles[0] * rad2deg;
resultingAngles[2] = (float) (Math.acos(rotationMatrix[0] / cosC))
* rad2deg;
resultingAngles[1] = (float) (Math.acos(rotationMatrix[5] / cosC))
* rad2deg;
}
if (MODUS == 12) {
SensorManager.getRotationMatrix(rotationMatrix, null, accelGData,
magnetData);
rotationMatrix = transpose(rotationMatrix);
/*
* this assumes that the rotation matrices are multiplied in x z y
*/
resultingAngles[0] = (float) (Math.asin(-rotationMatrix[1]));
final float cosC = (float) Math.cos(resultingAngles[0]);
resultingAngles[0] = resultingAngles[0] * rad2deg;
resultingAngles[2] = (float) (Math.acos(rotationMatrix[0] / cosC))
* rad2deg;
resultingAngles[1] = (float) (Math.acos(rotationMatrix[5] / cosC))
* rad2deg;
}
logOutput();
}
/**
* transposes the matrix because it was transposted (inverted, but here its
* the same, because its a rotation matrix) to be used for opengl
*
* @param source
* @return
*/
private float[] transpose(float[] source) {
final float[] result = source.clone();
if (TRY_TRANSPOSED_VERSION) {
result[1] = source[4];
result[2] = source[8];
result[4] = source[1];
result[6] = source[9];
result[8] = source[2];
result[9] = source[6];
}
// the other values in the matrix are not relevant for rotations
return result;
}
private void rootMeanSquareBuffer(float[] target, float[] values) {
final float amplification = 200.0f;
float buffer = 20.0f;
target[0] += amplification;
target[1] += amplification;
target[2] += amplification;
values[0] += amplification;
values[1] += amplification;
values[2] += amplification;
target[0] = (float) (Math
.sqrt((target[0] * target[0] * buffer + values[0] * values[0])
/ (1 + buffer)));
target[1] = (float) (Math
.sqrt((target[1] * target[1] * buffer + values[1] * values[1])
/ (1 + buffer)));
target[2] = (float) (Math
.sqrt((target[2] * target[2] * buffer + values[2] * values[2])
/ (1 + buffer)));
target[0] -= amplification;
target[1] -= amplification;
target[2] -= amplification;
values[0] -= amplification;
values[1] -= amplification;
values[2] -= amplification;
}
private void loadNewSensorData(SensorEvent event) {
final int type = event.sensor.getType();
if (type == Sensor.TYPE_ACCELEROMETER) {
accelGData = event.values.clone();
}
if (type == Sensor.TYPE_MAGNETIC_FIELD) {
magnetData = event.values.clone();
}
if (type == Sensor.TYPE_ORIENTATION) {
orientationData = event.values.clone();
}
}
private void logOutput() {
if (mCount++ > 30) {
mCount = 0;
Log.d("Compass", "yaw0: " + (int) (resultingAngles[0])
+ " pitch1: " + (int) (resultingAngles[1]) + " roll2: "
+ (int) (resultingAngles[2]));
}
}
}
最佳答案
我还不能测试代码(但我会的，看起来很有趣)。引起我注意的一件事是，您似乎没有以任何方式过滤传感器数据。
传感器读数本质上是非常嘈杂，尤其是磁传感器。我建议你实现一些低通滤波。
见我的previous answer供进一步阅读。
关于android - 如何结合 OpenGL 使用 onSensorChanged 传感器数据，我们在Stack Overflow上找到一个类似的问题： https://stackoverflow.com/questions/2881128/