SORU
21 Mayıs 2010, Cuma


Nasıl OpenGL ile birlikte onSensorChanged sensör verileri kullanmak için

( edit: ben benim en iyi çalışma yaklaşımı augmented reality framework eklendi ve şimdi de çok daha stabil bir daha yapar jiroskop dikkate alın: DroidAR framework )

SensorEventListener.onSensorChanged()olsun veri döndürme açıları hesaplamak için nasıl öğrenmek için bir TestSuite yazdım. Gerçekten benim çözüm benim gibi aynı sorunları olan insanlara yardım etmek için tam kurtaramadım. İşte bu kod, bir kere okuduktan sonra anlayacaksınız sanırım.

Bunu değiştirmek için çekinmeyin, ana fikri birkaç yöntem opengl görünüm için oryantasyon açıları göndermek için uygulamak için veya başka bir hedef gerekir.

4 yöntem 1 Çalışma, doğrudan OpenGl görünüm rotationMatrix gönderiyorlar.

yöntem 6 şimdi çok çalışır, ama dönme niçin yapılması gerektiğini açıklamam yok y x z..

diğer tüm yöntemler çalışma ya da hatalı değildir ve birileri onları çalıştırmayı bildiğini umuyorum.En iyi yöntem ama ne kadar etkili olduğundan emin değilim anlamak kolay olurdu çünkü işe yarar yöntem 5 olacağını düşünüyorum. tam kod projenizde olduğu gibi kullanmak için değil tavsiye ederim çok optimize değil.

işte burada:

/**
 * 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]));
  }
 }
}

CEVAP
13 EKİM 2013, Pazar


Test için daha kolay olur ve hata ayıklama Yöntemi 5 GLU. bak fonksiyonu http://www.opengl.org/sdk/docs/man2/xhtml/gluLookAt.xml

Eğer cihaz de taşırsanız villoren iyi sensör verileri filtre önerdi, ama çok rahatsız olmaz da, yavaş yavaş. Eğer denemek istiyorsanız, basit bir tek aşağıdaki gibi olacaktır

newValue = oldValue * 0.9   sensorValue * 0.1;
oldValue = newValue;

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