我的增强现实应用程序需要摄像机视图的罗盘方位,并且有很多从传感器管理器获取方向的示例.
然而,我发现结果值取决于手机方向 – 旋转到右侧的景观与旋转到左侧的景观大约相差10度(ROTATION_0和ROTATION_180之间的差异较小,但仍然不同).这种差异足以破坏任何AR效应.
它与校准有关吗？ (我不相信我正在做正确的8件事 – 我尝试过在youtube上找到的各种方法).
任何想法为何有区别？我搞砸了旋转矩阵的东西吗？我可以选择将应用程序限制为单一方向,但仍然担心罗盘读数仍然不是很准确(即使过滤后它相当稳定)
public void onSensorChanged(SensorEvent event) {
if (event.accuracy == SensorManager.SENSOR_STATUS_UNRELIABLE) {
return;
}
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[] rotationMatrixA = mRotationMatrixA;
if (SensorManager.getRotationMatrix(rotationMatrixA,null,mGravity,mGeomagnetic)) {
float[] rotationMatrixB = mRotationMatrixB;
Display display = getWindowManager().getDefaultDisplay();
int deviceRot = display.getRotation();
switch (deviceRot)
{
// portrait - normal
case Surface.ROTATION_0: SensorManager.remapCoordinateSystem(rotationMatrixA,SensorManager.AXIS_X,SensorManager.AXIS_Z,rotationMatrixB);
break;
// rotated left (landscape - keys to bottom)
case Surface.ROTATION_90: SensorManager.remapCoordinateSystem(rotationMatrixA,SensorManager.AXIS_MINUS_X,rotationMatrixB);
break;
// upside down
case Surface.ROTATION_180: SensorManager.remapCoordinateSystem(rotationMatrixA,rotationMatrixB);
break;
// rotated right
case Surface.ROTATION_270: SensorManager.remapCoordinateSystem(rotationMatrixA,SensorManager.AXIS_MINUS_Z,rotationMatrixB);
break;
default: break;
}
float[] dv = new float[3];
SensorManager.getOrientation(rotationMatrixB,dv);
// add to smoothing filter
fd.AddLatest((double)dv[0]);
}
mDraw.invalidate();
}
}
解决方法
试试这个
public void onSensorChanged(SensorEvent event) {
if (event.accuracy == SensorManager.SENSOR_STATUS_UNRELIABLE) {
return;
}
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[] rotationMatrixA = mRotationMatrixA;
if (SensorManager.getRotationMatrix(rotationMatrixA,mGeomagnetic)) {
float[] rotationMatrixB = mRotationMatrixB;
SensorManager.remapCoordinateSystem(rotationMatrixA,rotationMatrixB);
float[] dv = new float[3];
SensorManager.getOrientation(rotationMatrixB,dv);
// add to smoothing filter
fd.AddLatest((double)dv[0]);
}
mDraw.invalidate();
}
}
你不需要switch语句,似乎有很多关于getRotationMatrix,remapCoordinateSystem和来自stackoverflow问题的getOrientation的混淆.我可能会在不久的将来写下这些的详细解释.
