I'm making program for showing objects from map on camera and this works almost well except few degrees to left and right from vertical orientation (like in 80-110 and 260-280 degrees). In other +-320 degrees it works well. I've tried to use TYPE_ROTATION_VECTOR and accelerometer with magnetometer and they have the same result. Does anybody know any solution?
with TYPE_ROTATION_VECTOR:
if (event.sensor.getType() == Sensor.TYPE_ROTATION_VECTOR)
{
float[] roationV = new float[16];
SensorManager.getRotationMatrixFromVector(roationV, event.values);
float[] orientationValuesV = new float[3];
SensorManager.getOrientation(roationV, orientationValuesV);
tvHeading.setText(String.format(
"Coordinates: lat = %1$.2f, lon = %2$.2f, time = %3$.2f",
orientationValuesV[0], orientationValuesV[1], orientationValuesV[2]));
float[] rotationMatrix=new float[16];
mSensorManager.getRotationMatrixFromVector(rotationMatrix, event.values);
float[] orientationValues = new float[3];
SensorManager.getOrientation(rotationMatrix, orientationValues);
double azimuth = Math.toDegrees(orientationValues[0]);
double pitch = Math.toDegrees(orientationValues[1]);
double roll = Math.toDegrees(orientationValues[2]);
tvOrientation.setText(String.format(
"Coordinates: lat = %1$.2f, lon = %2$.2f, time = %3$.2f",
azimuth,pitch,roll));
}
with accelerometer+magnetometer
if (event.sensor == mAccelerometer) {
System.arraycopy(event.values, 0, mLastAccelerometer, 0, event.values.length);
mLastAccelerometer = meanFilterAccelSmoothing
.addSamples(mLastAccelerometer);
mLastAccelerometer = medianFilterAccelSmoothing
.addSamples(mLastAccelerometer);
for (int i = 0; i < mLastAccelerometer.length; i++) {
mLastAccelerometer[i] = (float) Math.floor(mLastAccelerometer[i] * 1000) / 1000;
}
mLastAccelerometerSet = true;
}
if (event.sensor == mMagnetometer) {
System.arraycopy(event.values, 0, mLastMagnetometer, 0, event.values.length);
mLastMagnetometer = meanFilterMagneticSmoothing.addSamples(mLastMagnetometer);
mLastMagnetometer = medianFilterMagneticSmoothing.addSamples(mLastMagnetometer);
for (int i = 0; i < mLastMagnetometer.length; i++) {
mLastMagnetometer[i] = (float) Math.floor(mLastMagnetometer[i] * 1000) / 1000;
}
mLastMagnetometerSet = true;
}
if (mLastAccelerometerSet && mLastMagnetometerSet) {
SensorManager.getRotationMatrix(mR, null, mLastAccelerometer, mLastMagnetometer);
SensorManager.getOrientation(mR, mOrientation);
if (angeles.size() > 0) {
for (int i = 0; i < mapObjects.size(); i++) {
compassFunc(i, mOrientation[0], mOrientation[1], mOrientation[2]);
}
}
private void compassFunc(int number, float... values) {
double angularXSpeed = Math.floor(values[0] * 180 / Math.PI * 100) / 100;
double angularYSpeed = Math.floor(values[1] * 180 / Math.PI * 100) / 100;
double angularZSpeed = Math.floor(values[2] * 180 / Math.PI * 100) / 100;
tvOrientation.setText(String.format(
"Screen: lt= %1$.2f : %2$.2f,rt= %3$.2f : %4$.2f,lb= %5$.2f : %6$.2f,rb= %7$.2f : %8$.2f",
xLeftTop, yLeftTop, xRightTop,yRightTop,xLeftBottom,yLeftBottom,xRightBottom,yRightBottom));
}
This sounds like a typical case of Gimbal Lock. Your description of how rotation around one axis acts up when another reaches +-90 degrees suggests that this is indeed the case.
This is a fundamental problem with Euler angles (Yaw/Azimuth, Pitch, Roll), which is why most such computations are done using rotation matrices or quaternions, and Euler angles most often only are used when a particular orientation is to be displayed to a human (humans are generally bad at interpreting rotation matrices and quaternions).
The
ROTATION_VECTOR
sensor outputs it's data in a quaternion format (source), albeit with rearranged values, and thegetRotationMatrixFromVector()
method turns this into a rotation matrix. I would suggest using one of these descriptions for your internal calculations.The answers to this similar question provide some concrete suggestions on how to solve the issue.