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copied!<p>You're supplying <code>null</code> for the inclination matrix - that's not correct.</p> <pre><code>SensorManager.getRotationMatrix(rotationMatrix, null, gravity, geomag); </code></pre> <p>There are lots of examples on how to use the SensorManager's <code>getRotationMatrix(...)</code>. </p> <pre><code>float[] R = new float[16]; float[] I = new float[16]; if (SensorManager.getRotationMatrix(R, I, accelerometerValues, geomagneticValues)) { float[] anglesInRadians = new float[3]; SensorManager.getOrientation(R, anglesInRadians); ... } </code></pre> <p>Also "<em>rotate the opengl's camera to wherever the phone is pointing to</em>" is rather ambiguous. For instance, if you meant some sort of a augmented reality approach, then you should be mapping <code>AXIS_X</code> to <code>AXIS_Z</code>. Note that remapping might not even be necessary, e.g. when you already fix your activity to landscape mode. More details <a href="http://developer.android.com/reference/android/hardware/SensorManager.html#remapCoordinateSystem%28float[],%20int,%20int,%20float[]%29" rel="nofollow noreferrer">here</a>.</p> <p>Some example codes involving sensor data and OpenGL ES:</p> <ul> <li><a href="http://www.netmite.com/android/mydroid/cupcake/development/samples/Compass/src/com/example/android/compass/CompassActivity.java" rel="nofollow noreferrer"><code>CompassActivity</code></a></li> <li><a href="https://stackoverflow.com/questions/2881128/how-to-use-onsensorchanged-sensor-data-in-combination-with-opengl">How to use onSensorChanged sensor data in combination with OpenGL</a></li> </ul>

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