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PONeed to calculate rotation-vector from Sensor.TYPE_ORIENTATION data
 

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  1. PONeed to calculate rotation-vector from Sensor.TYPE_ORIENTATION data
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    <p>I need to calculate a rotation vector out of the data i get from Sensor.TYPE_ORIENTATION.</p> <p>The sensor data is defined like this:</p> <ul> <li>the values have to be recalculated to become a correct 3d position: values[0]: Azimuth, angle between the magnetic north direction and the Y axis, around the Z axis (0 to 359). 0=North, 90=East, 180=South, 270=West </li> <li>values<a href="https://github.com/bitstars/droidar" rel="nofollow noreferrer">1</a>: Pitch, rotation around X axis (-180 to 180), with positive values when the z-axis moves toward the y-axis. </li> <li>values[2]: Roll, rotation around Y axis (-90 to 90), with positive values when the x-axis moves away from the z-axis</li> </ul> <p>I need all three values like the Z axis value (from 0 to 360 degree). I tried a lot but cant figure out how to do this :/ </p> <p><strong>( edit: To see the idea behind in working code take a look at the class ActionWithSensorProcessing of the <a href="https://github.com/bitstars/droidar" rel="nofollow noreferrer">DroidAR framework</a> there you can see how the different event types can be processed.)</strong></p> <p>i also tried to use Sensor.TYPE_ACCELEROMETER and Sensor.TYPE_MAGNETIC_FIELD to calculate this 3d vector on my own. here is the code:</p> <pre><code>final float[] inR = new float[16]; // load inR matrix from current sensor data: SensorManager.getRotationMatrix(inR, null, gravityValues, geomagneticValues); float[] orientation = new float[3]; SensorManager.getOrientation(inR, orientation); mapMagAndAcclDataToVector(orientation); //here i do some *360 stuff orientetionChanged(orientation); //then the correct values are passed (in theorie) </code></pre> <p>But this didn't work and i think it is much to complicated. So i bet there is a simple solution how to recalc the values of ensor.TYPE_ORIENTATION to make them a 3d rotation vector, but i just dont know how to do it. If you know the answer please tell me.</p> <p>EDIT: i should add that i want to pass there values to OpenGL to align it to the axis like this:</p> <pre><code>gl.glRotatef(values[1], 1, 0, 0); gl.glRotatef(values[2], 0, 1, 0); gl.glRotatef(values[0], 0, 0, 1); </code></pre> <p>but because of the strange value ranges i obviously cant do this. the same problem with the values from SensorManager.getOrientation because they flip too when you pass the horizon line..</p> <p>another solution would be to calculate the angles using the inR matrix but i think there must be an easier solution (?)</p>
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