Android AR orientation

问题

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));
}

回答1:

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 the getRotationMatrixFromVector() 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.

来源：https://stackoverflow.com/questions/30696782/android-ar-orientation