Android: Problems calculating the Orientation of the Device

Question

i\'am trying to build a simple Augmented Reality App, so I start working with sensor Data.

According to this thread (Android compass example) and ex

Answer 1

Answer from Tíbó is good, but if you log roll value, you will expect irregular numbers. (roll is important for AR Browsers)

This is due to

SensorManager.remapCoordinateSystem(mRotationMatrix,
                    SensorManager.AXIS_X, SensorManager.AXIS_Z,
                    mRotationMatrix);

You have to use different matrix for in and out of remap. This following code works for me with a correct roll value:

@Override
public void onSensorChanged(SensorEvent event)
{
    // It is good practice to check that we received the proper sensor event
    if (event.sensor.getType() == Sensor.TYPE_ROTATION_VECTOR)
    {
        // Convert the rotation-vector to a 4x4 matrix.
        SensorManager.getRotationMatrixFromVector(mRotationMatrixFromVector, event.values);
        SensorManager.remapCoordinateSystem(mRotationMatrixFromVector,
                    SensorManager.AXIS_X, SensorManager.AXIS_Z,
                    mRotationMatrix);
        SensorManager.getOrientation(mRotationMatrix, orientationVals);

        // Optionally convert the result from radians to degrees
        orientationVals[0] = (float) Math.toDegrees(orientationVals[0]);
        orientationVals[1] = (float) Math.toDegrees(orientationVals[1]);
        orientationVals[2] = (float) Math.toDegrees(orientationVals[2]);

        tv.setText(" Yaw: " + orientationVals[0] + "\n Pitch: "
                + orientationVals[1] + "\n Roll (not used): "
                + orientationVals[2]);

    }
}