mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-07 18:47:48 +08:00
Tango: fixed wrong bearing value on landscape orientation
This commit is contained in:
matlabbe
@@ -1,11 +1,8 @@
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package com.introlab.rtabmap;
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import java.io.BufferedInputStream;
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import java.io.BufferedOutputStream;
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import java.io.File;
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import java.io.FileInputStream;
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import java.io.FileOutputStream;
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import java.io.FilenameFilter;
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import java.io.IOException;
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import java.io.InputStream;
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import java.io.OutputStream;
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@@ -16,16 +13,11 @@ import java.util.ArrayList;
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import java.util.Arrays;
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import java.util.Date;
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import java.util.HashMap;
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import java.util.List;
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import java.util.zip.ZipEntry;
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import java.util.zip.ZipOutputStream;
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import android.app.ActionBar;
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import android.app.Activity;
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import android.app.ActivityManager;
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import android.app.ActivityManager.MemoryInfo;
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import android.app.AlertDialog;
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import android.app.Dialog;
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import android.app.Notification;
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import android.app.NotificationManager;
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import android.app.PendingIntent;
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@@ -41,46 +33,28 @@ import android.content.pm.ApplicationInfo;
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import android.content.pm.PackageInfo;
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import android.content.pm.PackageManager;
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import android.content.pm.PackageManager.NameNotFoundException;
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import android.content.res.Configuration;
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import android.database.Cursor;
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import android.database.sqlite.SQLiteDatabase;
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import android.graphics.Bitmap;
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import android.graphics.Canvas;
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import android.graphics.Color;
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import android.graphics.Paint;
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import android.graphics.Rect;
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import android.graphics.Typeface;
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import android.hardware.Camera;
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import android.hardware.Sensor;
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import android.hardware.SensorEvent;
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import android.hardware.SensorEventListener;
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import android.hardware.SensorManager;
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import android.graphics.Matrix;
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import android.graphics.Point;
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import android.hardware.display.DisplayManager;
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import android.location.Location;
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import android.location.LocationListener;
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import android.location.LocationManager;
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import android.net.ConnectivityManager;
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import android.net.NetworkInfo;
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import android.net.Uri;
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import android.opengl.GLSurfaceView;
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import android.os.AsyncTask;
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import android.os.Bundle;
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import android.os.Environment;
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import android.os.Handler;
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import android.os.Debug;
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import android.os.IBinder;
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import android.os.Message;
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import android.preference.ListPreference;
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import android.preference.PreferenceManager;
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import android.text.Editable;
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import android.text.Html;
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import android.text.InputType;
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import android.text.SpannableString;
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import android.text.TextPaint;
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import android.text.method.HideReturnsTransformationMethod;
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import android.text.method.LinkMovementMethod;
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import android.text.util.Linkify;
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import android.util.Log;
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import android.util.TypedValue;
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import android.view.ContextMenu;
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@@ -91,30 +65,23 @@ import android.view.MenuItem;
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import android.view.MenuItem.OnMenuItemClickListener;
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import android.view.MenuInflater;
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import android.view.MotionEvent;
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import android.view.Surface;
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import android.view.View;
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import android.view.ContextMenu.ContextMenuInfo;
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import android.view.View.OnClickListener;
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import android.view.View.OnCreateContextMenuListener;
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import android.view.View.OnTouchListener;
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import android.view.Window;
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import android.view.WindowManager;
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import android.view.inputmethod.EditorInfo;
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import android.webkit.WebView;
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import android.webkit.WebViewClient;
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import android.widget.AdapterView;
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import android.widget.AdapterView.OnItemLongClickListener;
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import android.widget.AdapterView.OnItemSelectedListener;
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import android.widget.ArrayAdapter;
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import android.widget.Button;
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import android.widget.EditText;
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import android.widget.LinearLayout;
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import android.widget.ListView;
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import android.widget.NumberPicker;
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import android.widget.RelativeLayout;
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import android.widget.SeekBar;
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import android.widget.SeekBar.OnSeekBarChangeListener;
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import android.widget.Spinner;
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import android.widget.TextView;
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import android.widget.Toast;
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import android.widget.ToggleButton;
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@@ -230,7 +197,20 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
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private LocationListener mLocationListener;
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private Location mLastKnownLocation;
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private SensorManager mSensorManager;
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Sensor mAccelerometer;
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Sensor mMagnetometer;
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private float mCompassDeg = 0.0f;
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private float[] mLastAccelerometer = new float[3];
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private float[] mLastMagnetometer = new float[3];
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private boolean mLastAccelerometerSet = false;
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private boolean mLastMagnetometerSet = false;
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private Matrix mDeviceToCamera = new Matrix();
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private Matrix mRMat = new Matrix();
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private Matrix mNewR = new Matrix();
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private float[] mR = new float[9];
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private float[] mOrientation = new float[3];
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private int mTotalLoopClosures = 0;
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private boolean mMapIsEmpty = false;
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@@ -535,6 +515,10 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
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};
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mSensorManager = (SensorManager) getSystemService(SENSOR_SERVICE);
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mAccelerometer = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
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mMagnetometer = mSensorManager.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD);
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float [] values = {1,0,0,0,0,1,0,-1,0};
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mDeviceToCamera.setValues(values);
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setCamera(1);
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@@ -543,8 +527,25 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
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@Override
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public void onSensorChanged(SensorEvent event) {
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// get the angle around the z-axis rotated
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mCompassDeg = event.values[0];
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if (event.sensor == mAccelerometer) {
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System.arraycopy(event.values, 0, mLastAccelerometer, 0, event.values.length);
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mLastAccelerometerSet = true;
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} else if (event.sensor == mMagnetometer) {
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System.arraycopy(event.values, 0, mLastMagnetometer, 0, event.values.length);
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mLastMagnetometerSet = true;
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}
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if (mLastAccelerometerSet && mLastMagnetometerSet) {
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SensorManager.getRotationMatrix(mR, null, mLastAccelerometer, mLastMagnetometer);
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mRMat.setValues(mR);
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mNewR.setConcat(mRMat, mDeviceToCamera) ;
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mNewR.getValues(mR);
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SensorManager.getOrientation(mR, mOrientation);
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mCompassDeg = mOrientation[0] * 180.0f/(float)Math.PI;
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if(mCompassDeg<0.0f)
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{
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mCompassDeg += 360.0f;
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}
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}
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}
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@Override
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@@ -731,7 +732,8 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
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if(mGPSSaved)
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{
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mLocationManager.requestLocationUpdates(LocationManager.GPS_PROVIDER, 0, 0, mLocationListener);
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mSensorManager.registerListener(this, mSensorManager.getDefaultSensor(Sensor.TYPE_ORIENTATION), SensorManager.SENSOR_DELAY_GAME);
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mSensorManager.registerListener(this, mAccelerometer, SensorManager.SENSOR_DELAY_UI);
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mSensorManager.registerListener(this, mMagnetometer, SensorManager.SENSOR_DELAY_UI);
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}
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if(!DISABLE_LOG) Log.d(TAG, "set mapping parameters");
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@@ -1228,7 +1230,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
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}
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else
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{
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statusTexts[3] = getString(R.string.gps)+"[not yet available]";
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statusTexts[3] = getString(R.string.gps)+String.format("[not yet available, %.0fdeg]", mCompassDeg);
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}
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}
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