Azimuth Pitch e Roll su Android N

Gestione dei sensori con RotationMatrix su Android



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package com.example.lucainnocenti.sensori;

import android.content.Context;
import android.hardware.Sensor;
import android.hardware.SensorEvent;
import android.hardware.SensorEventListener;
import android.hardware.SensorManager;
import android.support.v7.app.AppCompatActivity;
import android.os.Bundle;
import android.util.Log;

public class MainActivity extends AppCompatActivity implements SensorEventListener{

    private SensorManager mSensorManager;
    private final float[] mAccelerometerReading = new float[3];
    private final float[] mMagnetometerReading = new float[3];

    private final float[] mRotationMatrix = new float[9];
    private final float[] mOrientationAngles = new float[3];
    private Sensor mAccelerometer;
    private Sensor mMagnetometer;

    private double az;
    private double pi;
    private double ro;


    @Override    protected void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.activity_main);
        mSensorManager = (SensorManager) getSystemService(Context.SENSOR_SERVICE);
        mAccelerometer = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
        mMagnetometer = mSensorManager.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD);


    }

    @Override    public void onAccuracyChanged(Sensor sensor, int accuracy) {

    }

    @Override    protected void onResume() {
        super.onResume();

        mSensorManager.registerListener(this, mAccelerometer, SensorManager.SENSOR_DELAY_NORMAL, SensorManager.SENSOR_DELAY_UI);
        mSensorManager.registerListener(this, mMagnetometer, SensorManager.SENSOR_DELAY_NORMAL, SensorManager.SENSOR_DELAY_UI);

    }

    @Override    protected void onPause() {
        super.onPause();
        mSensorManager.unregisterListener(this);
    }

    @Override    public void onSensorChanged(SensorEvent event) {

        if (event.sensor == mAccelerometer) {
            System.arraycopy(event.values, 0, mAccelerometerReading, 0, mAccelerometerReading.length);
        }
        else if (event.sensor == mMagnetometer) {
            System.arraycopy(event.values, 0, mMagnetometerReading, 0, mMagnetometerReading.length);
        }
        updateOrientationAngles();
    }


    public void updateOrientationAngles() {
        mSensorManager.getRotationMatrix(mRotationMatrix, null, mAccelerometerReading, mMagnetometerReading);
        mSensorManager.getOrientation(mRotationMatrix, mOrientationAngles);
        az = Math.toDegrees(mOrientationAngles[0]);
        pi = Math.toDegrees(mOrientationAngles[1]);
        ro = Math.toDegrees(mOrientationAngles[2]);
        Log.d("orienta", "Az:"+String.valueOf(az)+" Pi:"+String.valueOf(pi)+" Ro:"+String.valueOf(ro));

    }
}