Uso de cuaternión en lugar de balanceo, inclinación y guiñada para rastrear el movimiento del dispositivo
Por favor, tenga cuidado con mi larga pregunta, estoy tratando de dejarlo lo más claro posible.
Lo que estoy tratando de hacer es obtener la actitud (balanceo y orientación) cuando se toma una fotografía con la cámara y luego guardar los valores de actitud en nsuserdefaults. Después de guardar, la orientación cambia y luego intenta llevar el teléfono a la misma actitud que la imagen que se tomó al comparar constantemente los valores de actitud (guardados y actuales).
Para el propósito de la interfaz, la interfaz de usuario tiene 3 puntos (uno para cada parámetro de actitud) en la pantalla que guía la orientación correcta de la fotografía. Al alcanzar la actitud correcta, la bandera de coincidencia se muestra en la pantalla.
He estado encontrando los valores de balanceo, cabeceo y guiñada como:
CMQuaternion quat = self.motionManager.deviceMotion.attitude.quaternion;
myRoll = radiansToDegrees(atan2(2*(quat.y*quat.w - quat.x*quat.z), 1 - 2*quat.y*quat.y - 2*quat.z*quat.z)) ;
myPitch = radiansToDegrees(atan2(2*(quat.x*quat.w + quat.y*quat.z), 1 - 2*quat.x*quat.x - 2*quat.z*quat.z));
myYaw = radiansToDegrees(2*(quat.x*quat.y + quat.w*quat.z));
Cuando noté que hay cierta disparidad en los valores de guiñada, busqué y pude encontrar desde aquí:enlazar, ese
guiñar, lanzar y rodar desde un cuaternión tendrá el mismo problema que si estuviera usando solo guiñar, lanzar y rodar. Tienes que usar cuaterniones.EN TODOS LADOS en tu código y olvídate de yaw, pitch and roll
Así que ahora supongo que tengo que codificar todo de nuevo ... Por favor, ¿podría ser tan amable de indicarme un código de muestra para usar?Cuaternio ¿para este propósito?
Aquí está el código en el que estoy trabajando:
En el ViewController.m, dentro de la imagen: didFinishSavingWithError:
[self.motionManager startDeviceMotionUpdatesToQueue:[NSOperationQueue mainQueue] withHandler:^(CMDeviceMotion *motion, NSError *error) {
CMQuaternion quat = self.motionManager.deviceMotion.attitude.quaternion;
double tempYaw = radiansToDegrees(asin(2*(quat.x*quat.y + quat.w*quat.z)));
double tempRoll = radiansToDegrees(atan2(2*(quat.y*quat.w - quat.x*quat.z), 1 - 2*quat.y*quat.y - 2*quat.z*quat.z)) ;
double tempPitch = radiansToDegrees(atan2(2*(quat.x*quat.w + quat.y*quat.z), 1 - 2*quat.x*quat.x - 2*quat.z*quat.z));
if (savingGyroOrientation == YES) {
NSLog(@"Roll = %f degrees",tempRoll);
NSLog(@"Pitch = %f degrees",tempPitch);
NSLog(@"Yaw = %f degrees",tempYaw);
[self.deviceStatus setDouble:tempRoll forKey:@"DeviceRoll"];
[self.deviceStatus setDouble:tempPitch forKey:@"DevicePitch"];
[self.deviceStatus setDouble:tempYaw forKey:@"DeviceYaw"];
[self.deviceStatus synchronize];
savingGyroOrientation = NO;
checkingGyroOrientation = YES;
self.savingLabel.hidden = YES;
self.startTimerButton.hidden = NO;
}
savingGyroOrientation = NO;
checkingGyroOrientation = YES;
self.savingLabel.hidden = YES;
self.startTimerButton.hidden = NO;
}
if (timerRunning == YES) {
if (checkingGyroOrientation == YES) {
self.takePicButton.hidden = YES;
int xRoll, yPitch, xYaw, yYaw;
// Roll Checking
if (tempRoll >= [self.deviceStatus doubleForKey:@"DeviceRoll"]-1 && tempRoll <= [self.deviceStatus doubleForKey:@"DeviceRoll"]+1 ) {
[self.rollDot setFrame:CGRectMake(150, 195, 20, 20)];
self.rollToR.hidden = YES;
self.rollToL.hidden = YES;
self.rollDot.hidden = NO;
rollOk = YES;
}else{
rollOk = NO;
self.rollDot.hidden = YES;
self.rollToR.hidden = NO;
self.rollToL.hidden = NO;
if (tempRoll - [self.deviceStatus doubleForKey:@"DeviceRoll"] < 0) {
xRoll = 150 + (tempRoll - [self.deviceStatus doubleForKey:@"DeviceRoll"]);
self.rollToR.hidden = YES;
if (xRoll <= 0) {
[self.rollToL setFrame:CGRectMake(0, 195, 20, 20)];
}else if (xRoll>= 300){
[self.rollToL setFrame:CGRectMake(300, 195, 20, 20)];
}else{
[self.rollToL setFrame:CGRectMake(xRoll, 195, 20, 20)];
}
}
if (tempRoll - [self.deviceStatus doubleForKey:@"DeviceRoll"] > 0){
xRoll = 150 + (tempRoll - [self.deviceStatus doubleForKey:@"DeviceRoll"]);
self.rollToL.hidden = YES;
if (xRoll <= 0) {
[self.rollToR setFrame:CGRectMake(0, 195, 20, 20)];
}else if (xRoll>=300){
[self.rollToR setFrame:CGRectMake(300, 195, 20, 20)];
}else{
[self.rollToR setFrame:CGRectMake(xRoll, 195, 20, 20)];
}
}
if (tempRoll - [self.deviceStatus doubleForKey:@"DeviceRoll"] > 180){
xRoll = 150 + (tempRoll - [self.deviceStatus doubleForKey:@"DeviceRoll"]-360);
self.rollToR.hidden = YES;
if (xRoll <= 0) {
[self.rollToL setFrame:CGRectMake(0, 195, 20, 20)];
}else if (xRoll>=300){
[self.rollToL setFrame:CGRectMake(300, 195, 20, 20)];
}else{
[self.rollToL setFrame:CGRectMake(xRoll, 195, 20, 20)];
}
}
if (tempRoll - [self.deviceStatus doubleForKey:@"DeviceRoll"] < -180){
xRoll = 150 + (tempRoll - [self.deviceStatus doubleForKey:@"DeviceRoll"]+360);
self.rollToL.hidden = YES;
if (xRoll <= 0) {
[self.rollToR setFrame:CGRectMake(0, 195, 20, 20)];
}else if (xRoll >= 300){
[self.rollToR setFrame:CGRectMake(300, 195, 20, 20)];
}else{
[self.rollToR setFrame:CGRectMake(xRoll, 195, 20, 20)];
}
}
}
//Pitch Checking
if (tempPitch >= [self.deviceStatus doubleForKey:@"DevicePitch"]-1 && tempPitch <= [self.deviceStatus doubleForKey:@"DevicePitch"]+1) {
[self.pitchDot setFrame:CGRectMake(150, 195, 20, 20)];
self.pitchDot.hidden = NO;
self.pitchToDown.hidden = YES;
self.pitchToUp.hidden = YES;
pitchOk = YES;
}else{
pitchOk = NO;
self.pitchDot.hidden = YES;
self.pitchToDown.hidden = NO;
self.pitchToUp.hidden = NO;
if (tempPitch - [self.deviceStatus doubleForKey:@"DevicePitch"] < 0) {
yPitch = 195+(tempPitch - [self.deviceStatus doubleForKey:@"DevicePitch"]);
// NSLog(@"tempPitch is %0.02f Difference is %0.02f, yPitch is %0.02f",tempPitch, tempPitch-[self.deviceStatus doubleForKey:@"DevicePitch"],195+(tempPitch - [self.deviceStatus doubleForKey:@"DevicePitch"]));
self.pitchToDown.hidden = YES;
if (yPitch <= 0) {
[self.pitchToUp setFrame:CGRectMake(150, 0, 20, 20)];
}else if (yPitch >= 390) {
[self.pitchToUp setFrame:CGRectMake(150, 390, 20, 20)];
}else{
[self.pitchToUp setFrame:CGRectMake(150, yPitch, 20, 20)];
}
}
if (tempPitch - [self.deviceStatus doubleForKey:@"DevicePitch"] > 0){
yPitch = 195+(tempPitch - [self.deviceStatus doubleForKey:@"DevicePitch"]);
// NSLog(@"tempPitch is %0.02f Difference is %0.02f, yPitch is %0.02f",tempPitch, tempPitch-[self.deviceStatus doubleForKey:@"DevicePitch"],195+(tempPitch - [self.deviceStatus doubleForKey:@"DevicePitch"]));
self.pitchToUp.hidden = YES;
if (yPitch <= 0) {
[self.pitchToDown setFrame:CGRectMake(150, 0, 20, 20)];
}else if (yPitch >= 390) {
[self.pitchToDown setFrame:CGRectMake(150, 390, 20, 20)];
}else{
[self.pitchToDown setFrame:CGRectMake(150, yPitch, 20, 20)];
}
}
if (tempPitch - [self.deviceStatus doubleForKey:@"DevicePitch"] < -180){
yPitch = 195+tempPitch - [self.deviceStatus doubleForKey:@"DevicePitch"] + 360;
// NSLog(@"tempPitch is %0.02f Difference is %0.02f, yPitch is %0.02f",tempPitch, tempPitch-[self.deviceStatus doubleForKey:@"DevicePitch"],195+(tempPitch - [self.deviceStatus doubleForKey:@"DevicePitch"]));
// NSLog(@"*yPitch is %d",yPitch);
self.pitchToUp.hidden = YES;
self.pitchToDown.hidden = NO;
if (yPitch <= 0 ) {
[self.pitchToDown setFrame:CGRectMake(150, 0, 20, 20)];
}else if (yPitch >= 390) {
[self.pitchToDown setFrame:CGRectMake(150, 390, 20, 20)];
}else{
[self.pitchToDown setFrame:CGRectMake(150, yPitch, 20, 20)];
}
}
}
if (tempYaw >= [self.deviceStatus doubleForKey:@"DeviceYaw"]-2 && tempYaw <= [self.deviceStatus doubleForKey:@"DeviceYaw"]+2) {
[self.yawDot setFrame:CGRectMake(150, 195, 20, 20)];
self.yawDot.hidden = NO;
self.rotateRight.hidden = YES;
self.rotateLeft.hidden = YES;
yawOk = YES;
}else{
yawOk = NO;
self.yawDot.hidden = YES;
self.rotateRight.hidden = NO;
self.rotateLeft.hidden = NO;
if (tempYaw - [self.deviceStatus doubleForKey:@"DeviceYaw"] < 0 ) {
xYaw = 150+(tempYaw - [self.deviceStatus doubleForKey:@"DeviceYaw"]);
yYaw = 195-1.3*(tempYaw - [self.deviceStatus doubleForKey:@"DeviceYaw"]);
NSLog(@"current yaw is %0.02f Difference is %0.02f",tempYaw, tempYaw-[self.deviceStatus doubleForKey:@"DeviceYaw"]);
NSLog(@"saved Yaw is %0.02f",[self.deviceStatus doubleForKey:@"DeviceYaw"]);
NSLog(@"xYaw is %d, yYaw is %d",xYaw,yYaw);
self.rotateRight.hidden = YES;
if (xYaw <=0 && yYaw >=390) {
[self.rotateLeft setFrame:CGRectMake(0, 390, 20, 20)];
}else{
[self.rotateLeft setFrame:CGRectMake(xYaw, yYaw, 20, 20)];
}
}if (tempYaw - [self.deviceStatus doubleForKey:@"DeviceYaw"] > 0){
xYaw = 150+(tempYaw - [self.deviceStatus doubleForKey:@"DeviceYaw"]);
yYaw = 195-1.3*(tempYaw - [self.deviceStatus doubleForKey:@"DeviceYaw"]);
NSLog(@"current yaw is %0.02f Difference is %0.02f",tempYaw, tempYaw-[self.deviceStatus doubleForKey:@"DeviceYaw"]);
NSLog(@"saved Yaw is %0.02f",[self.deviceStatus doubleForKey:@"DeviceYaw"]);
NSLog(@"*xYaw is %d, yYaw is %d",xYaw,yYaw);
self.rotateLeft.hidden = YES;
if (xYaw >=300 && yYaw <=0) {
[self.rotateRight setFrame:CGRectMake(300, 0, 20, 20)];
}else{
[self.rotateRight setFrame:CGRectMake(xYaw, yYaw, 20, 20)];
}
}
}
if (rollOk == YES && pitchOk == YES && yawOk ==YES) {
self.orientationOkay.hidden = NO;
self.centerCircle.hidden = YES;
self.rollDot.hidden = YES;
self.pitchDot .hidden =YES;
self.yawDot.hidden = YES;
[self.clickTimer invalidate];
self.clickTimer = nil;
self.takePicButton.hidden = NO;
timerRunning = NO;
[self.motionManager stopDeviceMotionUpdates];
[self.deviceStatus removeObjectForKey:@"DeviceRoll"];
[self.deviceStatus removeObjectForKey:@"DevicePitch"];
[self.deviceStatus removeObjectForKey:@"DeviceYaw"];
[self.deviceStatus removeObjectForKey:@"DeviceAngle"];
}else{
self.orientationOkay.hidden = YES;
if (flagger == YES) {
self.centerCircle.hidden = NO;
}
else{
self.centerCircle.hidden = YES;
}
}
}
}else{
self.rotateRight.hidden = YES;
self.rotateLeft.hidden = YES;
self.rollToL.hidden = YES;
self.rollToR.hidden = YES;
self.pitchToDown.hidden = YES;
self.pitchToUp.hidden = YES;
self.rollDot.hidden = NO;
self.pitchDot .hidden =NO;
self.yawDot.hidden = NO;
[self.yawDot setFrame:CGRectMake(0, 390, 20, 20)];
[self.rollDot setFrame:CGRectMake(0, 195, 20, 20)];
[self.pitchDot setFrame:CGRectMake(150, 0, 20, 20)];
}
}];
Por favor, hágamelo saber si se necesitan más detalles sobre esto.
Cualquier sugerencia o consejo siempre es bienvenido, :) Soy un noob para la programación y para iOS.
¡¡Gracias!!