Implemented Sensor-Selection with Swipe-gesture in new Activity.

AndroidManifest.xml

@@ -14,8 +14,8 @@
         android:label="@string/app_name"
         android:theme="@style/AppTheme" >
         <activity
-            android:name="org.hitlabnz.sensor_fusion_demo.MainActivity"
+            android:name="org.hitlabnz.sensor_fusion_demo.SensorSelectionActivity"
-            android:label="@string/title_main_activity"
+            android:label="@string/title_activity_sensor_selection" 
             android:screenOrientation="nosensor" >
             <intent-filter>
                 <action android:name="android.intent.action.MAIN" />

README.md

@@ -1,4 +1,4 @@
-# Sensor fusion Demo for Android
+# Sensor fusion demo for Android
 
 This application demonstrates the capabilities of various sensors and sensor-fusions. Data from the Gyroscope, Accelerometer and compass are combined in different ways and the result is shown as a cube that can be rotated by rotating the device.
 
@@ -6,13 +6,13 @@ The major novelty in this application is the fusion of virtual sensors: **Improv
 
 Apart from these two sensors, the following sensors are available for comparison:
 
-- Accelerometer + Compass
-- Gravity + Compass
-- Android Rotation Vector (Kalman filter fusion of Accelerometer + Gyroscope + Compass)
-- Calibrated Gyroscope (Separate result of Kalman filter fusion of Accelerometer + Gyroscope + Compass)
 - Improved Orientation Sensor 1 (Sensor fusion of Android Rotation Vector and Calibrated Gyroscope - less stable but more accurate)
 - Improved Orientation Sensor 2 (Sensor fusion of Android Rotation Vector and Calibrated Gyroscope - more stable but less accurate)
-- Old Android Orientation Sensor (Complementary filter fusion of Accelerometer + Gyroscope + Compass)
+- Android Rotation Vector (Kalman filter fusion of Accelerometer + Gyroscope + Compass)
+- Calibrated Gyroscope (Separate result of Kalman filter fusion of Accelerometer + Gyroscope + Compass)
+- Gravity + Compass
+- Accelerometer + Compass
+- Deprecated Android Orientation Sensor (Complementary filter fusion of Accelerometer + Gyroscope + Compass)
 
 This application was developed for demonstrating the sensor fusion approach developed for my [Master Thesis "Sensor fusion for robust outdoor Augmented Reality tracking on mobile devices"](http://my-it.at/media/MasterThesis-Pacha.pdf) at the [Human Interface Technology Laboratory New Zealand](http://www.hitlabnz.org).
 

res/layout/activity_main_2.xml

@@ -1,8 +0,0 @@
-<FrameLayout xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:tools="http://schemas.android.com/tools"
-    android:id="@+id/container"
-    android:layout_width="match_parent"
-    android:layout_height="match_parent"
-    tools:context=".MainActivity2"
-    tools:ignore="MergeRootFrame" />
-

res/layout/activity_sensor_selection.xml

@@ -3,7 +3,7 @@
     android:id="@+id/pager"
     android:layout_width="match_parent"
     android:layout_height="match_parent"
-    tools:context=".MainActivity" >
+    tools:context=".SensorSelectionActivity" >
 
     <!--
     This title strip will display the currently visible page title, as well as the page

res/layout/fragment_main_activity2_dummy.xml

@@ -1,16 +0,0 @@
-<RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:tools="http://schemas.android.com/tools"
-    android:layout_width="match_parent"
-    android:layout_height="match_parent"
-    android:paddingBottom="@dimen/activity_vertical_margin"
-    android:paddingLeft="@dimen/activity_horizontal_margin"
-    android:paddingRight="@dimen/activity_horizontal_margin"
-    android:paddingTop="@dimen/activity_vertical_margin"
-    tools:context=".MainActivity2$DummySectionFragment" >
-
-    <TextView
-        android:id="@+id/section_label"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content" />
-
-</RelativeLayout>

res/layout/fragment_main_dummy.xml

@@ -1,16 +0,0 @@
-<RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:tools="http://schemas.android.com/tools"
-    android:layout_width="match_parent"
-    android:layout_height="match_parent"
-    android:paddingBottom="@dimen/activity_vertical_margin"
-    android:paddingLeft="@dimen/activity_horizontal_margin"
-    android:paddingRight="@dimen/activity_horizontal_margin"
-    android:paddingTop="@dimen/activity_vertical_margin"
-    tools:context=".MainActivity$DummySectionFragment" >
-
-    <TextView
-        android:id="@+id/section_label"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content" />
-
-</RelativeLayout>

res/menu/main.xml

@@ -1,9 +0,0 @@
-<menu xmlns:android="http://schemas.android.com/apk/res/android" >
-
-    <item
-        android:id="@+id/action_settings"
-        android:orderInCategory="100"
-        android:showAsAction="never"
-        android:title="@string/action_settings"/>
-
-</menu>

res/menu/main_activity2.xml

@@ -1,9 +0,0 @@
-<menu xmlns:android="http://schemas.android.com/apk/res/android" >
-
-    <item
-        android:id="@+id/action_settings"
-        android:orderInCategory="100"
-        android:showAsAction="never"
-        android:title="@string/action_settings"/>
-
-</menu>

res/menu/sensor_selection.xml

@@ -0,0 +1,9 @@
+<menu xmlns:android="http://schemas.android.com/apk/res/android" >
+
+    <item
+        android:id="@+id/action_about"
+        android:orderInCategory="100"
+        android:showAsAction="always"
+        android:title="@string/action_about"/>
+
+</menu>

res/values/strings.xml

@@ -1,8 +1,15 @@
 <?xml version="1.0" encoding="utf-8"?>
 <resources>
 
-    <string name="app_name">Sensor fusion Demo</string>
+    <string name="app_name">Sensor fusion demo</string>
-    <string name="action_settings">Settings</string>
+    <string name="action_about">About</string>
-    <string name="title_main_activity">Sensor fusion Demo</string>
+    <string name="title_main_activity">Sensor fusion demo</string>
+    <string name="title_section1">Improved Orientation Sensor 1</string>
+    <string name="title_section2">Improved Orientation Sensor 2</string>
+    <string name="title_section3">Android Rotation Vector</string>
+    <string name="title_section4">Calibrated Gyroscope</string>
+    <string name="title_section5">Gravity and Compass</string>
+    <string name="title_section6">Accelerometer and Compass</string>
+    <string name="title_activity_sensor_selection">Sensor fusion demo</string>
 
 </resources>

src/org/hitlabnz/sensor_fusion_demo/CubeRenderer.java

@@ -59,9 +59,13 @@ public class CubeRenderer implements GLSurfaceView.Renderer {
         gl.glTranslatef(0, 0, -3.0f);
 
         if (orientationProvider != null) {
-            // Get the rotation from the current orientationProvider
+            // All Orientation providers deliver Quaternion as well as rotation matrix.
+            // Use your favourite representation:
+
+            // Get the rotation from the current orientationProvider as rotation matrix
             //gl.glMultMatrixf(orientationProvider.getRotationMatrix().getMatrix(), 0);
 
+            // Get the rotation from the current orientationProvider as quaternion
             Quaternion q = orientationProvider.getQuaternion();
             gl.glRotatef((float) (2.0f * Math.acos(q.getW()) * 180.0f / Math.PI), q.getX(), q.getY(), q.getZ());
         }

src/org/hitlabnz/sensor_fusion_demo/MainActivity.java

@@ -1,78 +0,0 @@
-/* Copyright (C) 2007 The Android Open Source Project
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- * http://www.apache.org/licenses/LICENSE-2.0
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License. */
-
-package org.hitlabnz.sensor_fusion_demo;
-
-import org.hitlabnz.sensor_fusion_demo.orientationProvider.ImprovedOrientationSensor2Provider;
-import org.hitlabnz.sensor_fusion_demo.orientationProvider.OrientationProvider;
-
-import android.app.Activity;
-import android.hardware.SensorManager;
-import android.opengl.GLSurfaceView;
-import android.os.Bundle;
-
-/**
- * Main controller activity for demo-application. Processes user-input and delegates calls to orientation providers.
- */
-public class MainActivity extends Activity {
-    /**
-     * The surface that will be drawn upon
-     */
-    private GLSurfaceView mGLSurfaceView;
-    /**
-     * The class that renders the cube
-     */
-    private CubeRenderer mRenderer;
-    /**
-     * The current orientation provider that delivers device orientation.
-     */
-    private OrientationProvider currentOrientationProvider;
-
-    @Override
-    protected void onCreate(Bundle savedInstanceState) {
-        super.onCreate(savedInstanceState);
-
-        // Initialise the orientationProvider
-        //currentOrientationProvider = new RotationVectorProvider((SensorManager) getSystemService(SENSOR_SERVICE));
-        //currentOrientationProvider = new AccelerometerCompassProvider((SensorManager) getSystemService(SENSOR_SERVICE));
-        //currentOrientationProvider = new GravityCompassProvider((SensorManager) getSystemService(SENSOR_SERVICE));
-        //currentOrientationProvider = new CalibratedGyroscopeProvider((SensorManager) getSystemService(SENSOR_SERVICE));
-        //        currentOrientationProvider = new ImprovedOrientationSensor1Provider(
-        //                (SensorManager) getSystemService(SENSOR_SERVICE));
-        currentOrientationProvider = new ImprovedOrientationSensor2Provider(
-                (SensorManager) getSystemService(SENSOR_SERVICE));
-
-        // Create our Preview view and set it as the content of our Activity
-        mRenderer = new CubeRenderer();
-        mRenderer.setOrientationProvider(currentOrientationProvider);
-        mGLSurfaceView = new GLSurfaceView(this);
-        mGLSurfaceView.setRenderer(mRenderer);
-        setContentView(mGLSurfaceView);
-    }
-
-    @Override
-    protected void onResume() {
-        // Ideally a game should implement onResume() and onPause()
-        // to take appropriate action when the activity looses focus
-        super.onResume();
-        currentOrientationProvider.start();
-        mGLSurfaceView.onResume();
-    }
-
-    @Override
-    protected void onPause() {
-        // Ideally a game should implement onResume() and onPause()
-        // to take appropriate action when the activity looses focus
-        super.onPause();
-        currentOrientationProvider.stop();
-        mGLSurfaceView.onPause();
-    }
-}

src/org/hitlabnz/sensor_fusion_demo/SensorSelectionActivity.java

@@ -0,0 +1,207 @@
+package org.hitlabnz.sensor_fusion_demo;
+
+import java.util.Locale;
+
+import org.hitlabnz.sensor_fusion_demo.orientationProvider.AccelerometerCompassProvider;
+import org.hitlabnz.sensor_fusion_demo.orientationProvider.CalibratedGyroscopeProvider;
+import org.hitlabnz.sensor_fusion_demo.orientationProvider.GravityCompassProvider;
+import org.hitlabnz.sensor_fusion_demo.orientationProvider.ImprovedOrientationSensor1Provider;
+import org.hitlabnz.sensor_fusion_demo.orientationProvider.ImprovedOrientationSensor2Provider;
+import org.hitlabnz.sensor_fusion_demo.orientationProvider.OrientationProvider;
+import org.hitlabnz.sensor_fusion_demo.orientationProvider.RotationVectorProvider;
+
+import android.hardware.SensorManager;
+import android.opengl.GLSurfaceView;
+import android.os.Bundle;
+import android.support.v4.app.Fragment;
+import android.support.v4.app.FragmentActivity;
+import android.support.v4.app.FragmentManager;
+import android.support.v4.app.FragmentPagerAdapter;
+import android.support.v4.view.ViewPager;
+import android.view.LayoutInflater;
+import android.view.Menu;
+import android.view.View;
+import android.view.ViewGroup;
+
+/**
+ * The main activity where the user can select which sensor-fusion he wants to try out
+ * 
+ * @author Alexander Pacha
+ * 
+ */
+public class SensorSelectionActivity extends FragmentActivity {
+
+    /**
+     * The {@link android.support.v4.view.PagerAdapter} that will provide
+     * fragments for each of the sections. We use a {@link android.support.v4.app.FragmentPagerAdapter} derivative,
+     * which
+     * will keep every loaded fragment in memory. If this becomes too memory
+     * intensive, it may be best to switch to a {@link android.support.v4.app.FragmentStatePagerAdapter}.
+     */
+    SectionsPagerAdapter mSectionsPagerAdapter;
+
+    /**
+     * The {@link ViewPager} that will host the section contents.
+     */
+    ViewPager mViewPager;
+
+    @Override
+    protected void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        setContentView(R.layout.activity_sensor_selection);
+
+        // Create the adapter that will return a fragment for each of the three
+        // primary sections of the app.
+        mSectionsPagerAdapter = new SectionsPagerAdapter(getSupportFragmentManager());
+
+        // Set up the ViewPager with the sections adapter.
+        mViewPager = (ViewPager) findViewById(R.id.pager);
+        mViewPager.setAdapter(mSectionsPagerAdapter);
+
+    }
+
+    @Override
+    public boolean onCreateOptionsMenu(Menu menu) {
+        // Inflate the menu; this adds items to the action bar if it is present.
+        getMenuInflater().inflate(R.menu.sensor_selection, menu);
+        return true;
+    }
+
+    /**
+     * A {@link FragmentPagerAdapter} that returns a fragment corresponding to
+     * one of the sections/tabs/pages.
+     */
+    public class SectionsPagerAdapter extends FragmentPagerAdapter {
+
+        /**
+         * Initialises a new sectionPagerAdapter
+         * 
+         * @param fm the fragment Manager
+         */
+        public SectionsPagerAdapter(FragmentManager fm) {
+            super(fm);
+        }
+
+        @Override
+        public Fragment getItem(int position) {
+            // getItem is called to instantiate the fragment for the given page.
+            // Return a DummySectionFragment (defined as a static inner class
+            // below) with the page number as its lone argument.
+            Fragment fragment = new OrientationVisualisationFragment();
+            Bundle args = new Bundle();
+            args.putInt(OrientationVisualisationFragment.ARG_SECTION_NUMBER, position + 1);
+            fragment.setArguments(args);
+            return fragment;
+        }
+
+        @Override
+        public int getCount() {
+            // Show 6 total pages.
+            return 6;
+        }
+
+        @Override
+        public CharSequence getPageTitle(int position) {
+            Locale l = Locale.getDefault();
+            switch (position) {
+            case 0:
+                return getString(R.string.title_section1).toUpperCase(l);
+            case 1:
+                return getString(R.string.title_section2).toUpperCase(l);
+            case 2:
+                return getString(R.string.title_section3).toUpperCase(l);
+            case 3:
+                return getString(R.string.title_section4).toUpperCase(l);
+            case 4:
+                return getString(R.string.title_section5).toUpperCase(l);
+            case 5:
+                return getString(R.string.title_section6).toUpperCase(l);
+            }
+            return null;
+        }
+    }
+
+    /**
+     * A fragment that contains the same visualisation for different orientation providers
+     */
+    public static class OrientationVisualisationFragment extends Fragment {
+        /**
+         * The surface that will be drawn upon
+         */
+        private GLSurfaceView mGLSurfaceView;
+        /**
+         * The class that renders the cube
+         */
+        private CubeRenderer mRenderer;
+        /**
+         * The current orientation provider that delivers device orientation.
+         */
+        private OrientationProvider currentOrientationProvider;
+
+        /**
+         * The fragment argument representing the section number for this
+         * fragment.
+         */
+        public static final String ARG_SECTION_NUMBER = "section_number";
+
+        @Override
+        public void onResume() {
+            // Ideally a game should implement onResume() and onPause()
+            // to take appropriate action when the activity looses focus
+            super.onResume();
+            currentOrientationProvider.start();
+            mGLSurfaceView.onResume();
+        }
+
+        @Override
+        public void onPause() {
+            // Ideally a game should implement onResume() and onPause()
+            // to take appropriate action when the activity looses focus
+            super.onPause();
+            currentOrientationProvider.stop();
+            mGLSurfaceView.onPause();
+        }
+
+        @Override
+        public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
+            // Initialise the orientationProvider
+            switch (getArguments().getInt(ARG_SECTION_NUMBER)) {
+            case 1:
+                currentOrientationProvider = new ImprovedOrientationSensor1Provider((SensorManager) getActivity()
+                        .getSystemService(SENSOR_SERVICE));
+                break;
+            case 2:
+                currentOrientationProvider = new ImprovedOrientationSensor2Provider((SensorManager) getActivity()
+                        .getSystemService(SENSOR_SERVICE));
+                break;
+            case 3:
+                currentOrientationProvider = new RotationVectorProvider((SensorManager) getActivity().getSystemService(
+                        SENSOR_SERVICE));
+                break;
+            case 4:
+                currentOrientationProvider = new CalibratedGyroscopeProvider((SensorManager) getActivity()
+                        .getSystemService(SENSOR_SERVICE));
+                break;
+            case 5:
+                currentOrientationProvider = new GravityCompassProvider((SensorManager) getActivity().getSystemService(
+                        SENSOR_SERVICE));
+                break;
+            case 6:
+                currentOrientationProvider = new AccelerometerCompassProvider((SensorManager) getActivity()
+                        .getSystemService(SENSOR_SERVICE));
+                break;
+            default:
+                break;
+            }
+
+            // Create our Preview view and set it as the content of our Activity
+            mRenderer = new CubeRenderer();
+            mRenderer.setOrientationProvider(currentOrientationProvider);
+            mGLSurfaceView = new GLSurfaceView(getActivity());
+            mGLSurfaceView.setRenderer(mRenderer);
+
+            return mGLSurfaceView;
+        }
+    }
+
+}

src/org/hitlabnz/sensor_fusion_demo/orientationProvider/CalibratedGyroscopeProvider.java

@@ -55,7 +55,7 @@ public class CalibratedGyroscopeProvider extends OrientationProvider {
     private double gyroscopeRotationVelocity = 0;
 
     /**
-     * Initialises a new GravityCompassProvider
+     * Initialises a new CalibratedGyroscopeProvider
      * 
      * @param sensorManager The android sensor manager
      */

src/org/hitlabnz/sensor_fusion_demo/orientationProvider/ImprovedOrientationSensor1Provider.java

@@ -127,7 +127,7 @@ public class ImprovedOrientationSensor1Provider extends OrientationProvider {
     private static final int PANIC_THRESHOLD = 60;
 
     /**
-     * Initialises a new GravityCompassProvider
+     * Initialises a new ImprovedOrientationSensor1Provider
      * 
      * @param sensorManager The android sensor manager
      */

src/org/hitlabnz/sensor_fusion_demo/orientationProvider/ImprovedOrientationSensor2Provider.java

@@ -127,7 +127,7 @@ public class ImprovedOrientationSensor2Provider extends OrientationProvider {
     private static final int PANIC_THRESHOLD = 60;
 
     /**
-     * Initialises a new GravityCompassProvider
+     * Initialises a new ImprovedOrientationSensor2Provider
      * 
      * @param sensorManager The android sensor manager
      */