私の長い質問にご容赦ください。できるだけ明確にしようとしています。
私がやろうとしているのは、カメラを使用して写真を撮ったときに姿勢 (ロール ピッチとヨー) を取得し、姿勢の値を nsuserdefaults に保存することです。保存後、方向が変更され、姿勢の値 (保存された値と現在の値) を常に比較することによって、写真が撮影されたときと同じ姿勢になるように電話を試みます。
インターフェイスの目的で、ユーザー インターフェイスには画面上に 3 つのドット (各姿勢パラメーターに 1 つ) があり、写真が撮影された正しい方向を示します。正しい姿勢に達すると、一致フラグが画面に表示されます。
ロール、ピッチ、ヨーの値を次のように見つけています。
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));
ヨー値に多少の不一致があることに気付いたとき、検索してここから見つけることができました：リンク、
クォータニオンからヨー、ピッチ、ロールを使用すると、ヨー、ピッチ、ロールのみを使用した場合と同じ問題が発生します。コードのどこでもクォータニオンを使用し、ヨー、ピッチ、ロールを忘れる必要があります
だから今、私はすべてをもう一度コーディングする必要があると思います...この目的でQuaternionを使用するためのサンプルコードを教えてください。
ここに私が取り組んでいるコードがあります:
ViewController.m の image:didFinishSavingWithError 内:
[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)];
}
}];
これについてさらに詳細が必要な場合はお知らせください。
提案やアドバイスはいつでも大歓迎です:) 私はプログラミングとiOSの初心者です。
ありがとう！！