深海游弋的鱼 – 默默的点滴

像素坐标转世界坐标的计算

原理

下图表示了小孔成像模型（图片及公式参考 OpenCV官方资料）

这个图里涉及4个坐标系：

世界坐标系：其坐标原点可视情况而定，可以表示空间的物体，单位为长度单位，比如MM（毫米），用矩阵 $[\begin{matrix} X_{W} \\ Y_{W} \\ Z_{W} \end{matrix}]$ 表示；
相机坐标系：以摄像机光心为原点（在针孔模型中也就是针孔为中心），z轴与光轴重合，也就是z轴指向相机的前方（与成像平面垂直），x轴与y轴的正方向与世界坐标系平行，单位为长度单位，比如MM（毫米），用矩阵 $[\begin{matrix} X_{c} \\ Y_{c} \\ Z_{c} \end{matrix}]$ 表示；
图像物理坐标系（也叫成像平面坐标系）：用物理长度单位表示像素的位置，坐标原点为摄像机光轴与图像物理坐标系的交点位置，单位为长度单位，比如MM（毫米），用矩阵 $[\begin{matrix} x \\ y \end{matrix}]$ 表示。
像素坐标系：坐标原点在左上角，以像素为单位，有明显的范围限制，即用于表示全画面的像素长和像素长宽，矩阵 $[\begin{matrix} u \\ v \end{matrix}]$ 表示。

以下公式描述了 ${[\begin{matrix} u & v \end{matrix}]}^{T}$ 、 ${[\begin{matrix} x & y \end{matrix}]}^{T}$ 、 ${[\begin{matrix} X_{c} & Y_{c} & Z_{c} \end{matrix}]}^{T}$ 和 ${[\begin{matrix} X_{W} & Y_{W} & Z_{W} \end{matrix}]}^{T}$ 之间的转换关系。

$z [\begin{matrix} u \\ v \\ 1 \end{matrix}] = [\begin{matrix} 1 / d_{x} & 0 & c_{x} \\ 0 & 1 / d_{y} & c_{y} \\ 0 & 0 & 1 \end{matrix}] [\begin{matrix} f & 0 & 0 \\ 0 & f & 0 \\ 0 & 0 & 1 \end{matrix}] [\begin{matrix} r 11 & r 12 & r 13 & t 1 \\ r 21 & r 22 & r 23 & t 2 \\ r 31 & r 32 & r 33 & t 3 \end{matrix}] [\begin{matrix} X_{W} \\ Y_{W} \\ Z_{W} \\ 1 \end{matrix}]$

以上公式中， $d_{x}$ 和 $d_{y}$ 表示1个像素有多少长度，即用传感器的尺寸除以像素数量，比如2928.384um * 2205.216um的传感的分辨率为2592 * 1944，每个像素的大小即约1.12um。

由于相机与物体的视角来看，都是三维坐标，因此两者之间的变换只需要进行矩阵的旋转、平移即可达到坐标系转换的目的（不同坐标系中，物体的绝对大小并不会随着坐标系的变化而变化，因此不涉及缩放处理）。对于变换矩阵 $[\begin{matrix} r 11 & r 12 & r 13 & t 1 \\ r 21 & r 22 & r 23 & t 2 \\ r 31 & r 32 & r 33 & t 3 \end{matrix}]$ 需要理解，矩阵是由 3*3 的旋转矩阵 r (rotation) 和 3*1的平移向量 t (translation)组成。

$f$ 表示焦距，在上图中，根据相似三角形，P点和p点具有以下关系：

$\frac{X_{c}}{x} = \frac{Y_{c}}{y} = \frac{Z_{c}}{f}$ 即 $x = X_{c} / (\frac{Z_{c}}{f})$ $y = Y_{c} / (\frac{Z_{c}}{f})$ ，可见： $f$ 越大， $x$ 和 $y$ 越大， $Z_{c}$ 越大， $x$ 和 $y$ 越小。

$c_{x}$ 和 $c_{y}$ 表示中心点在像素坐标系中的位置。

要求像素坐标系中某像素点对应在世界坐标系中的位置，需要知道相机的内参、外参，相机的内参可以通过标定获得，外参可以人为设定。

第一步，将像素坐标变换到相机坐标系：

$z [\begin{matrix} u \\ v \\ 1 \end{matrix}] = [\begin{matrix} f_{x} & 0 & c_{x} \\ 0 & f_{y} & c_{y} \\ 0 & 0 & 1 \end{matrix}] [\begin{matrix} x \\ y \\ 1 \end{matrix}] = K [\begin{matrix} x \\ y \\ 1 \end{matrix}]$

两边乘以K的逆后推导出：

$[\begin{matrix} x \\ y \\ z \end{matrix}] = K^{- 1} [\begin{matrix} u \\ v \\ 1 \end{matrix}]$

第二步，从相机坐标系变换到世界坐标系：

$[\begin{matrix} X_{c} \\ Y_{c} \\ Z_{c} \end{matrix}] = R [\begin{matrix} X \\ Y \\ Z \end{matrix}] + t$

将方程乘以 $R^{- 1}$ ，可以推导出：

$[\begin{matrix} X \\ Y \\ Z \end{matrix}] = [\begin{matrix} X_{c} \\ Y_{c} \\ Z_{c} \end{matrix}] R^{- 1} - t R^{- 1} = z [\begin{matrix} x \\ y \\ 1 \end{matrix}] R^{- 1} - t R^{- 1}$

代码

通过输入相机的内参，旋转向量，平移向量和像素坐标，可以通过以下函数求出对应的世界坐标点。
以下代码中需求注意要对平移向量取转置，将1x3矩阵变为3x1矩阵后，才能实现3x3矩阵和3x1矩阵的乘法运算。

void cameraToWorld(InputArray cameraMatrix, InputArray rV, InputArray tV, vector<Point2f> imgPoints, vector<Point3f> &worldPoints)
{
    Mat invK64, invK;
    invK64 = cameraMatrix.getMat().inv();
    invK64.convertTo(invK, CV_32F);
    Mat r, t, rMat;
    rV.getMat().convertTo(r, CV_32F);
    tV.getMat().convertTo(t, CV_32F);
    Rodrigues(r, rMat);

    //计算 invR * T
    Mat invR = rMat.inv();
    //cout << "invR\n" << invR << endl;
    //cout << "t\n" << t << t.t() << endl;
    Mat transPlaneToCam;
    if(t.size() == Size(1, 3)){
        transPlaneToCam = invR * t;//t.t();
    }
    else if(t.size() == Size(3, 1)){
        transPlaneToCam = invR * t.t();
    }
    else{
        return;
    }
    //cout << "transPlaneToCam\n" << transPlaneToCam << endl;

    int npoints = (int)imgPoints.size();
    //cout << "npoints\n" << npoints << endl;
    for (int j = 0; j < npoints; ++j){
        Mat coords(3, 1, CV_32F);
        Point3f pt;
        coords.at<float>(0, 0) = imgPoints[j].x;
        coords.at<float>(1, 0) = imgPoints[j].y;
        coords.at<float>(2, 0) = 1.0f;
        //[x,y,z] = invK * [u,v,1]
        Mat worldPtCam = invK * coords;
        //cout << "worldPtCam:" << worldPtCam << endl;
        //[x,y,1] * invR
        Mat worldPtPlane = invR * worldPtCam;
        //cout << "worldPtPlane:" << worldPtPlane << endl;
        //zc 
        float scale = transPlaneToCam.at<float>(2) / worldPtPlane.at<float>(2);
        //cout << "scale:" << scale << endl;
        Mat scale_worldPtPlane(3, 1, CV_32F);
        //scale_worldPtPlane.at<float>(0, 0) = worldPtPlane.at<float>(0, 0) * scale;
        //zc * [x,y,1] * invR
        scale_worldPtPlane = scale * worldPtPlane;
        //cout << "scale_worldPtPlane:" << scale_worldPtPlane << endl;
        //[X,Y,Z]=zc*[x,y,1]*invR - invR*T
        Mat worldPtPlaneReproject = scale_worldPtPlane - transPlaneToCam;
        //cout << "worldPtPlaneReproject:" << worldPtPlaneReproject << endl;
        pt.x = worldPtPlaneReproject.at<float>(0);
        pt.y = worldPtPlaneReproject.at<float>(1);
        //pt.z = worldPtPlaneReproject.at<float>(2);
        pt.z = 1.0f;
        worldPoints.push_back(pt);
    }
}

void cameraToWorld(InputArray cameraMatrix, InputArray rV, InputArray tV, vector<Point2f> imgPoints, vector<Point3f> &worldPoints)

{

Mat invK64, invK;

invK64 = cameraMatrix.getMat().inv();

invK64.convertTo(invK, CV_32F);

Mat r, t, rMat;

rV.getMat().convertTo(r, CV_32F);

tV.getMat().convertTo(t, CV_32F);

Rodrigues(r, rMat);

//计算 invR * T

Mat invR = rMat.inv();

//cout << "invR\n" << invR << endl;

//cout << "t\n" << t << t.t() << endl;

Mat transPlaneToCam;

if(t.size() == Size(1, 3)){

transPlaneToCam = invR * t;//t.t();

}

else if(t.size() == Size(3, 1)){

transPlaneToCam = invR * t.t();

}

else{

return;

}

//cout << "transPlaneToCam\n" << transPlaneToCam << endl;

int npoints = (int)imgPoints.size();

//cout << "npoints\n" << npoints << endl;

for (int j = 0; j < npoints; ++j){

Mat coords(3, 1, CV_32F);

Point3f pt;

coords.at<float>(0, 0) = imgPoints[j].x;

coords.at<float>(1, 0) = imgPoints[j].y;

coords.at<float>(2, 0) = 1.0f;

//[x,y,z] = invK * [u,v,1]

Mat worldPtCam = invK * coords;

//cout << "worldPtCam:" << worldPtCam << endl;

//[x,y,1] * invR

Mat worldPtPlane = invR * worldPtCam;

//cout << "worldPtPlane:" << worldPtPlane << endl;

//zc

float scale = transPlaneToCam.at<float>(2) / worldPtPlane.at<float>(2);

//cout << "scale:" << scale << endl;

Mat scale_worldPtPlane(3, 1, CV_32F);

//scale_worldPtPlane.at<float>(0, 0) = worldPtPlane.at<float>(0, 0) * scale;

//zc * [x,y,1] * invR

scale_worldPtPlane = scale * worldPtPlane;

//cout << "scale_worldPtPlane:" << scale_worldPtPlane << endl;

//[X,Y,Z]=zc*[x,y,1]*invR - invR*T

Mat worldPtPlaneReproject = scale_worldPtPlane - transPlaneToCam;

//cout << "worldPtPlaneReproject:" << worldPtPlaneReproject << endl;

pt.x = worldPtPlaneReproject.at<float>(0);

pt.y = worldPtPlaneReproject.at<float>(1);

//pt.z = worldPtPlaneReproject.at<float>(2);

pt.z = 1.0f;

worldPoints.push_back(pt);

}

    def cameraToWorld(self, cameraMatrix, r, t, imgPoints):
        invK = np.asmatrix(cameraMatrix).I
        rMat = np.zeros((3, 3), dtype=np.float64)
        cv2.Rodrigues(r, rMat)
        #print('rMat=', rMat)
        #计算 invR * T
        invR =  np.asmatrix(rMat).I #3*3
        #print('invR=', invR)
        transPlaneToCam = np.dot(invR , np.asmatrix(t)) #3*3 dot 3*1 = 3*1
        #print('transPlaneToCam=', transPlaneToCam)
        worldpt = []   
        coords = np.zeros((3, 1), dtype=np.float64)

        for imgpt in imgPoints:
            coords[0][0] = imgpt[0][0]
            coords[1][0] = imgpt[0][1]
            coords[2][0] = 1.0
            worldPtCam = np.dot(invK , coords)  #3*3 dot 3*1 = 3*1
            #print('worldPtCam=', worldPtCam)
            #[x,y,1] * invR
            worldPtPlane = np.dot(invR , worldPtCam) #3*3 dot 3*1 = 3*1
            #print('worldPtPlane=', worldPtPlane)
            #zc 
            scale = transPlaneToCam[2][0] / worldPtPlane[2][0]
            #print("scale: ", scale)
            #zc * [x,y,1] * invR
            scale_worldPtPlane = np.multiply(scale , worldPtPlane)
            #print("scale_worldPtPlane: ", scale_worldPtPlane)
            #[X,Y,Z]=zc*[x,y,1]*invR - invR*T
            worldPtPlaneReproject = np.asmatrix(scale_worldPtPlane) - np.asmatrix(transPlaneToCam)  #3*1 dot 1*3 = 3*3
            #print("worldPtPlaneReproject: ", worldPtPlaneReproject)
            pt = np.zeros((3, 1), dtype=np.float64)
            pt[0][0] = worldPtPlaneReproject[0][0]
            pt[1][0] = worldPtPlaneReproject[1][0]
            pt[2][0] = 0
            worldpt.append(pt.T.tolist())
        #print('worldpt:',worldpt)
        return worldpt

def cameraToWorld(self, cameraMatrix, r, t, imgPoints):

invK = np.asmatrix(cameraMatrix).I

rMat = np.zeros((3, 3), dtype=np.float64)

cv2.Rodrigues(r, rMat)

#print('rMat=', rMat)

#计算 invR * T

invR = np.asmatrix(rMat).I #3*3

#print('invR=', invR)

transPlaneToCam = np.dot(invR , np.asmatrix(t)) #3*3 dot 3*1 = 3*1

#print('transPlaneToCam=', transPlaneToCam)

worldpt = []

coords = np.zeros((3, 1), dtype=np.float64)

for imgpt in imgPoints:

coords[0][0] = imgpt[0][0]

coords[1][0] = imgpt[0][1]

coords[2][0] = 1.0

worldPtCam = np.dot(invK , coords) #3*3 dot 3*1 = 3*1

#print('worldPtCam=', worldPtCam)

#[x,y,1] * invR

worldPtPlane = np.dot(invR , worldPtCam) #3*3 dot 3*1 = 3*1

#print('worldPtPlane=', worldPtPlane)

#zc

scale = transPlaneToCam[2][0] / worldPtPlane[2][0]

#print("scale: ", scale)

#zc * [x,y,1] * invR

scale_worldPtPlane = np.multiply(scale , worldPtPlane)

#print("scale_worldPtPlane: ", scale_worldPtPlane)

#[X,Y,Z]=zc*[x,y,1]*invR - invR*T

worldPtPlaneReproject = np.asmatrix(scale_worldPtPlane) - np.asmatrix(transPlaneToCam) #3*1 dot 1*3 = 3*3

#print("worldPtPlaneReproject: ", worldPtPlaneReproject)

pt = np.zeros((3, 1), dtype=np.float64)

pt[0][0] = worldPtPlaneReproject[0][0]

pt[1][0] = worldPtPlaneReproject[1][0]

pt[2][0] = 0

worldpt.append(pt.T.tolist())

#print('worldpt:',worldpt)

return worldpt

验证

先使用projectPoints生成像素点：

Vec3f eulerAngles;//欧拉角

vector<Vec3d> translation_vectors;/* 每幅图像的平移向量 */

Mat rotationMatrix = eulerAnglesToRotationMatrix(eulerAngles);

*pR_matrix = rotationMatrix;

cvRodrigues2(pR_matrix, pnew_vec, 0);   //从旋转矩阵求旋转向量

Mat mat_tmp(pnew_vec->rows, pnew_vec->cols, pnew_vec->type, pnew_vec->data.fl);

cv::Mat distortion_coeffs1 = cv::Mat(1, 5, CV_32FC1, cv::Scalar::all(0)); /* 摄像机的5个畸变系数：k1,k2,p1,p2,k3 */

projectPoints(tempPointSet, mat_tmp, translation_vectors[i], intrinsic_matrix, distortion_coeffs1, image_points2);

Vec3f eulerAngles;//欧拉角

vector<Vec3d> translation_vectors;/* 每幅图像的平移向量 */

Mat rotationMatrix = eulerAnglesToRotationMatrix(eulerAngles);

*pR_matrix = rotationMatrix;

cvRodrigues2(pR_matrix, pnew_vec, 0); //从旋转矩阵求旋转向量

Mat mat_tmp(pnew_vec->rows, pnew_vec->cols, pnew_vec->type, pnew_vec->data.fl);

cv::Mat distortion_coeffs1 = cv::Mat(1, 5, CV_32FC1, cv::Scalar::all(0)); /* 摄像机的5个畸变系数：k1,k2,p1,p2,k3 */

projectPoints(tempPointSet, mat_tmp, translation_vectors[i], intrinsic_matrix, distortion_coeffs1, image_points2);

使用以下欧拉角：

[0, 0, 0]//欧拉角度，表示平面和相机的角度
旋转向量：[0, 0, 0]

1 2	[0, 0, 0]//欧拉角度，表示平面和相机的角度旋转向量：[0, 0, 0]

对应的平移向量，表示空间坐标原点相对在相平面原点偏移x=134mm，y=132mm，z=200mm。

原始:[134.0870803179094, 132.7580766544178, 200.3789038923399]

1	原始:[134.0870803179094, 132.7580766544178, 200.3789038923399]

生成空间坐标点：

        Size board_size = Size(11,8);
        Size square_size = Size(30, 30);
        vector<Point3f> tempPointSet;
        for (int j = 0; j<board_size.height; j++)
        {
            for (int i = 0; i<board_size.width; i++)
            {
                /* 假设定标板放在世界坐标系中z=0的平面上 */
                Point3f tempPoint;
                tempPoint.x = i*square_size.height;
                tempPoint.y = j*square_size.width;
                tempPoint.z = 0;
                tempPointSet.push_back(tempPoint);
            }
        }

Size board_size = Size(11,8);

Size square_size = Size(30, 30);

vector<Point3f> tempPointSet;

for (int j = 0; j<board_size.height; j++)

{

for (int i = 0; i<board_size.width; i++)

{

/* 假设定标板放在世界坐标系中z=0的平面上 */

Point3f tempPoint;

tempPoint.x = i*square_size.height;

tempPoint.y = j*square_size.width;

tempPoint.z = 0;

tempPointSet.push_back(tempPoint);

}

经projectPoints计算后对应的像素空间点是：

projectPoints(tempPointSet, mat_tmp, translation_vectors[i], intrinsic_matrix, distortion_coeffs1, image_points2);
cout << "原始空间点:\n" << image_points2 << endl;
[1194.8174, 1074.1355;
 1285.1735, 1074.1355;
 1375.5295, 1074.1355;
 1465.8856, 1074.1355;
 1556.2417, 1074.1355;
 1646.5978, 1074.1355;
 1736.9539, 1074.1355;
 1827.3099, 1074.1355;
 1917.666, 1074.1355;
 2008.0221, 1074.1355;
 2098.3782, 1074.1355;
 1194.8174, 1164.5713;
 1285.1735, 1164.5713;
 1375.5295, 1164.5713;
 1465.8856, 1164.5713;
 1556.2417, 1164.5713;
 1646.5978, 1164.5713;
 1736.9539, 1164.5713;
 1827.3099, 1164.5713;
 1917.666, 1164.5713;
 2008.0221, 1164.5713;
 2098.3782, 1164.5713;
 1194.8174, 1255.0072;
 1285.1735, 1255.0072;
 1375.5295, 1255.0072;
 1465.8856, 1255.0072;
 1556.2417, 1255.0072;
 1646.5978, 1255.0072;
 1736.9539, 1255.0072;
 1827.3099, 1255.0072;
 1917.666, 1255.0072;
 2008.0221, 1255.0072;
 2098.3782, 1255.0072;
 1194.8174, 1345.443;
 1285.1735, 1345.443;
 1375.5295, 1345.443;
 1465.8856, 1345.443;
 1556.2417, 1345.443;
 1646.5978, 1345.443;
 1736.9539, 1345.443;
 1827.3099, 1345.443;
 1917.666, 1345.443;
 2008.0221, 1345.443;
 2098.3782, 1345.443;
 1194.8174, 1435.8789;
 1285.1735, 1435.8789;
 1375.5295, 1435.8789;
 1465.8856, 1435.8789;
 1556.2417, 1435.8789;
 1646.5978, 1435.8789;
 1736.9539, 1435.8789;
 1827.3099, 1435.8789;
 1917.666, 1435.8789;
 2008.0221, 1435.8789;
 2098.3782, 1435.8789;
 1194.8174, 1526.3147;
 1285.1735, 1526.3147;
 1375.5295, 1526.3147;
 1465.8856, 1526.3147;
 1556.2417, 1526.3147;
 1646.5978, 1526.3147;
 1736.9539, 1526.3147;
 1827.3099, 1526.3147;
 1917.666, 1526.3147;
 2008.0221, 1526.3147;
 2098.3782, 1526.3147;
 1194.8174, 1616.7506;
 1285.1735, 1616.7506;
 1375.5295, 1616.7506;
 1465.8856, 1616.7506;
 1556.2417, 1616.7506;
 1646.5978, 1616.7506;
 1736.9539, 1616.7506;
 1827.3099, 1616.7506;
 1917.666, 1616.7506;
 2008.0221, 1616.7506;
 2098.3782, 1616.7506;
 1194.8174, 1707.1864;
 1285.1735, 1707.1864;
 1375.5295, 1707.1864;
 1465.8856, 1707.1864;
 1556.2417, 1707.1864;
 1646.5978, 1707.1864;
 1736.9539, 1707.1864;
 1827.3099, 1707.1864;
 1917.666, 1707.1864;
 2008.0221, 1707.1864;
 2098.3782, 1707.1864]

projectPoints(tempPointSet, mat_tmp, translation_vectors[i], intrinsic_matrix, distortion_coeffs1, image_points2);

cout << "原始空间点:\n" << image_points2 << endl;

[1194.8174, 1074.1355;

1285.1735, 1074.1355;

1375.5295, 1074.1355;

1465.8856, 1074.1355;

1556.2417, 1074.1355;

1646.5978, 1074.1355;

1736.9539, 1074.1355;

1827.3099, 1074.1355;

1917.666, 1074.1355;

2008.0221, 1074.1355;

2098.3782, 1074.1355;

1194.8174, 1164.5713;

1285.1735, 1164.5713;

1375.5295, 1164.5713;

1465.8856, 1164.5713;

1556.2417, 1164.5713;

1646.5978, 1164.5713;

1736.9539, 1164.5713;

1827.3099, 1164.5713;

1917.666, 1164.5713;

2008.0221, 1164.5713;

2098.3782, 1164.5713;

1194.8174, 1255.0072;

1285.1735, 1255.0072;

1375.5295, 1255.0072;

1465.8856, 1255.0072;

1556.2417, 1255.0072;

1646.5978, 1255.0072;

1736.9539, 1255.0072;

1827.3099, 1255.0072;

1917.666, 1255.0072;

2008.0221, 1255.0072;

2098.3782, 1255.0072;

1194.8174, 1345.443;

1285.1735, 1345.443;

1375.5295, 1345.443;

1465.8856, 1345.443;

1556.2417, 1345.443;

1646.5978, 1345.443;

1736.9539, 1345.443;

1827.3099, 1345.443;

1917.666, 1345.443;

2008.0221, 1345.443;

2098.3782, 1345.443;

1194.8174, 1435.8789;

1285.1735, 1435.8789;

1375.5295, 1435.8789;

1465.8856, 1435.8789;

1556.2417, 1435.8789;

1646.5978, 1435.8789;

1736.9539, 1435.8789;

1827.3099, 1435.8789;

1917.666, 1435.8789;

2008.0221, 1435.8789;

2098.3782, 1435.8789;

1194.8174, 1526.3147;

1285.1735, 1526.3147;

1375.5295, 1526.3147;

1465.8856, 1526.3147;

1556.2417, 1526.3147;

1646.5978, 1526.3147;

1736.9539, 1526.3147;

1827.3099, 1526.3147;

1917.666, 1526.3147;

2008.0221, 1526.3147;

2098.3782, 1526.3147;

1194.8174, 1616.7506;

1285.1735, 1616.7506;

1375.5295, 1616.7506;

1465.8856, 1616.7506;

1556.2417, 1616.7506;

1646.5978, 1616.7506;

1736.9539, 1616.7506;

1827.3099, 1616.7506;

1917.666, 1616.7506;

2008.0221, 1616.7506;

2098.3782, 1616.7506;

1194.8174, 1707.1864;

1285.1735, 1707.1864;

1375.5295, 1707.1864;

1465.8856, 1707.1864;

1556.2417, 1707.1864;

1646.5978, 1707.1864;

1736.9539, 1707.1864;

1827.3099, 1707.1864;

1917.666, 1707.1864;

2008.0221, 1707.1864;

2098.3782, 1707.1864]

经函数求出的空间坐标点是：

vector<Point3f> worldPoint;
cameraToWorld(intrinsic_matrix, mat_tmp, translation_vec_tmp, image_points2, worldPoint);
cout << "计算空间点:\n" << worldPoint << endl;
[0, 0, 1;
 30, 0, 1;
 60, 0, 1;
 90.000015, 0, 1;
 120.00002, 0, 1;
 149.99995, 0, 1;
 179.99998, 0, 1;
 209.99998, 0, 1;
 239.99998, 0, 1;
 270, 0, 1;
 300, 0, 1;
 0, 29.999985, 1;
 30, 29.999985, 1;
 60, 29.999985, 1;
 90.000015, 29.999985, 1;
 120.00002, 29.999985, 1;
 149.99995, 29.999985, 1;
 179.99998, 29.999985, 1;
 209.99998, 29.999985, 1;
 239.99998, 29.999985, 1;
 270, 29.999985, 1;
 300, 29.999985, 1;
 0, 60.000015, 1;
 30, 60.000015, 1;
 60, 60.000015, 1;
 90.000015, 60.000015, 1;
 120.00002, 60.000015, 1;
 149.99995, 60.000015, 1;
 179.99998, 60.000015, 1;
 209.99998, 60.000015, 1;
 239.99998, 60.000015, 1;
 270, 60.000015, 1;
 300, 60.000015, 1;
 0, 89.999969, 1;
 30, 89.999969, 1;
 60, 89.999969, 1;
 90.000015, 89.999969, 1;
 120.00002, 89.999969, 1;
 149.99995, 89.999969, 1;
 179.99998, 89.999969, 1;
 209.99998, 89.999969, 1;
 239.99998, 89.999969, 1;
 270, 89.999969, 1;
 300, 89.999969, 1;
 0, 120.00002, 1;
 30, 120.00002, 1;
 60, 120.00002, 1;
 90.000015, 120.00002, 1;
 120.00002, 120.00002, 1;
 149.99995, 120.00002, 1;
 179.99998, 120.00002, 1;
 209.99998, 120.00002, 1;
 239.99998, 120.00002, 1;
 270, 120.00002, 1;
 300, 120.00002, 1;
 0, 149.99998, 1;
 30, 149.99998, 1;
 60, 149.99998, 1;
 90.000015, 149.99998, 1;
 120.00002, 149.99998, 1;
 149.99995, 149.99998, 1;
 179.99998, 149.99998, 1;
 209.99998, 149.99998, 1;
 239.99998, 149.99998, 1;
 270, 149.99998, 1;
 300, 149.99998, 1;
 0, 179.99998, 1;
 30, 179.99998, 1;
 60, 179.99998, 1;
 90.000015, 179.99998, 1;
 120.00002, 179.99998, 1;
 149.99995, 179.99998, 1;
 179.99998, 179.99998, 1;
 209.99998, 179.99998, 1;
 239.99998, 179.99998, 1;
 270, 179.99998, 1;
 300, 179.99998, 1;
 0, 209.99998, 1;
 30, 209.99998, 1;
 60, 209.99998, 1;
 90.000015, 209.99998, 1;
 120.00002, 209.99998, 1;
 149.99995, 209.99998, 1;
 179.99998, 209.99998, 1;
 209.99998, 209.99998, 1;
 239.99998, 209.99998, 1;
 270, 209.99998, 1;
 300, 209.99998, 1]

vector<Point3f> worldPoint;

cameraToWorld(intrinsic_matrix, mat_tmp, translation_vec_tmp, image_points2, worldPoint);

cout << "计算空间点:\n" << worldPoint << endl;

[0, 0, 1;

30, 0, 1;

60, 0, 1;

90.000015, 0, 1;

120.00002, 0, 1;

149.99995, 0, 1;

179.99998, 0, 1;

209.99998, 0, 1;

239.99998, 0, 1;

270, 0, 1;

300, 0, 1;

0, 29.999985, 1;

30, 29.999985, 1;

60, 29.999985, 1;

90.000015, 29.999985, 1;

120.00002, 29.999985, 1;

149.99995, 29.999985, 1;

179.99998, 29.999985, 1;

209.99998, 29.999985, 1;

239.99998, 29.999985, 1;

270, 29.999985, 1;

300, 29.999985, 1;

0, 60.000015, 1;

30, 60.000015, 1;

60, 60.000015, 1;

90.000015, 60.000015, 1;

120.00002, 60.000015, 1;

149.99995, 60.000015, 1;

179.99998, 60.000015, 1;

209.99998, 60.000015, 1;

239.99998, 60.000015, 1;

270, 60.000015, 1;

300, 60.000015, 1;

0, 89.999969, 1;

30, 89.999969, 1;

60, 89.999969, 1;

90.000015, 89.999969, 1;

120.00002, 89.999969, 1;

149.99995, 89.999969, 1;

179.99998, 89.999969, 1;

209.99998, 89.999969, 1;

239.99998, 89.999969, 1;

270, 89.999969, 1;

300, 89.999969, 1;

0, 120.00002, 1;

30, 120.00002, 1;

60, 120.00002, 1;

90.000015, 120.00002, 1;

120.00002, 120.00002, 1;

149.99995, 120.00002, 1;

179.99998, 120.00002, 1;

209.99998, 120.00002, 1;

239.99998, 120.00002, 1;

270, 120.00002, 1;

300, 120.00002, 1;

0, 149.99998, 1;

30, 149.99998, 1;

60, 149.99998, 1;

90.000015, 149.99998, 1;

120.00002, 149.99998, 1;

149.99995, 149.99998, 1;

179.99998, 149.99998, 1;

209.99998, 149.99998, 1;

239.99998, 149.99998, 1;

270, 149.99998, 1;

300, 149.99998, 1;

0, 179.99998, 1;

30, 179.99998, 1;

60, 179.99998, 1;

90.000015, 179.99998, 1;

120.00002, 179.99998, 1;

149.99995, 179.99998, 1;

179.99998, 179.99998, 1;

209.99998, 179.99998, 1;

239.99998, 179.99998, 1;

270, 179.99998, 1;

300, 179.99998, 1;

0, 209.99998, 1;

30, 209.99998, 1;

60, 209.99998, 1;

90.000015, 209.99998, 1;

120.00002, 209.99998, 1;

149.99995, 209.99998, 1;

179.99998, 209.99998, 1;

209.99998, 209.99998, 1;

239.99998, 209.99998, 1;

270, 209.99998, 1;

300, 209.99998, 1]

可以对比按11*8格和30mm/格所生成空间坐标点结果，基本一致。

参考链接

Missing accessibility label: provide either a view with an `android:labelFor` that references this view or provide an `android:hint`

在 Android Studio 2021.2.1 新定义 layout 文件的时候，如果 EditText 与 TextView 相邻定义，如下：

<?xml version="1.0" encoding="utf-8"?>
<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
    android:layout_width="match_parent"
    android:layout_height="match_parent"
    android:orientation="vertical">

    <TextView
        android:layout_width="match_parent"
        android:layout_height="match_parent"
        android:text="Item Name" />

    <EditText
        android:id="@+id/edit_item_name"
        android:layout_width="match_parent"
        android:layout_height="wrap_content"
        android:autofillHints="Item Name"
        android:inputType="text" />
</LinearLayout>

<?xml version="1.0" encoding="utf-8"?>

<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"

android:layout_width="match_parent"

android:layout_height="match_parent"

android:orientation="vertical">

<TextView

android:layout_width="match_parent"

android:layout_height="match_parent"

android:text="Item Name" />

<EditText

android:id="@+id/edit_item_name"

android:layout_width="match_parent"

android:layout_height="wrap_content"

android:autofillHints="Item Name"

android:inputType="text" />

</LinearLayout>

会在 EditText 收到警告信息：

“No label views point to this text field”

1	“No label views point to this text field”

或者：

Missing accessibility label: provide either a view with an `android:labelFor` that references this view or provide an `android:hint`

1	Missing accessibility label: provide either a view with an `android:labelFor` that references this view or provide an `android:hint`

这个警告的原因是：一般情况下，EditText 与 TextView 相邻的时候，TextView 一般用于提示用户应该输入何种内容，尤其是有多个 EditText 与 TextView 对的时候，可以通过指定 android:labelFor 来指出两者的对应关系。也可以通过给每个 EditText 增加一个 android:hit 方便用户理解。

解决方法如下：

<?xml version="1.0" encoding="utf-8"?>
<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
    android:layout_width="match_parent"
    android:layout_height="match_parent"
    android:orientation="vertical">

    <TextView
        android:layout_width="match_parent"
        android:layout_height="match_parent"
        android:labelFor="@+id/edit_item_name"
        android:text="Item Name" />

    <EditText
        android:id="@+id/edit_item_name"
        android:layout_width="match_parent"
        android:layout_height="wrap_content"
        android:autofillHints="Item Name"
        android:inputType="text" />
</LinearLayout>

<?xml version="1.0" encoding="utf-8"?>

<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"

android:layout_width="match_parent"

android:layout_height="match_parent"

android:orientation="vertical">

<TextView

android:layout_width="match_parent"

android:layout_height="match_parent"

android:labelFor="@+id/edit_item_name"

android:text="Item Name" />

<EditText

android:id="@+id/edit_item_name"

android:layout_width="match_parent"

android:layout_height="wrap_content"

android:autofillHints="Item Name"

android:inputType="text" />

</LinearLayout>

或者：

<?xml version="1.0" encoding="utf-8"?>
<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
    android:layout_width="match_parent"
    android:layout_height="match_parent"
    android:orientation="vertical">

    <TextView
        android:layout_width="match_parent"
        android:layout_height="match_parent"
        android:text="Item Name" />

    <EditText
        android:id="@+id/edit_item_name"
        android:layout_width="match_parent"
        android:layout_height="wrap_content"
        android:autofillHints="Item Name"
        android:hint="hit"
        android:inputType="text" />

</LinearLayout>

<?xml version="1.0" encoding="utf-8"?>

<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"

android:layout_width="match_parent"

android:layout_height="match_parent"

android:orientation="vertical">

<TextView

android:layout_width="match_parent"

android:layout_height="match_parent"

android:text="Item Name" />

<EditText

android:id="@+id/edit_item_name"

android:layout_width="match_parent"

android:layout_height="wrap_content"

android:autofillHints="Item Name"

android:hint="hit"

android:inputType="text" />

</LinearLayout>

参考链接

Difference between android:id and android:labelFor?

摄像头和机械臂的手眼标定

一、背景

Calibration是机器人开发者永远的痛。虽然说方法说起来几十年前就有，但每一个要用摄像头的人都还是要经过一番痛苦的踩坑，没有轻轻松松拿来就效果好的包。其实人类不就是个手眼协调的先进“机器人”吗，O(∩_∩)O哈哈~

机器人视觉应用中，手眼标定是一个非常基础且关键的问题。简单来说手眼标定的目的就是获取机器人坐标系和相机坐标系的关系，最后将视觉识别的结果转移到机器人坐标系下。

手眼标定行业内分为两种形式，根据相机固定的地方不同，如果相机和机器人末端固定在一起，就称之为“眼在手”（eye in hand），如果相机固定在机器人外面的底座上，则称之为“眼在外”（eye to hand）。

二、手眼关系的数学描述

1. eye in hand，这种关系下，两次运动，机器人底座和标定板的关系始终不变。求解的量为相机和机器人末端坐标系的位姿关系。

2. eye to hand，这种关系下，两次运动，机器人末端和标定板的位姿关系始终不变。求解的量为相机和机器人底座坐标系之间的位姿关系。

手眼标定eye in hand 和eye to hand 的区别主要是机器人那边，一个是end相对于base，另一个是base相对于end。千万注意。

三、AX = XB问题的求解

旋转和平移分步法求解：

Y. Shiu, S. Ahmad Calibration of Wrist-Mounted Robotic Sensors by Solving Homogeneous Transform Equations of the Form AX = XB. In IEEE Transactions on Robotics and Automation, 5(1):16-29, 1989.

R. Tsai, R. Lenz A New Technique for Fully Autonomous and Efficient 3D Robotics Hand/Eye Calibration. In IEEE Transactions on Robotics and Automation, 5(3):345-358, 1989.

迭代求解及相关资料可以看看相关网上的英文教程 Calibration and Registration Techniques for Robotics 其中也有一些AX= XB的matlab代码可以使用。

ROS 下也有相关的一些package可以利用

https://github.com/IFL-CAMP/easy_handeye

handeye - ROS Wiki

Visual Servoing Platform: Tutorial: Camera extrinsic calibration

HandEyeCalibration TUM这里也有很多手眼标定求解的参考链接

四、其他参考资料

3D 视觉之手眼标定邱强Flyqq 微信文章

手眼标定的两种方式_wzj5530的专栏-CSDN博客_手眼标定图不错

深入浅出地理解机器人手眼标定_二毛的博客-CSDN博客_机器人手眼标定部分halcon代码

eye-in-hand手眼标定系统_二毛的博客-CSDN博客 halcon代码

手眼标定之9点法_GoRunningSnail的博客-CSDN博客部分原理

UR5、Kinect2手眼标定总结_zhang970187013的博客-CSDN博客 UR5 与easy hand eye

一般用“两步法”求解基本方程，即先从基本方程上式求解出旋转部分，再代入求解出平移部分。

经典手眼标定算法之Tsai-Lenz的OpenCV实现_YunlinWang的博客-CSDN博客

============== Halcon 官方示例-手眼标定 ==================

五、Matlab下手眼标定解算

相机与机器人是eye-to-hand模式，机器人为加拿大Kinova 6轴机械臂，机器人pose为基座相对于末端的x，y，z，rx，ry，rz，rw, 单位为米。姿态使用单位四元数表示。

2017.08.29Kinova_pose_all_8_1.txt

0.4285232296,0.1977596461,-0.5595823047,0.4738016082,0.3209333657,-0.2268795901,-0.7880605703
0.2265712272,0.0261943502,-0.6661910850,0.5222343809,0.0461668455,-0.1315038186,-0.8413362107
0.1058885008,0.0527681997,-0.7419267756,0.5081638565,-0.0263721340,-0.1696570449,-0.8439730402
0.1127224767,-0.0420359377,-0.7413071786,0.5101706595,-0.0322252464,-0.1864402870,-0.8390038445
0.2592932751,-0.0329068529,-0.7162865014,0.5101641882,0.1265739325,-0.0153077050,-0.8505746380
-0.1724239544,0.0084144761,-0.6998332592,0.4989369998,-0.0973210400,-0.1244194561,-0.8521210503
-0.0534271258,0.0771779706,-0.6845820453,0.5195499916,0.0511217081,-0.1691595167,-0.8359661686
0.2598500029,0.0933230213,-0.6638257382,0.5673912325,0.1686973705,-0.1427337629,-0.7932436318

0.4285232296,0.1977596461,-0.5595823047,0.4738016082,0.3209333657,-0.2268795901,-0.7880605703

0.2265712272,0.0261943502,-0.6661910850,0.5222343809,0.0461668455,-0.1315038186,-0.8413362107

0.1058885008,0.0527681997,-0.7419267756,0.5081638565,-0.0263721340,-0.1696570449,-0.8439730402

0.1127224767,-0.0420359377,-0.7413071786,0.5101706595,-0.0322252464,-0.1864402870,-0.8390038445

0.2592932751,-0.0329068529,-0.7162865014,0.5101641882,0.1265739325,-0.0153077050,-0.8505746380

-0.1724239544,0.0084144761,-0.6998332592,0.4989369998,-0.0973210400,-0.1244194561,-0.8521210503

-0.0534271258,0.0771779706,-0.6845820453,0.5195499916,0.0511217081,-0.1691595167,-0.8359661686

0.2598500029,0.0933230213,-0.6638257382,0.5673912325,0.1686973705,-0.1427337629,-0.7932436318

pattern pose为标定板相对于相机的x，y，z，rx，ry，rz，rw, 单位为米。姿态使用单位四元数表示。

2017.08.29Pattern_pose_all_8_1.txt

0.4277459616,-0.0267754900,0.0822384718,0.3555198802,-0.2313832954,-0.6738796808,-0.6049409568
0.4610891450,-0.0089776615,0.0394863697,-0.4168581229,0.4389318994,0.4953132086,0.6230833961
0.4159190432,0.0112235849,0.0112504715,-0.3559197420,0.4898053987,0.4542453721,0.6535081871
0.4143974465,0.0094036803,0.1073298638,-0.3438949365,0.4875942762,0.4507613906,0.6639294113
0.3473267442,-0.1866610227,0.0651366494,0.4966101920,-0.4291949558,-0.5361047392,-0.5308123169
0.3883165305,-0.2249779584,0.0093256602,-0.3595692001,0.5529429756,0.4090559739,0.6305848604
0.4309364801,-0.2354261800,-0.0925819097,-0.3831460128,0.4244707870,0.5043032275,0.6470718186
0.4362292324,-0.0778107597,-0.1007970399,0.4568889439,-0.3144470665,-0.5302104578,-0.6412896427

0.4277459616,-0.0267754900,0.0822384718,0.3555198802,-0.2313832954,-0.6738796808,-0.6049409568

0.4610891450,-0.0089776615,0.0394863697,-0.4168581229,0.4389318994,0.4953132086,0.6230833961

0.4159190432,0.0112235849,0.0112504715,-0.3559197420,0.4898053987,0.4542453721,0.6535081871

0.4143974465,0.0094036803,0.1073298638,-0.3438949365,0.4875942762,0.4507613906,0.6639294113

0.3473267442,-0.1866610227,0.0651366494,0.4966101920,-0.4291949558,-0.5361047392,-0.5308123169

0.3883165305,-0.2249779584,0.0093256602,-0.3595692001,0.5529429756,0.4090559739,0.6305848604

0.4309364801,-0.2354261800,-0.0925819097,-0.3831460128,0.4244707870,0.5043032275,0.6470718186

0.4362292324,-0.0778107597,-0.1007970399,0.4568889439,-0.3144470665,-0.5302104578,-0.6412896427

此Matlab文件调用数据进行离线解算。Calibration and Registration Techniques for Robotics 的这部分 Registering Two Sets of 6DoF Data with 1 Unknown，有code下载，下载好命名为shiu.m和tsai.m供下面程序调用就行。我这里贴出

function X = tsai_wechat(A,B)
% Calculates the least squares solution of
% AX = XB
% 
% A New Technique for Fully Autonomous 
% and Efficient 3D Robotics Hand/Eye Calibration
% Lenz Tsai
%
% Mili Shah
% July 2014
 
[m,n] = size(A); n = n/4;
S = zeros(3*n,3);
v = zeros(3*n,1);
%Calculate best rotation R
for i = 1:n
    A1 = logm(A(1:3,4*i-3:4*i-1)); 
    B1 = logm(B(1:3,4*i-3:4*i-1));
    a = [A1(3,2) A1(1,3) A1(2,1)]'; a = a/norm(a);
    b = [B1(3,2) B1(1,3) B1(2,1)]'; b = b/norm(b);
    S(3*i-2:3*i,:) = skew(a+b);
    v(3*i-2:3*i,:) = a-b;
end
x = S\v;
theta = 2*atan(norm(x));
x = x/norm(x);
R = (eye(3)*cos(theta) + sin(theta)*skew(x) + (1-cos(theta))*x*x')';
%Calculate best translation t
C = zeros(3*n,3);
d = zeros(3*n,1);
I = eye(3);
for i = 1:n
    C(3*i-2:3*i,:) = I - A(1:3,4*i-3:4*i-1);
    d(3*i-2:3*i,:) = A(1:3,4*i)-R*B(1:3,4*i);
end
t = C\d;
%Put everything together to form X
X = [R t;0 0 0 1];

function X = tsai_wechat(A,B)

% Calculates the least squares solution of

% AX = XB

% A New Technique for Fully Autonomous

% and Efficient 3D Robotics Hand/Eye Calibration

% Lenz Tsai

% Mili Shah

% July 2014

[m,n] = size(A); n = n/4;

S = zeros(3*n,3);

v = zeros(3*n,1);

%Calculate best rotation R

for i = 1:n

A1 = logm(A(1:3,4*i-3:4*i-1));

B1 = logm(B(1:3,4*i-3:4*i-1));

a = [A1(3,2) A1(1,3) A1(2,1)]'; a = a/norm(a);

b = [B1(3,2) B1(1,3) B1(2,1)]'; b = b/norm(b);

S(3*i-2:3*i,:) = skew(a+b);

v(3*i-2:3*i,:) = a-b;

end

x = S\v;

theta = 2*atan(norm(x));

x = x/norm(x);

R = (eye(3)*cos(theta) + sin(theta)*skew(x) + (1-cos(theta))*x*x')';

%Calculate best translation t

C = zeros(3*n,3);

d = zeros(3*n,1);

I = eye(3);

for i = 1:n

C(3*i-2:3*i,:) = I - A(1:3,4*i-3:4*i-1);

d(3*i-2:3*i,:) = A(1:3,4*i)-R*B(1:3,4*i);

end

t = C\d;

%Put everything together to form X

X = [R t;0 0 0 1];

Jaco_handeye_test_10.m 测试程序中用到了Peter Corke老师的机器人工具箱。我的Matlab版本R2013a，利用机器人工具箱的一些转换函数（四元数的构建，欧拉角转换等），它安装和基本使用参考这里：Matlab机器人工具箱_Learning by doing-CSDN博客_matlab机器人工具箱

clear;
close all;
clc;
 
% Robot pose in Quatenion xyzw
 
 JacoCartesianPose = importdata('E:\\Matlab_work\\handeye\\yake_handeye\\2017.08.29Kinova_pose_all_8_1.txt');
 
 [m,n] = size(JacoCartesianPose); % 8* 7
A = cell(1,m); % 1*8
 
for i = 1: m
    
    robotHtool_qua = Quaternion([ JacoCartesianPose(i, 7), JacoCartesianPose(i, 4), JacoCartesianPose(i, 5) , JacoCartesianPose(i, 6)]) ; 
    A{1,i}  = transl(JacoCartesianPose(i, 1), JacoCartesianPose(i, 2), JacoCartesianPose(i, 3)) *  robotHtool_qua.T;
   
end
 
% Pattern Pose(Homogeneous) stored in  cell B.
patternInCamPose = importdata('E:\\Matlab_work\\handeye\\yake_handeye\\2017.08.29Pattern_pose_all_8_1.txt');
 
[melem,nelem] = size(patternInCamPose); % 8*7
B=cell(1,melem);
for x=1: melem
    camHmarker_qua = Quaternion([ patternInCamPose(x, 7) , patternInCamPose(x, 4), patternInCamPose(x, 5) , patternInCamPose(x, 6)])    ;
    B{1,x} = transl(patternInCamPose(x, 1), patternInCamPose(x, 2), patternInCamPose(x, 3)) *  camHmarker_qua.T;
end
%
 
n2=m;
TA=cell(1,n2);
TB=cell(1,n2); 
 
%--------------------- 8 -----------------------------------
M1=[];
M2=[];
 for j=[1: m-1]% 1-7.
 
     TA{1, j} = inv(A{1, j}) * A{1, j+1};    
     M1=[M1 TA{1, j}];
     
     TB{1, j} = B{1, j} * inv(B{1, j+1});
     M2=[M2 TB{1, j}];
     
 end 
 
 % M1=[TA{1,1} TA{1,2} TA{1,3} TA{1,4} TA{1,5} TA{1,6} TA{1,7} ];
 % M2=[TB{1,1} TB{1,2} TB{1,3} TB{1,4} TB{1,5} TB{1,6} TB{1,7} ];
%--------------------- 8 -----------------------------------
 
C_Tsai=tsai(M1, M2)
T_Tsai =  (transl(C_Tsai))';
C_Tsai_rad = tr2rpy(C_Tsai);
C_Tsai_rpy_rx_ry_rz =rad2deg(C_Tsai_rad);
Q_Tsai_Qxyzw=Quaternion(C_Tsai);
fprintf('Tsai(rad) = \n%f, %f, %f, %f, %f, %f\n',T_Tsai(1,1), T_Tsai(1,2), T_Tsai(1,3), C_Tsai_rad(1,1), C_Tsai_rad(1,2), C_Tsai_rad(1,3));
fprintf('Tsai(deg) = \n%f, %f, %f, %f, %f, %f\n\n',T_Tsai(1,1), T_Tsai(1,2), T_Tsai(1,3), C_Tsai_rpy_rx_ry_rz(1,1), C_Tsai_rpy_rx_ry_rz(1,2), C_Tsai_rpy_rx_ry_rz(1,3));
fprintf('Tsai(Qxyzw) = \n %f, %f, %f, %f\n\n',  Q_Tsai_Qxyzw.v(1),  Q_Tsai_Qxyzw.v(2), Q_Tsai_Qxyzw.v(3), Q_Tsai_Qxyzw.s);

clear;

close all;

clc;

% Robot pose in Quatenion xyzw

JacoCartesianPose = importdata('E:\\Matlab_work\\handeye\\yake_handeye\\2017.08.29Kinova_pose_all_8_1.txt');

[m,n] = size(JacoCartesianPose); % 8* 7

A = cell(1,m); % 1*8

for i = 1: m

robotHtool_qua = Quaternion([ JacoCartesianPose(i, 7), JacoCartesianPose(i, 4), JacoCartesianPose(i, 5) , JacoCartesianPose(i, 6)]) ;

A{1,i} = transl(JacoCartesianPose(i, 1), JacoCartesianPose(i, 2), JacoCartesianPose(i, 3)) * robotHtool_qua.T;

end

% Pattern Pose(Homogeneous) stored in cell B.

patternInCamPose = importdata('E:\\Matlab_work\\handeye\\yake_handeye\\2017.08.29Pattern_pose_all_8_1.txt');

[melem,nelem] = size(patternInCamPose); % 8*7

B=cell(1,melem);

for x=1: melem

camHmarker_qua = Quaternion([ patternInCamPose(x, 7) , patternInCamPose(x, 4), patternInCamPose(x, 5) , patternInCamPose(x, 6)]) ;

B{1,x} = transl(patternInCamPose(x, 1), patternInCamPose(x, 2), patternInCamPose(x, 3)) * camHmarker_qua.T;

end

n2=m;

TA=cell(1,n2);

TB=cell(1,n2);

%--------------------- 8 -----------------------------------

M1=[];

M2=[];

for j=[1: m-1]% 1-7.

TA{1, j} = inv(A{1, j}) * A{1, j+1};

M1=[M1 TA{1, j}];

TB{1, j} = B{1, j} * inv(B{1, j+1});

M2=[M2 TB{1, j}];

end

% M1=[TA{1,1} TA{1,2} TA{1,3} TA{1,4} TA{1,5} TA{1,6} TA{1,7} ];

% M2=[TB{1,1} TB{1,2} TB{1,3} TB{1,4} TB{1,5} TB{1,6} TB{1,7} ];

%--------------------- 8 -----------------------------------

C_Tsai=tsai(M1, M2)

T_Tsai = (transl(C_Tsai))';

C_Tsai_rad = tr2rpy(C_Tsai);

C_Tsai_rpy_rx_ry_rz =rad2deg(C_Tsai_rad);

Q_Tsai_Qxyzw=Quaternion(C_Tsai);

fprintf('Tsai(rad) = \n%f, %f, %f, %f, %f, %f\n',T_Tsai(1,1), T_Tsai(1,2), T_Tsai(1,3), C_Tsai_rad(1,1), C_Tsai_rad(1,2), C_Tsai_rad(1,3));

fprintf('Tsai(deg) = \n%f, %f, %f, %f, %f, %f\n\n',T_Tsai(1,1), T_Tsai(1,2), T_Tsai(1,3), C_Tsai_rpy_rx_ry_rz(1,1), C_Tsai_rpy_rx_ry_rz(1,2), C_Tsai_rpy_rx_ry_rz(1,3));

fprintf('Tsai(Qxyzw) = \n %f, %f, %f, %f\n\n', Q_Tsai_Qxyzw.v(1), Q_Tsai_Qxyzw.v(2), Q_Tsai_Qxyzw.v(3), Q_Tsai_Qxyzw.s);

稍微解释一下，程序做的就是读入机器人和相机的两两姿态信息，转换为4x4 的齐次变换矩阵，送入tsai.m程序求解。

手眼标定eye in hand 和eye to hand 的区别主要是机器人那边，一个是end相对于base，另一个是base相对于end。千万注意。

====================平面九点标定法====================

当利用RGB相机或者是机器人只进行平面抓取（也即固定姿态抓取，机器人六自由度位置和姿态简化为只考虑平移，姿态人为给定并且固定，这时机器人可以移动到目标点上方），问题可以简化为平面RGB图像的目标像素点集A（x1，y1）与机器人在平面（X1，Y1）的点对关系。具体做法是相机识别像素点给到A，然后利用示教器查看机器人在基座标系下的坐标，当做B。

相机坐标和机器人坐标写成齐次的形式，投影矩阵X是一个3x3的矩阵我们需要6组对应点来求解最小配置解。利用奇异值分解SVD来求取。

D:\opencv_work\cubeSolver\cv_solver\ConsoleApplication1\CV_SVD.cpp

D:\Matlab_work\handeye\NinePoints_Calibration.m

//Solve equation:AX=b
 
#include <cv.h>
#include<opencv2/opencv.hpp>
using namespace std;
using namespace cv;
 
int main(int argc, char** argv)
{
	printf("\nSolve equation:AX=b\n\n");
 
	//Mat A = (Mat_<float>(6, 3) <<
	//480.8, 639.4, 1,
	//227.1, 317.5, 1,
	//292.4, 781.6, 1,
	//597.4, 1044.1, 1,
	//557.7, 491.6, 1,
	//717.8, 263.7, 1
	//		 );// 4x3
 
	//Mat B = (Mat_<float>(6, 3) <<
	//197170, 185349, 1,
	//195830, 186789, 1,
	//196174, 184591, 1,
	//197787, 183176, 1,
	//197575, 186133, 1,
	//198466, 187335, 1
	//		 );
 
	Mat A = (Mat_<float>(4, 3) << 
	2926.36, 2607.79, 1, 
	587.093, 2616.89, 1, 
	537.031, 250.311, 1, 
	1160.53, 1265.21, 1);// 4x3
 
	Mat B = (Mat_<float>(4, 3) << 
	320.389, 208.197, 1,
	247.77, 209.726, 1,
	242.809, 283.182, 1,
	263.152, 253.715, 1);
 
 
	Mat X;
	cout << "A=" << endl << A << endl;
	cout << "B=" << endl << B << endl;
 
	solve(A, B, X, CV_SVD);
 
	cout << "X=" << endl << X << endl;
	Mat a1 = (Mat_<float>(1, 3) << 1864, 1273, 1);
	Mat b1 = a1*X;
	cout << "b1=" << endl << b1 << endl;
	cout << "真实值为：" << "283.265, 253.049, 1" << endl;
 
 
	getchar();
 
	return 0;
}

//Solve equation:AX=b

#include <cv.h>

#include<opencv2/opencv.hpp>

using namespace std;

using namespace cv;

int main(int argc, char** argv)

{

printf("\nSolve equation:AX=b\n\n");

//Mat A = (Mat_<float>(6, 3) <<

//480.8, 639.4, 1,

//227.1, 317.5, 1,

//292.4, 781.6, 1,

//597.4, 1044.1, 1,

//557.7, 491.6, 1,

//717.8, 263.7, 1

// );// 4x3

//Mat B = (Mat_<float>(6, 3) <<

//197170, 185349, 1,

//195830, 186789, 1,

//196174, 184591, 1,

//197787, 183176, 1,

//197575, 186133, 1,

//198466, 187335, 1

// );

Mat A = (Mat_<float>(4, 3) <<

2926.36, 2607.79, 1,

587.093, 2616.89, 1,

537.031, 250.311, 1,

1160.53, 1265.21, 1);// 4x3

Mat B = (Mat_<float>(4, 3) <<

320.389, 208.197, 1,

247.77, 209.726, 1,

242.809, 283.182, 1,

263.152, 253.715, 1);

Mat X;

cout << "A=" << endl << A << endl;

cout << "B=" << endl << B << endl;

solve(A, B, X, CV_SVD);

cout << "X=" << endl << X << endl;

Mat a1 = (Mat_<float>(1, 3) << 1864, 1273, 1);

Mat b1 = a1*X;

cout << "b1=" << endl << b1 << endl;

cout << "真实值为：" << "283.265, 253.049, 1" << endl;

getchar();

return 0;

}

OpenCV: Operations on arrays

结果对比：左halcon C#（第三列为0,0,1，没做显示），右opencv c++，底下为Matlab结果，三者一致，算法检测通过。

=============

四轴平面机器人的手眼标定_Stones1025的博客-CSDN博客

这种方法利用点对，求仿摄变换矩阵

#include "pch.h"
#include <iostream>
 
#include <cv.h>
#include<opencv2/opencv.hpp>
 
using namespace cv;
 
 
int main(int argc, char** argv)
{
	printf("\nSolve equation:AX=b\n\n");
 
	Point2f srcTri[3];
	srcTri[0] = Point2f(480.8f, 639.4f);
	srcTri[1] = Point2f(227.1f, 317.5f);
	srcTri[2] = Point2f(292.4f, 781.6f);
 
	Point2f dstTri[3];
	dstTri[0] = Point2f(197170.0f, 185349.0f);
	dstTri[1] = Point2f(195830.0f, 186789.0f);
	dstTri[2] = Point2f(196174.0f, 184591.0f);
 
	Mat warp_mat = getAffineTransform(srcTri, dstTri);
	// 计算图像坐标
	std::cout << "img_corners：\n" << srcTri << std::endl;
	std::cout << "robot_corners：\n" << dstTri << std::endl;
	std::cout << warp_mat << std::endl;
 
	//
	//[5.284835627018051, -0.00236967559639317, 194630.5662011061;
	//0.4056177440315953, -4.793119669651512, 188218.6997054448]
 
	return 0;
}

#include "pch.h"

#include <iostream>

#include <cv.h>

#include<opencv2/opencv.hpp>

using namespace cv;

int main(int argc, char** argv)

{

printf("\nSolve equation:AX=b\n\n");

Point2f srcTri[3];

srcTri[0] = Point2f(480.8f, 639.4f);

srcTri[1] = Point2f(227.1f, 317.5f);

srcTri[2] = Point2f(292.4f, 781.6f);

Point2f dstTri[3];

dstTri[0] = Point2f(197170.0f, 185349.0f);

dstTri[1] = Point2f(195830.0f, 186789.0f);

dstTri[2] = Point2f(196174.0f, 184591.0f);

Mat warp_mat = getAffineTransform(srcTri, dstTri);

// 计算图像坐标

std::cout << "img_corners：\n" << srcTri << std::endl;

std::cout << "robot_corners：\n" << dstTri << std::endl;

std::cout << warp_mat << std::endl;

//[5.284835627018051, -0.00236967559639317, 194630.5662011061;

//0.4056177440315953, -4.793119669651512, 188218.6997054448]

return 0;

}

================= Eye in hand 数据及Ground truth =========================

Marker in Camera 八组数据，单位：米及弧度，姿态用的是RotVector表示

0.11725,0.05736,0.32176,0.02860,-0.1078,3.06934
0.07959,0.06930,0.29829,0.66126,-0.2127,2.99042
0.14434,0.03227,0.40377,-0.9465,-0.1744,2.80668
0.11008,0.05605,0.35730,0.12422,-1.0665,2.87604
0.1131,0.0438171,0.299624,-0.058278,-0.514154,-3.06309
0.057039,0.109464,0.415275,0.414777,0.750109,-2.49495
0.13702,0.00520,0.38190,0.26431,-0.7554,2.26885
-0.03670,-0.04433,0.237292,0.807501,-0.27347,0.614594

0.11725,0.05736,0.32176,0.02860,-0.1078,3.06934

0.07959,0.06930,0.29829,0.66126,-0.2127,2.99042

0.14434,0.03227,0.40377,-0.9465,-0.1744,2.80668

0.11008,0.05605,0.35730,0.12422,-1.0665,2.87604

0.1131,0.0438171,0.299624,-0.058278,-0.514154,-3.06309

0.057039,0.109464,0.415275,0.414777,0.750109,-2.49495

0.13702,0.00520,0.38190,0.26431,-0.7554,2.26885

-0.03670,-0.04433,0.237292,0.807501,-0.27347,0.614594

Robot end-effector in Base 八组数据，单位：米及弧度，姿态用的是RotVector表示

0.400422,-0.0262847,0.365594,3.12734,-0.0857978,-0.0168582
0.423347,-0.16857,0.340184,-2.73844,0.089013,0.123284
0.42540,0.19543,0.29062,2.44351,-0.1777,-0.0722
0.58088,-0.0541,0.32633,-2.9303,0.06957,0.98985
0.2760,-0.033,0.3301,3.0813,0.0724,0.6077
0.54011,0.09071,0.34623,2.62279,0.75876,-0.6927
0.57732,-0.1346,0.37990,-2.6764,1.04868,0.82177
0.27844,-0.1371,0.28799,-0.8233,2.26319,0.36110

0.400422,-0.0262847,0.365594,3.12734,-0.0857978,-0.0168582

0.423347,-0.16857,0.340184,-2.73844,0.089013,0.123284

0.42540,0.19543,0.29062,2.44351,-0.1777,-0.0722

0.58088,-0.0541,0.32633,-2.9303,0.06957,0.98985

0.2760,-0.033,0.3301,3.0813,0.0724,0.6077

0.54011,0.09071,0.34623,2.62279,0.75876,-0.6927

0.57732,-0.1346,0.37990,-2.6764,1.04868,0.82177

0.27844,-0.1371,0.28799,-0.8233,2.26319,0.36110

Ground truth：Camera in end-effector

Calibration Result:

-0.005816946773 -0.997849042178 -0.065295115862 0.053457653403

0.999355366046 -0.003487653357 -0.035730779845 -0.009463725064

0.035426197714 -0.065460868457 0.997226082298 -0.045113271057

0 0 0 1

RotVector(rad): -0.023440 -0.079412 1.57466

AngVector(rad): 1.576836 <-0.014865, -0.050362, 0.998620>

AngVector(deg): 90.346026 <-0.014865, -0.050362, 0.998620>

rx_ry_rz_rw: -0.010543 -0.079412 1.574660 0.704968

rx_ry_rz_rw_norm: -0.010543 -0.035718 0.708260 0.704968

Calibration Result:

-0.005816946773 -0.997849042178 -0.065295115862 0.053457653403

0.999355366046 -0.003487653357 -0.035730779845 -0.009463725064

0.035426197714 -0.065460868457 0.997226082298 -0.045113271057

0 0 0 1

RotVector(rad): -0.023440 -0.079412 1.57466

AngVector(rad): 1.576836 <-0.014865, -0.050362, 0.998620>

AngVector(deg): 90.346026 <-0.014865, -0.050362, 0.998620>

rx_ry_rz_rw: -0.010543 -0.079412 1.574660 0.704968

rx_ry_rz_rw_norm: -0.010543 -0.035718 0.708260 0.704968

参考链接

理解Intellj IDEA/Android Studio警告'Optional' used as type for parameter

在函数的形参中使用 Optional 类型的参数的时候，编译的时候会被 Intellj IDEA/Android Studio 发出警告，代码如下：

import java.util.Optional;

public class OptionalDemo {

    private static void printOptionalString(Optional<String> message) {
        System.out.println(message.orElse("empty"));
    }

    public static void main(String[] args) {
        printOptionalString(Optional.of("hello"));
    }

}

import java.util.Optional;

public class OptionalDemo {

private static void printOptionalString(Optional<String> message) {

System.out.println(message.orElse("empty"));

}

public static void main(String[] args) {

printOptionalString(Optional.of("hello"));

}

警告信息如下：

'Optional<String>' used as type for parameter 'message'

1	'Optional<String>' used as type for parameter 'message'

对于这个警告，初期是非常迷惑的，不清楚为什么 Optional 类型不能作为函数的形参。后来搜索了一下网络，加上自己理解，才豁然开朗。

其实 Optional 类型产生的本身是为了避免空指针异常而引入的，如果在函数的形参中使用 Optional 类型，那么如果传入的 Optional 类型的参数本身就是 null 的话，就会在使用 Optional 参数的时候抛出空指针异常了。因此干脆就希望不要在函数的行参中使用 Optional 类型。

通过测试，Intellj IDEA/Android Studio 对于函数返回值，是不发出这个警告的。

接口的话，可以使用类似下面的写法来规避这个警告：

import java.util.Optional;

public class OptionalDemo {
    
    public static void main(String[] args) {
        OptionalCallback<Optional<String>> cb = new OptionalCallback<Optional<String>>() {
            @Override
            public void onOptionalFired(Optional<String> message) {
                System.out.println(message.orElse("empty"));
            }
        };
        cb.onOptionalFired(Optional.of("hello"));
    }

    private interface  OptionalCallback<T> {
        void onOptionalFired(T message);
    }
}

import java.util.Optional;

public class OptionalDemo {

public static void main(String[] args) {

OptionalCallback<Optional<String>> cb = new OptionalCallback<Optional<String>>() {

@Override

public void onOptionalFired(Optional<String> message) {

System.out.println(message.orElse("empty"));

}

};

cb.onOptionalFired(Optional.of("hello"));

}

private interface OptionalCallback<T> {

void onOptionalFired(T message);

}

虽然可以通过 @SuppressWarnings("OptionalUsedAsFieldOrParameterType") 来禁止这个警告的发出，但是还是建议遵守这个警告，尽量不要在函数的形参中使用 Optional 类型。

参考链接

Flutter CustomPaint自定义控件时钟

我们将用 CustomPaint 来绘制我们的时钟。CustomPaint 的重要参数 painter 和 size。painter 是一个继承了CustomPainter 的对象，主要实现了绘画控件的功能。size 指定了控件的大小，如果 CustomPaint 的 child 不为空，size 的值就是 child 控件的大小，指定 size 的值则无效；如果 child 为空，所指定的 size 的值，就是画布的大小。

  @override
  Widget build(BuildContext context) {
    return CustomPaint(
      painter: ClockPainter(datetime,
          numberColor: Colors.black,
          handColor: Colors.black,
          borderColor: Colors.black,
          radius: widget.radius),
      size: Size(widget.radius * 2, widget.radius * 2),
    );
  }

@override

Widget build(BuildContext context) {

return CustomPaint(

painter: ClockPainter(datetime,

numberColor: Colors.black,

handColor: Colors.black,

borderColor: Colors.black,

radius: widget.radius),

size: Size(widget.radius * 2, widget.radius * 2),

);

}

ClockPainter 继承了 CustomPainter，实现了其中两个重要方法：paint 和 shouldRepaint。paint 当自定义控件需要重画时被调用。shouldRepaint 则决定当条件变化时是否需要重画。

class ClockPainter extends CustomPainter {
  @override
  void paint(Canvas canvas, Size size) {
  }

  @override
  bool shouldRepaint(ClockPainter oldDelegate) {
    return true;
  }
}

class ClockPainter extends CustomPainter {

@override

void paint(Canvas canvas, Size size) {

}

@override

bool shouldRepaint(ClockPainter oldDelegate) {

return true;

}

首先先时钟的边框，代码如下，只需 drawCircle 就可以实现边框的绘制。

    //draw border
    final borderPaint = Paint()
      ..color = borderColor
      ..style = PaintingStyle.stroke
      ..strokeWidth = borderWidth;
    canvas.drawCircle(
        Offset(radius, radius), radius - borderWidth / 2, borderPaint);

//draw border

final borderPaint = Paint()

..color = borderColor

..style = PaintingStyle.stroke

..strokeWidth = borderWidth;

canvas.drawCircle(

Offset(radius, radius), radius - borderWidth / 2, borderPaint);

canvas 的起始点是画布的左上角坐标点为起点，即 x，y 都为零。drawCircle 画一个指定了半径的圆。圆的形状和样式由 Paint 对象指定。style 决定了是画圆盘（PaintingStyle.fill）还是圆环（PaintingStyle.stroke）。当 style 设定为PaintingStyle.stroke 时，strokeWidth 就是指定了圆环的宽度。

其次，可以画时钟刻度和数字了。

 List<Offset> secondsOffset = [];
   
    for (var i = 0; i < 60; i++) {
      Offset offset = Offset(
          cos(degToRad(6 * i - 90)) * secondDistance + radius,
          sin(degToRad(6 * i - 90)) * secondDistance + radius);
      secondsOffset.add(offset);
    }

    //draw second point
    final secondPPaint = Paint()
      ..strokeWidth = 2 * scale
      ..color = numberColor;
    if (secondsOffset.length > 0) {
      canvas.drawPoints(PointMode.points, secondsOffset, secondPPaint);
    }

List<Offset> secondsOffset = [];

for (var i = 0; i < 60; i++) {

Offset offset = Offset(

cos(degToRad(6 * i - 90)) * secondDistance + radius,

sin(degToRad(6 * i - 90)) * secondDistance + radius);

secondsOffset.add(offset);

}

//draw second point

final secondPPaint = Paint()

..strokeWidth = 2 * scale

..color = numberColor;

if (secondsOffset.length > 0) {

canvas.drawPoints(PointMode.points, secondsOffset, secondPPaint);

}

时钟的刻度占整个圆弧的 360/60=6 度，运用数学公式每个刻度点的坐标，然后用 drawPoints 画出每一个刻度点。

      canvas.save();
      canvas.translate(radius, radius);

      for (var i = 0; i < secondsOffset.length; i++) {
        if (i % 5 == 0) {
          //draw number
          canvas.save();
          canvas.translate(0.0, -radius + borderWidth * 4);
          textPainter.text = new TextSpan(
            text: "${(i ~/ 5) == 0 ? "12" : (i ~/ 5)}",
            style: TextStyle(
              color: numberColor,
              fontFamily: 'Times New Roman',
              fontSize: 28.0 * scale,
            ),
          );

          //helps make the text painted vertically
          canvas.rotate(-angle * i);

          textPainter.layout();
          textPainter.paint(canvas,
              new Offset(-(textPainter.width / 2), -(textPainter.height / 2)));
          canvas.restore();
        }
        canvas.rotate(angle);
      }
      canvas.restore();

canvas.save();

canvas.translate(radius, radius);

for (var i = 0; i < secondsOffset.length; i++) {

if (i % 5 == 0) {

//draw number

canvas.save();

canvas.translate(0.0, -radius + borderWidth * 4);

textPainter.text = new TextSpan(

text: "${(i ~/ 5) == 0 ? "12" : (i ~/ 5)}",

style: TextStyle(

color: numberColor,

fontFamily: 'Times New Roman',

fontSize: 28.0 * scale,

);

//helps make the text painted vertically

canvas.rotate(-angle * i);

textPainter.layout();

textPainter.paint(canvas,

new Offset(-(textPainter.width / 2), -(textPainter.height / 2)));

canvas.restore();

}

canvas.rotate(angle);

}

canvas.restore();

canvas.save() 保存当前画布，以便画完数字恢复。
canvas.translate(radius, radius) 把画布的起始点移到画布的中心。
再次保存画布后，再把起始点移到正上方位置，这里是把起始点数字 12 的位置。
TextPainter用来画文字。
canvas.rotate(-angle.toDouble() * i); 以当前画布起始点旋转一个角度，这是为了保证每个数字在下面旋转到对应的位置后保持竖直显示。
canvas.restore() 重置画布，即把画布的起始点定位到控件的中心位置。
canvas.rotate(angle.toDouble()) 以控件中心为原点旋转一个角度，即把数字旋转到对应的位置。数字 12 旋转角度为零，数字 1 旋转角度为 30 度。
所有的数字都画完并旋转到对应的位置后即可恢复起始点到控件的左上角。

最后，我们接着画时针，分针，秒针。

    final hour = datetime.hour;
    final minute = datetime.minute;
    final second = datetime.second;

    // draw hour hand
    Offset hourHand1 = Offset(
        radius - cos(degToRad(360 / 12 * hour - 90)) * (radius * 0.2),
        radius - sin(degToRad(360 / 12 * hour - 90)) * (radius * 0.2));
    Offset hourHand2 = Offset(
        radius + cos(degToRad(360 / 12 * hour - 90)) * (radius * 0.5),
        radius + sin(degToRad(360 / 12 * hour - 90)) * (radius * 0.5));
    final hourPaint = Paint()
      ..color = handColor
      ..strokeWidth = 8 * scale;
    canvas.drawLine(hourHand1, hourHand2, hourPaint);

    // draw minute hand
    Offset minuteHand1 = Offset(
        radius - cos(degToRad(360 / 60 * minute - 90)) * (radius * 0.3),
        radius - sin(degToRad(360 / 60 * minute - 90)) * (radius * 0.3));
    Offset minuteHand2 = Offset(
        radius +
            cos(degToRad(360 / 60 * minute - 90)) * (radius - borderWidth * 3),
        radius +
            sin(degToRad(360 / 60 * minute - 90)) * (radius - borderWidth * 3));
    final minutePaint = Paint()
      ..color = handColor
      ..strokeWidth = 3 * scale;
    canvas.drawLine(minuteHand1, minuteHand2, minutePaint);

    // draw second hand
    Offset secondHand1 = Offset(
        radius - cos(degToRad(360 / 60 * second - 90)) * (radius * 0.3),
        radius - sin(degToRad(360 / 60 * second - 90)) * (radius * 0.3));
    Offset secondHand2 = Offset(
        radius +
            cos(degToRad(360 / 60 * second - 90)) * (radius - borderWidth * 3),
        radius +
            sin(degToRad(360 / 60 * second - 90)) * (radius - borderWidth * 3));
    final secondPaint = Paint()
      ..color = handColor
      ..strokeWidth = 1 * scale;
    canvas.drawLine(secondHand1, secondHand2, secondPaint);

    final centerPaint = Paint()
      ..strokeWidth = 2 * scale
      ..style = PaintingStyle.stroke
      ..color = Colors.yellow;
    canvas.drawCircle(Offset(radius, radius), 4 * scale, centerPaint);

final hour = datetime.hour;

final minute = datetime.minute;

final second = datetime.second;

// draw hour hand

Offset hourHand1 = Offset(

radius - cos(degToRad(360 / 12 * hour - 90)) * (radius * 0.2),

radius - sin(degToRad(360 / 12 * hour - 90)) * (radius * 0.2));

Offset hourHand2 = Offset(

radius + cos(degToRad(360 / 12 * hour - 90)) * (radius * 0.5),

radius + sin(degToRad(360 / 12 * hour - 90)) * (radius * 0.5));

final hourPaint = Paint()

..color = handColor

..strokeWidth = 8 * scale;

canvas.drawLine(hourHand1, hourHand2, hourPaint);

// draw minute hand

Offset minuteHand1 = Offset(

radius - cos(degToRad(360 / 60 * minute - 90)) * (radius * 0.3),

radius - sin(degToRad(360 / 60 * minute - 90)) * (radius * 0.3));

Offset minuteHand2 = Offset(

radius +

cos(degToRad(360 / 60 * minute - 90)) * (radius - borderWidth * 3),

radius +

sin(degToRad(360 / 60 * minute - 90)) * (radius - borderWidth * 3));

final minutePaint = Paint()

..color = handColor

..strokeWidth = 3 * scale;

canvas.drawLine(minuteHand1, minuteHand2, minutePaint);

// draw second hand

Offset secondHand1 = Offset(

radius - cos(degToRad(360 / 60 * second - 90)) * (radius * 0.3),

radius - sin(degToRad(360 / 60 * second - 90)) * (radius * 0.3));

Offset secondHand2 = Offset(

radius +

cos(degToRad(360 / 60 * second - 90)) * (radius - borderWidth * 3),

radius +

sin(degToRad(360 / 60 * second - 90)) * (radius - borderWidth * 3));

final secondPaint = Paint()

..color = handColor

..strokeWidth = 1 * scale;

canvas.drawLine(secondHand1, secondHand2, secondPaint);

final centerPaint = Paint()

..strokeWidth = 2 * scale

..style = PaintingStyle.stroke

..color = Colors.yellow;

canvas.drawCircle(Offset(radius, radius), 4 * scale, centerPaint);

一个小时占时钟角度为 30 度，利用三角函数算出时针的两个点，用 drawLine 画出带宽度的时针。
每一分钟每一秒中所占的角度为 6 度，同样利用三角函数算出各自对应的两点，再画直线就可以得到分针，秒针。

完整的代码如下：

import 'dart:async';
import 'dart:math';
import 'dart:ui';

import 'package:flutter/material.dart';

class ClockPage extends StatefulWidget {
  final double radius;
  final Color hourHandColor;
  final Color minuteHandColor;
  final Color secondHandColor;
  final Color numberColor;
  final Color borderColor;

  const ClockPage(
      {Key? key,
      required this.hourHandColor,
      required this.minuteHandColor,
      required this.secondHandColor,
      required this.numberColor,
      required this.borderColor,
      this.radius = 150.0})
      : super(key: key);

  @override
  State<StatefulWidget> createState() {
    return ClockPageState();
  }
}

class ClockPageState extends State<ClockPage> {
  late DateTime datetime;
  late Timer timer;

  @override
  void initState() {
    super.initState();
    datetime = DateTime.now();
    timer = Timer.periodic(const Duration(seconds: 1), (timer) {
      setState(() {
        datetime = DateTime.now();
      });
    });
  }

  @override
  void dispose() {
    super.dispose();
    timer.cancel();
  }

  @override
  Widget build(BuildContext context) {
    return CustomPaint(
      painter: ClockPainter(datetime,
          numberColor: Colors.black,
          handColor: Colors.black,
          borderColor: Colors.black,
          radius: widget.radius),
      size: Size(widget.radius * 2, widget.radius * 2),
    );
  }
}

class ClockPainter extends CustomPainter {
  final Color handColor;
  final Color numberColor;
  final Color borderColor;
  final double radius;
  List<Offset> secondsOffset = [];
  final DateTime datetime;
  late TextPainter textPainter;
  late num angle;
  late double borderWidth;

  ClockPainter(this.datetime,
      {this.radius = 150.0,
      this.handColor = Colors.black,
      this.numberColor = Colors.black,
      this.borderColor = Colors.black}) {
    borderWidth = radius / 14;
    final secondDistance = radius - borderWidth * 2;
    //init seconds offset
    for (var i = 0; i < 60; i++) {
      Offset offset = Offset(
          cos(degToRad(6 * i - 90)) * secondDistance + radius,
          sin(degToRad(6 * i - 90)) * secondDistance + radius);
      secondsOffset.add(offset);
    }

    textPainter = TextPainter(
      textAlign: TextAlign.center,
      textDirection: TextDirection.rtl,
    );
    angle = degToRad(360 / 60);
  }

  @override
  void paint(Canvas canvas, Size size) {
    final scale = radius / 150;

    //draw border
    final borderPaint = Paint()
      ..color = borderColor
      ..style = PaintingStyle.stroke
      ..strokeWidth = borderWidth;
    canvas.drawCircle(
        Offset(radius, radius), radius - borderWidth / 2, borderPaint);

    //draw second point
    final secondPPaint = Paint()
      ..strokeWidth = 2 * scale
      ..color = numberColor;
    if (secondsOffset.isNotEmpty) {
      canvas.drawPoints(PointMode.points, secondsOffset, secondPPaint);

      canvas.save();
      canvas.translate(radius, radius);

      List<Offset> bigger = [];
      for (var i = 0; i < secondsOffset.length; i++) {
        if (i % 5 == 0) {
          bigger.add(secondsOffset[i]);

          //draw number
          canvas.save();
          canvas.translate(0.0, -radius + borderWidth * 4);
          textPainter.text = TextSpan(
            text: "${(i ~/ 5) == 0 ? "12" : (i ~/ 5)}",
            style: TextStyle(
              color: numberColor,
              fontFamily: 'Times New Roman',
              fontSize: 28.0 * scale,
            ),
          );

          //helps make the text painted vertically
          canvas.rotate(-angle.toDouble() * i);

          textPainter.layout();
          textPainter.paint(canvas,
              Offset(-(textPainter.width / 2), -(textPainter.height / 2)));
          canvas.restore();
        }
        canvas.rotate(angle.toDouble());
      }
      canvas.restore();

      final biggerPaint = Paint()
        ..strokeWidth = 5 * scale
        ..color = numberColor;
      canvas.drawPoints(PointMode.points, bigger, biggerPaint);
    }

    final hour = datetime.hour;
    final minute = datetime.minute;
    final second = datetime.second;

    // draw hour hand
    Offset hourHand1 = Offset(
        radius - cos(degToRad(360 / 12 * hour - 90)) * (radius * 0.2),
        radius - sin(degToRad(360 / 12 * hour - 90)) * (radius * 0.2));
    Offset hourHand2 = Offset(
        radius + cos(degToRad(360 / 12 * hour - 90)) * (radius * 0.5),
        radius + sin(degToRad(360 / 12 * hour - 90)) * (radius * 0.5));
    final hourPaint = Paint()
      ..color = handColor
      ..strokeWidth = 8 * scale;
    canvas.drawLine(hourHand1, hourHand2, hourPaint);

    // draw minute hand
    Offset minuteHand1 = Offset(
        radius - cos(degToRad(360 / 60 * minute - 90)) * (radius * 0.3),
        radius - sin(degToRad(360 / 60 * minute - 90)) * (radius * 0.3));
    Offset minuteHand2 = Offset(
        radius +
            cos(degToRad(360 / 60 * minute - 90)) * (radius - borderWidth * 3),
        radius +
            sin(degToRad(360 / 60 * minute - 90)) * (radius - borderWidth * 3));
    final minutePaint = Paint()
      ..color = handColor
      ..strokeWidth = 3 * scale;
    canvas.drawLine(minuteHand1, minuteHand2, minutePaint);

    // draw second hand
    Offset secondHand1 = Offset(
        radius - cos(degToRad(360 / 60 * second - 90)) * (radius * 0.3),
        radius - sin(degToRad(360 / 60 * second - 90)) * (radius * 0.3));
    Offset secondHand2 = Offset(
        radius +
            cos(degToRad(360 / 60 * second - 90)) * (radius - borderWidth * 3),
        radius +
            sin(degToRad(360 / 60 * second - 90)) * (radius - borderWidth * 3));
    final secondPaint = Paint()
      ..color = handColor
      ..strokeWidth = 1 * scale;
    canvas.drawLine(secondHand1, secondHand2, secondPaint);

    final centerPaint = Paint()
      ..strokeWidth = 2 * scale
      ..style = PaintingStyle.stroke
      ..color = Colors.yellow;
    canvas.drawCircle(Offset(radius, radius), 4 * scale, centerPaint);
  }

  @override
  bool shouldRepaint(CustomPainter oldDelegate) {
    return true;
  }
}

num degToRad(num deg) => deg * (pi / 180.0);

num radToDeg(num rad) => rad * (180.0 / pi);

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import 'dart:async';

import 'dart:math';

import 'dart:ui';

import 'package:flutter/material.dart';

class ClockPage extends StatefulWidget {

final double radius;

final Color hourHandColor;

final Color minuteHandColor;

final Color secondHandColor;

final Color numberColor;

final Color borderColor;

const ClockPage(

{Key? key,

required this.hourHandColor,

required this.minuteHandColor,

required this.secondHandColor,

required this.numberColor,

required this.borderColor,

this.radius = 150.0})

: super(key: key);

@override

State<StatefulWidget> createState() {

return ClockPageState();

}

class ClockPageState extends State<ClockPage> {

late DateTime datetime;

late Timer timer;

@override

void initState() {

super.initState();

datetime = DateTime.now();

timer = Timer.periodic(const Duration(seconds: 1), (timer) {

setState(() {

datetime = DateTime.now();

});

}

@override

void dispose() {

super.dispose();

timer.cancel();

}

@override

Widget build(BuildContext context) {

return CustomPaint(

painter: ClockPainter(datetime,

numberColor: Colors.black,

handColor: Colors.black,

borderColor: Colors.black,

radius: widget.radius),

size: Size(widget.radius * 2, widget.radius * 2),

);

}

class ClockPainter extends CustomPainter {

final Color handColor;

final Color numberColor;

final Color borderColor;

final double radius;

List<Offset> secondsOffset = [];

final DateTime datetime;

late TextPainter textPainter;

late num angle;

late double borderWidth;

ClockPainter(this.datetime,

{this.radius = 150.0,

this.handColor = Colors.black,

this.numberColor = Colors.black,

this.borderColor = Colors.black}) {

borderWidth = radius / 14;

final secondDistance = radius - borderWidth * 2;

//init seconds offset

for (var i = 0; i < 60; i++) {

Offset offset = Offset(

cos(degToRad(6 * i - 90)) * secondDistance + radius,

sin(degToRad(6 * i - 90)) * secondDistance + radius);

secondsOffset.add(offset);

}

textPainter = TextPainter(

textAlign: TextAlign.center,

textDirection: TextDirection.rtl,

);

angle = degToRad(360 / 60);

}

@override

void paint(Canvas canvas, Size size) {

final scale = radius / 150;

//draw border

final borderPaint = Paint()

..color = borderColor

..style = PaintingStyle.stroke

..strokeWidth = borderWidth;

canvas.drawCircle(

Offset(radius, radius), radius - borderWidth / 2, borderPaint);

//draw second point

final secondPPaint = Paint()

..strokeWidth = 2 * scale

..color = numberColor;

if (secondsOffset.isNotEmpty) {

canvas.drawPoints(PointMode.points, secondsOffset, secondPPaint);

canvas.save();

canvas.translate(radius, radius);

List<Offset> bigger = [];

for (var i = 0; i < secondsOffset.length; i++) {

if (i % 5 == 0) {

bigger.add(secondsOffset[i]);

//draw number

canvas.save();

canvas.translate(0.0, -radius + borderWidth * 4);

textPainter.text = TextSpan(

text: "${(i ~/ 5) == 0 ? "12" : (i ~/ 5)}",

style: TextStyle(

color: numberColor,

fontFamily: 'Times New Roman',

fontSize: 28.0 * scale,

);

//helps make the text painted vertically

canvas.rotate(-angle.toDouble() * i);

textPainter.layout();

textPainter.paint(canvas,

Offset(-(textPainter.width / 2), -(textPainter.height / 2)));

canvas.restore();

}

canvas.rotate(angle.toDouble());

}

canvas.restore();

final biggerPaint = Paint()

..strokeWidth = 5 * scale

..color = numberColor;

canvas.drawPoints(PointMode.points, bigger, biggerPaint);

}

final hour = datetime.hour;

final minute = datetime.minute;

final second = datetime.second;

// draw hour hand

Offset hourHand1 = Offset(

radius - cos(degToRad(360 / 12 * hour - 90)) * (radius * 0.2),

radius - sin(degToRad(360 / 12 * hour - 90)) * (radius * 0.2));

Offset hourHand2 = Offset(

radius + cos(degToRad(360 / 12 * hour - 90)) * (radius * 0.5),

radius + sin(degToRad(360 / 12 * hour - 90)) * (radius * 0.5));

final hourPaint = Paint()

..color = handColor

..strokeWidth = 8 * scale;

canvas.drawLine(hourHand1, hourHand2, hourPaint);

// draw minute hand

Offset minuteHand1 = Offset(

radius - cos(degToRad(360 / 60 * minute - 90)) * (radius * 0.3),

radius - sin(degToRad(360 / 60 * minute - 90)) * (radius * 0.3));

Offset minuteHand2 = Offset(

radius +

cos(degToRad(360 / 60 * minute - 90)) * (radius - borderWidth * 3),

radius +

sin(degToRad(360 / 60 * minute - 90)) * (radius - borderWidth * 3));

final minutePaint = Paint()

..color = handColor

..strokeWidth = 3 * scale;

canvas.drawLine(minuteHand1, minuteHand2, minutePaint);

// draw second hand

Offset secondHand1 = Offset(

radius - cos(degToRad(360 / 60 * second - 90)) * (radius * 0.3),

radius - sin(degToRad(360 / 60 * second - 90)) * (radius * 0.3));

Offset secondHand2 = Offset(

radius +

cos(degToRad(360 / 60 * second - 90)) * (radius - borderWidth * 3),

radius +

sin(degToRad(360 / 60 * second - 90)) * (radius - borderWidth * 3));

final secondPaint = Paint()

..color = handColor

..strokeWidth = 1 * scale;

canvas.drawLine(secondHand1, secondHand2, secondPaint);

final centerPaint = Paint()

..strokeWidth = 2 * scale

..style = PaintingStyle.stroke

..color = Colors.yellow;

canvas.drawCircle(Offset(radius, radius), 4 * scale, centerPaint);

}

@override

bool shouldRepaint(CustomPainter oldDelegate) {

return true;

}

num degToRad(num deg) => deg * (pi / 180.0);

num radToDeg(num rad) => rad * (180.0 / pi);

使用的代码如下：

const ClockPage(
  hourHandColor: Colors.black,
  minuteHandColor: Colors.black,
  secondHandColor: Colors.black,
  numberColor: Colors.black,
  borderColor: Colors.black),

const ClockPage(

hourHandColor: Colors.black,

minuteHandColor: Colors.black,

secondHandColor: Colors.black,

numberColor: Colors.black,

borderColor: Colors.black),

参考链接

Flutter CustomPaint自定义控件时钟

百度地图Poi检索、距离计算、调起百度地图

百度API的简单应用——PoiSearch

创建POI检索实例

在SDK组件初始化之后使用下列代码即可:

mPoiSearch = PoiSearch.newInstance();

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mPoiSearch = PoiSearch.newInstance();

创建POI检索监听器

在同一个Activity中编写以下代码：

OnGetPoiSearchResultListener listener = new OnGetPoiSearchResultListener() { @Override public void onGetPoiResult(PoiResult poiResult) { } @Override public void onGetPoiDetailResult(PoiDetailSearchResult poiDetailSearchResult) { } @Override public void onGetPoiIndoorResult(PoiIndoorResult poiIndoorResult) { } //废弃 @Override public void onGetPoiDetailResult(PoiDetailResult poiDetailResult) { } };

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OnGetPoiSearchResultListener listener = new OnGetPoiSearchResultListener() {
@Override
public void onGetPoiResult(PoiResult poiResult) {

}
@Override
public void onGetPoiDetailResult(PoiDetailSearchResult poiDetailSearchResult) {

}
@Override
public void onGetPoiIndoorResult(PoiIndoorResult poiIndoorResult) {

}
//废弃
@Override
public void onGetPoiDetailResult(PoiDetailResult poiDetailResult) {

}
};

其中onGetPoiResult是主要的回调函数，所以涉及到搜索结果的操作基本都放在这个函数中进行，在我的源码中，我把MainActivity当作一个OnGetPoiSearchResultListener，这样有利于简化代码

设置检索监听器

mPoiSearch.setOnGetPoiSearchResultListener(listener);

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mPoiSearch.setOnGetPoiSearchResultListener(listener);

设置PoiCitySearchOption，发起检索请求

/** * PoiCiySearchOption 设置检索属性 * city 检索城市 * keyword 检索内容关键字 * pageNum 分页页码 */ mPoiSearch.searchInCity(new PoiCitySearchOption() .city("北京") //必填 .keyword("美食") //必填 .pageNum(10));

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/**
*  PoiCiySearchOption 设置检索属性
*  city 检索城市
*  keyword 检索内容关键字
*  pageNum 分页页码
*/
mPoiSearch.searchInCity(new PoiCitySearchOption()
        .city("北京") //必填
        .keyword("美食") //必填
        .pageNum(10));

在我的源码中，使用的是周边检索，应用的接口应该是：

/** * 以天安门为中心，搜索半径100米以内的餐厅 */ mPoiSearch.searchNearby(new PoiNearbySearchOption() .location(new LatLng(39.915446, 116.403869)) .radius(100); //支持多个关键字并集检索，不同关键字间以$符号分隔，最多支持10个关键字检索。如:”银行$酒店” .keyword("餐厅") .pageNum(10));

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/**
* 以天安门为中心，搜索半径100米以内的餐厅
*/
mPoiSearch.searchNearby(new PoiNearbySearchOption()
        .location(new LatLng(39.915446, 116.403869))
        .radius(100);
        //支持多个关键字并集检索，不同关键字间以$符号分隔，最多支持10个关键字检索。如:”银行$酒店”
        .keyword("餐厅")
        .pageNum(10));

释放检索实例

重要的声明周期管理：

mPoiSearch.destroy();

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mPoiSearch.destroy();

百度地图的简单应用——距离计算

两点距离计算
根据用户指定的两个坐标点，计算这两个点之间的直线实际地理距离。
返回值类型：double
返回值单位：米
核心代码如下：

//计算p1、p2两点之间的直线距离，单位：米 DistanceUtil.getDistance(p1, p2);

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//计算p1、p2两点之间的直线距离，单位：米

DistanceUtil.getDistance(p1, p2);

其中p1和p2都是LatLng的对象

百度地图的简单应用——调起百度地图

由于不可能设计的APP面向的需求是寻找附近的一个可供娱乐的地方，所以导航的功能可以直接使用现成的百度地图来提供

我们使用的是步行导航：

//定义起终点坐标（天安门和百度大厦） LatLng startPoint = new LatLng(39.915291, 116.403857); LatLng endPoint = new LatLng(40.056858, 116.308194); //构建导航参数 NaviParaOption para = new NaviParaOption() .startPoint(startPoint) .endPoint(endPoint) .startName("天安门") .endName("百度大厦"); //调起百度地图 try { BaiduMapNavigation.openBaiduMapWalkNavi(para, this); } catch (BaiduMapAppNotSupportNaviException e) { e.printStackTrace(); //调起失败的处理 } //调起结束时及时调用finish方法以释放相关资源 BaiduMapNavigation.finish(this);

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//定义起终点坐标（天安门和百度大厦）
LatLng startPoint = new LatLng(39.915291, 116.403857);
LatLng endPoint = new LatLng(40.056858, 116.308194);

//构建导航参数
NaviParaOption para = new NaviParaOption()
     .startPoint(startPoint)
     .endPoint(endPoint)
     .startName("天安门")
     .endName("百度大厦");
//调起百度地图
try {
BaiduMapNavigation.openBaiduMapWalkNavi(para, this);
} catch (BaiduMapAppNotSupportNaviException e) {
e.printStackTrace();
//调起失败的处理
}

//调起结束时及时调用finish方法以释放相关资源
BaiduMapNavigation.finish(this);

以上的代码即可完全地调起百度地图并直接进行步行导航

综合教程——摇一摇地图

制作百度地图的API的综合运用——显示定位、POI检索、距离计算、调起百度地图

关键代码：
权限：

  <uses-permission android:name="android.permission.INTERNET" />  <uses-permission android:name="android.permission.ACCESS_NETWORK_STATE" />  <uses-permission android:name="android.permission.READ_EXTERNAL_STORAGE" />  <uses-permission android:name="android.permission.VIBRATE" /> <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" />   <uses-permission android:name="android.permission.ACCESS_COARSE_LOCATION" />  <uses-permission android:name="android.permission.ACCESS_FINE_LOCATION" /> ...  <service android:name="com.baidu.location.f" android:enabled="true" android:process=":remote"/>

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<uses-permission android:name="android.permission.INTERNET" /> 
<uses-permission android:name="android.permission.ACCESS_NETWORK_STATE" /> 
<uses-permission android:name="android.permission.READ_EXTERNAL_STORAGE" /> 
<uses-permission android:name="android.permission.VIBRATE" />
<uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" />



<uses-permission android:name="android.permission.ACCESS_COARSE_LOCATION" />

<uses-permission android:name="android.permission.ACCESS_FINE_LOCATION" />
...

     <service android:name="com.baidu.location.f"
         android:enabled="true"
         android:process=":remote"/>

显示定位:

// ----------------------------------- 初始化百度地图 --------------------------------- // mMapView = findViewById(R.id.bmapView); mTextView = findViewById(R.id.tv); mPoiSearch = PoiSearch.newInstance(); mPoiSearch.setOnGetPoiSearchResultListener(this); // 更改地图类型 mBaiduMap = mMapView.getMap(); mBaiduMap.setMapType(BaiduMap.MAP_TYPE_SATELLITE); // 设置定位服务开始 mBaiduMap.setMyLocationEnabled(true); //定位初始化 mLocationClient = new LocationClient(getApplicationContext()); //通过LocationClientOption设置LocationClient相关参数 LocationClientOption option = new LocationClientOption(); option.setLocationMode(LocationClientOption.LocationMode.Device_Sensors); // 定位模式是仅限设备模式，也就是仅允许GPS来定位。 option.setOpenGps(true); // 打开gps option.setCoorType("bd09ll"); // 设置坐标类型 option.setScanSpan(1000); //设置打开自动回调位置模式，该开关打开后，期间只要定位SDK检测到位置变化就会主动回调给开发者 option.setIsNeedAddress(true); //可选，是否需要地址信息，默认为不需要，即参数为false //如果开发者需要获得当前点的地址信息，此处必须为true option.setNeedNewVersionRgc(true); //可选，设置是否需要最新版本的地址信息。默认需要，即参数为true //设置locationClientOption mLocationClient.setLocOption(option); //注册LocationListener监听器 MyLocationListener myLocationListener = new MyLocationListener(); mLocationClient.registerLocationListener(myLocationListener); //开启地图定位图层 mLocationClient.start(); // 搜索时不重复,使用HashSet来支持 mHashLocStr = new HashSet<>(); // 一开始搜索的半径和接收的结果数 mRadius = 1000; mPageCapacity = 10; // ----------------------------------------------------------------------------------- //

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// ----------------------------------- 初始化百度地图 --------------------------------- //

     mMapView = findViewById(R.id.bmapView);
     mTextView = findViewById(R.id.tv);

     mPoiSearch = PoiSearch.newInstance();
     mPoiSearch.setOnGetPoiSearchResultListener(this);

     // 更改地图类型
     mBaiduMap = mMapView.getMap();
     mBaiduMap.setMapType(BaiduMap.MAP_TYPE_SATELLITE);

     // 设置定位服务开始
     mBaiduMap.setMyLocationEnabled(true);

     //定位初始化
     mLocationClient = new LocationClient(getApplicationContext());

     //通过LocationClientOption设置LocationClient相关参数
     LocationClientOption option = new LocationClientOption();
     option.setLocationMode(LocationClientOption.LocationMode.Device_Sensors);  // 定位模式是仅限设备模式，也就是仅允许GPS来定位。
     option.setOpenGps(true); // 打开gps
     option.setCoorType("bd09ll"); // 设置坐标类型
     option.setScanSpan(1000);
     //设置打开自动回调位置模式，该开关打开后，期间只要定位SDK检测到位置变化就会主动回调给开发者

     option.setIsNeedAddress(true);
     //可选，是否需要地址信息，默认为不需要，即参数为false
     //如果开发者需要获得当前点的地址信息，此处必须为true
     option.setNeedNewVersionRgc(true);
     //可选，设置是否需要最新版本的地址信息。默认需要，即参数为true
     //设置locationClientOption
     mLocationClient.setLocOption(option);

     //注册LocationListener监听器
     MyLocationListener myLocationListener = new MyLocationListener();
     mLocationClient.registerLocationListener(myLocationListener);

     //开启地图定位图层
     mLocationClient.start();

     // 搜索时不重复,使用HashSet来支持
     mHashLocStr = new HashSet<>();

     // 一开始搜索的半径和接收的结果数
     mRadius = 1000;
     mPageCapacity = 10;

     // ----------------------------------------------------------------------------------- //

POI检索：

// 搜索附近的娱乐设施 private void searchPoiNearBy() { String cityStr = mCity; // 获取检索关键字 String keyWordStr = "娱乐"; if (TextUtils.isEmpty(cityStr) || TextUtils.isEmpty(keyWordStr)) { return; } LatLng ll = new LatLng(mBDLocation.getLatitude(), mBDLocation.getLongitude()); // 搜索附近的娱乐场所 mPoiSearch.searchNearby((new PoiNearbySearchOption()) .location(ll) .keyword(keyWordStr) .pageCapacity(mPageCapacity) .pageNum(0) .radius(mRadius)); }

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// 搜索附近的娱乐设施
private void searchPoiNearBy() {
     String cityStr = mCity;
     // 获取检索关键字
     String keyWordStr = "娱乐";
     if (TextUtils.isEmpty(cityStr) || TextUtils.isEmpty(keyWordStr)) {
         return;
     }

     LatLng ll = new LatLng(mBDLocation.getLatitude(), mBDLocation.getLongitude());

     // 搜索附近的娱乐场所
     mPoiSearch.searchNearby((new PoiNearbySearchOption())
             .location(ll)
             .keyword(keyWordStr)
             .pageCapacity(mPageCapacity)
             .pageNum(0)
             .radius(mRadius));
}

调起百度地图：

@Override public void onBindViewHolder(@NonNull AddressHolder holder, int position) { //定义起终点坐标 LatLng startPoint = new LatLng(startLocation.getLatitude(), startLocation.getLongitude()); LatLng endPoint = list.get(position).getLocation(); int distance = (int)DistanceUtil.getDistance(startPoint, endPoint); String locStr = list.get(position).getName() + ", 距离自己：" + distance + " m"; holder.textView.setText(locStr); holder.textView.setOnClickListener(v -> { Toast.makeText(mContext, "点我就跳转到别的APP咯", Toast.LENGTH_SHORT).show(); //构建导航参数 NaviParaOption para = new NaviParaOption() .startPoint(startPoint) .endPoint(endPoint) .startName("我的位置") .endName(list.get(position).getName()); //调起百度地图 try { BaiduMapNavigation.openBaiduMapWalkNavi(para, mContext); } catch (BaiduMapAppNotSupportNaviException e) { e.printStackTrace(); //调起失败的处理 } //调起结束时及时调用finish方法以释放相关资源 BaiduMapNavigation.finish(mContext); }); }

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@Override
public void onBindViewHolder(@NonNull AddressHolder holder, int position) {
     //定义起终点坐标
     LatLng startPoint = new LatLng(startLocation.getLatitude(), startLocation.getLongitude());
     LatLng endPoint = list.get(position).getLocation();
     int distance = (int)DistanceUtil.getDistance(startPoint, endPoint);
     String locStr = list.get(position).getName() + ", 距离自己：" + distance + " m";
     holder.textView.setText(locStr);
     holder.textView.setOnClickListener(v -> {
         Toast.makeText(mContext, "点我就跳转到别的APP咯", Toast.LENGTH_SHORT).show();

         //构建导航参数
         NaviParaOption para = new NaviParaOption()
                 .startPoint(startPoint)
                 .endPoint(endPoint)
                 .startName("我的位置")
                 .endName(list.get(position).getName());
         //调起百度地图
         try {
             BaiduMapNavigation.openBaiduMapWalkNavi(para, mContext);
         } catch (BaiduMapAppNotSupportNaviException e) {
             e.printStackTrace();
             //调起失败的处理
         }

         //调起结束时及时调用finish方法以释放相关资源
         BaiduMapNavigation.finish(mContext);
     });
}

制作摇一摇

初始化

// ---------------------------------初始化摇一摇--------------------------------------- // mHandler = new MyHandler(this); //初始化SoundPool mSoundPool = new SoundPool(1, AudioManager.STREAM_SYSTEM, 5); mWeiChatAudio = mSoundPool.load(this, R.raw.weichat_audio, 1); //获取Vibrator震动服务 mVibrator = (Vibrator) getSystemService(VIBRATOR_SERVICE); // 摇一摇的两个分离界面 mTopLayout = findViewById(R.id.top_layout); mBottomLayout = findViewById(R.id.bottom_layout); //获取 SensorManager 负责管理传感器 mSensorManager = ((SensorManager) getSystemService(SENSOR_SERVICE)); if (mSensorManager != null) { //获取加速度传感器 mAccelerometerSensor = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER); if (mAccelerometerSensor != null) { mSensorManager.registerListener(this, mAccelerometerSensor, SensorManager.SENSOR_DELAY_UI); } } // ----------------------------------------------------------------------------------- //

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// ---------------------------------初始化摇一摇--------------------------------------- //

mHandler = new MyHandler(this);

//初始化SoundPool
mSoundPool = new SoundPool(1, AudioManager.STREAM_SYSTEM, 5);
mWeiChatAudio = mSoundPool.load(this, R.raw.weichat_audio, 1);
//获取Vibrator震动服务
mVibrator = (Vibrator) getSystemService(VIBRATOR_SERVICE);

// 摇一摇的两个分离界面
mTopLayout = findViewById(R.id.top_layout);
mBottomLayout = findViewById(R.id.bottom_layout);

//获取 SensorManager 负责管理传感器
mSensorManager = ((SensorManager) getSystemService(SENSOR_SERVICE));
if (mSensorManager != null) {
//获取加速度传感器
mAccelerometerSensor = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
if (mAccelerometerSensor != null) {
     mSensorManager.registerListener(this, mAccelerometerSensor, SensorManager.SENSOR_DELAY_UI);
}
}

// ----------------------------------------------------------------------------------- //

监听Handler：

/** * handler 接收摇一摇产生的信息并作出对应的操作 * START_SHAKE 开始摇晃 * AGAIN_SHAKE 没结束摇晃之前再次摇晃 * END_SHAKE 结束摇晃 */ private static class MyHandler extends Handler { private WeakReference<MainActivity> mReference; private MainActivity mActivity; public MyHandler(MainActivity activity) { mReference = new WeakReference<MainActivity>(activity); if (mReference != null) { mActivity = mReference.get(); } } @Override public void handleMessage(Message msg) { super.handleMessage(msg); switch (msg.what) { case START_SHAKE: //This method requires the caller to hold the permission VIBRATE. mActivity.mVibrator.vibrate(300); //发出提示音 mActivity.mSoundPool.play(mActivity.mWeiChatAudio, 1, 1, 0, 0, 1); mActivity.startAnimation(false);//参数含义: (不是回来) 也就是说两张图片分散开的动画 break; case AGAIN_SHAKE: mActivity.mVibrator.vibrate(300); break; case END_SHAKE: //整体效果结束, 将震动设置为false mActivity.isShake = false; // 展示上下两种图片回来的效果 mActivity.startAnimation(true); break; } } }

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/**
     * handler 接收摇一摇产生的信息并作出对应的操作
     * START_SHAKE 开始摇晃
     * AGAIN_SHAKE 没结束摇晃之前再次摇晃
     * END_SHAKE 结束摇晃
     */
    private static class MyHandler extends Handler {
        private WeakReference<MainActivity> mReference;
        private MainActivity mActivity;

        public MyHandler(MainActivity activity) {
            mReference = new WeakReference<MainActivity>(activity);
            if (mReference != null) {
                mActivity = mReference.get();
            }
        }

        @Override
        public void handleMessage(Message msg) {
            super.handleMessage(msg);
            switch (msg.what) {
                case START_SHAKE:
                    //This method requires the caller to hold the permission VIBRATE.
                    mActivity.mVibrator.vibrate(300);
                    //发出提示音
                    mActivity.mSoundPool.play(mActivity.mWeiChatAudio, 1, 1, 0, 0, 1);

                    mActivity.startAnimation(false);//参数含义: (不是回来) 也就是说两张图片分散开的动画
                    break;
                case AGAIN_SHAKE:
                    mActivity.mVibrator.vibrate(300);
                    break;
                case END_SHAKE:
                    //整体效果结束, 将震动设置为false
                    mActivity.isShake = false;
                    // 展示上下两种图片回来的效果
                    mActivity.startAnimation(true);
                    break;
            }
        }
    }

编写监听函数：

/////////////////////////////////////////////////////////////////////////// // SensorEventListener回调方法 /////////////////////////////////////////////////////////////////////////// @Override public void onSensorChanged(SensorEvent event) { int type = event.sensor.getType(); if (type == Sensor.TYPE_ACCELEROMETER) { //获取三个方向值 float[] values = event.values; float x = values[0]; float y = values[1]; float z = values[2]; if ((Math.abs(x) > 17 || Math.abs(y) > 17 || Math .abs(z) > 17) && !isShake) { isShake = true; Thread thread = new Thread() { @Override public void run() { super.run(); try { Log.d(TAG, "onSensorChanged: 摇动"); searchPoiNearBy(); //开始震动发出提示音展示动画效果 mHandler.obtainMessage(START_SHAKE).sendToTarget(); Thread.sleep(500); //再来一次震动提示 mHandler.obtainMessage(AGAIN_SHAKE).sendToTarget(); Thread.sleep(500); mHandler.obtainMessage(END_SHAKE).sendToTarget(); } catch (InterruptedException e) { e.printStackTrace(); } } }; thread.start(); } } }

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///////////////////////////////////////////////////////////////////////////
    // SensorEventListener回调方法
    ///////////////////////////////////////////////////////////////////////////
    @Override
    public void onSensorChanged(SensorEvent event) {
        int type = event.sensor.getType();

        if (type == Sensor.TYPE_ACCELEROMETER) {
            //获取三个方向值
            float[] values = event.values;
            float x = values[0];
            float y = values[1];
            float z = values[2];

            if ((Math.abs(x) > 17 || Math.abs(y) > 17 || Math
                    .abs(z) > 17) && !isShake) {
                isShake = true;
                Thread thread = new Thread() {
                    @Override
                    public void run() {

                        super.run();
                        try {
                            Log.d(TAG, "onSensorChanged: 摇动");
                            searchPoiNearBy();
                            //开始震动发出提示音展示动画效果
                            mHandler.obtainMessage(START_SHAKE).sendToTarget();
                            Thread.sleep(500);
                            //再来一次震动提示
                            mHandler.obtainMessage(AGAIN_SHAKE).sendToTarget();
                            Thread.sleep(500);
                            mHandler.obtainMessage(END_SHAKE).sendToTarget();

                        } catch (InterruptedException e) {
                            e.printStackTrace();
                        }
                    }
                };
                thread.start();
            }
        }
    }

编写动画：

/** * 开启摇一摇动画 * * @param isBack 是否是返回初识状态 */ private void startAnimation(boolean isBack) { //动画坐标移动的位置的类型是相对自己的 int type = Animation.RELATIVE_TO_PARENT; float topFromY; float topToY; float bottomFromY; float bottomToY; if (!isBack) { topFromY = -0.5f; topToY = 0; bottomFromY = 0.6f; bottomToY = 0; } else { topFromY = 0; topToY = -0.5f; bottomFromY = 0; bottomToY = 0.6f; } //上面图片的动画效果 TranslateAnimation topAnim = new TranslateAnimation( type, 0, type, 0, type, topFromY, type, topToY ); topAnim.setDuration(200); //动画终止时停留在最后一帧~不然会回到没有执行之前的状态 topAnim.setFillAfter(true); //底部的动画效果 TranslateAnimation bottomAnim = new TranslateAnimation( type, 0, type, 0, type, bottomFromY, type, bottomToY ); bottomAnim.setDuration(200); bottomAnim.setFillAfter(true); //大家一定不要忘记, 当要回来时, 我们中间的两根线需要GONE掉 if (isBack) { bottomAnim.setAnimationListener(new Animation.AnimationListener() { @Override public void onAnimationStart(Animation animation) {} @Override public void onAnimationRepeat(Animation animation) {} @Override public void onAnimationEnd(Animation animation) { } }); } //设置动画 mTopLayout.startAnimation(topAnim); mBottomLayout.startAnimation(bottomAnim); }

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/**
     * 开启摇一摇动画
     *
     * @param isBack 是否是返回初识状态
     */
    private void startAnimation(boolean isBack) {
        //动画坐标移动的位置的类型是相对自己的
        int type = Animation.RELATIVE_TO_PARENT;

        float topFromY;
        float topToY;
        float bottomFromY;
        float bottomToY;
        if (!isBack) {
            topFromY = -0.5f;
            topToY = 0;
            bottomFromY = 0.6f;
            bottomToY = 0;
        } else {
            topFromY = 0;
            topToY = -0.5f;
            bottomFromY = 0;
            bottomToY = 0.6f;
        }

        //上面图片的动画效果
        TranslateAnimation topAnim = new TranslateAnimation(
                type, 0, type, 0, type, topFromY, type, topToY
        );
        topAnim.setDuration(200);
        //动画终止时停留在最后一帧~不然会回到没有执行之前的状态
        topAnim.setFillAfter(true);

        //底部的动画效果
        TranslateAnimation bottomAnim = new TranslateAnimation(
                type, 0, type, 0, type, bottomFromY, type, bottomToY
        );
        bottomAnim.setDuration(200);
        bottomAnim.setFillAfter(true);

        //大家一定不要忘记, 当要回来时, 我们中间的两根线需要GONE掉
        if (isBack) {
            bottomAnim.setAnimationListener(new Animation.AnimationListener() {
                @Override
                public void onAnimationStart(Animation animation) {}
                @Override
                public void onAnimationRepeat(Animation animation) {}
                @Override
                public void onAnimationEnd(Animation animation) {

                }
            });
        }
        //设置动画
        mTopLayout.startAnimation(topAnim);
        mBottomLayout.startAnimation(bottomAnim);

    }

使用摇一摇调用POI检索，使用recyclerView调起百度地图

摇一摇中onSensorChanged函数中在开始摇晃时加入POI检索函数：searchPoiNearBy；
recyclerView的每个holder加入调起百度地图的监听器；

参考链接

中级实训Android学习记录——Poi检索、距离计算、调起百度地图

Flutter 倒计时功能

import 'dart:async';

import 'package:flutter/cupertino.dart';
import 'package:flutter/material.dart';

void main() => runApp(const MyApp());

class MyApp extends StatelessWidget {
  const MyApp({Key? key}) : super(key: key);

  // This widget is the root of your application.
  @override
  Widget build(BuildContext context) {
    return MaterialApp(
        title: 'Flutter Demo',
        theme: ThemeData(
          primarySwatch: Colors.blue,
        ),
        home: Scaffold(
          appBar: AppBar(
            title: const Text('倒计时'),
          ),
          body: const MyHomePage(),
        ));
  }
}

class MyHomePage extends StatefulWidget {
  const MyHomePage({Key? key}) : super(key: key);

  @override
  State<MyHomePage> createState() => _MyHomePageState();
}

class _MyHomePageState extends State<MyHomePage> {
  late Duration time;
  var seconds = 0;
  Timer? countdownTimer;

  @override
  Widget build(BuildContext context) {
    return Center(
      child: Column(
        children: <Widget>[
          ElevatedButton(
            child: const Text('定时'),
            onPressed: () {
              showCupertinoModalPopup<void>(
                context: context,
                builder: (BuildContext context) {
                  return Container(
                      height: 200,
                      color: CupertinoColors.white,
                      child: DefaultTextStyle(
                        style: const TextStyle(
                          color: CupertinoColors.black,
                          fontSize: 22.0,
                        ),
                        child: CupertinoTimerPicker(
                          //initialTimerDuration: time,
                          //minuteInterval: 5,
                          mode: CupertinoTimerPickerMode.ms,
                          onTimerDurationChanged: (Duration newTimer) {
                            setState(() {
                              time = newTimer;
                              seconds = time.inSeconds;
                              // flag = true;
                            });
                          },
                        ),
                      ));
                },
              );
            },
          ),
          ElevatedButton(
            child: const Text('开始倒计时'),
            onPressed: () {
              if (countdownTimer != null) {
                return;
              }
              countdownTimer =
                  Timer.periodic(const Duration(seconds: 1), (timer) {
                setState(() {
                  if (seconds > 0) {
                    seconds--;
                  } else {
                    countdownTimer?.cancel();
                    countdownTimer = null;
                  }
                });
              });
            },
          ),
          Text(
            '倒计时： $seconds 秒',
            style: const TextStyle(fontSize: 30),
          ),
        ],
      ),
    );
  }

  @override
  void dispose() {
    countdownTimer?.cancel();
    countdownTimer = null;
    super.dispose();
  }
}

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import 'dart:async';

import 'package:flutter/cupertino.dart';

import 'package:flutter/material.dart';

void main() => runApp(const MyApp());

class MyApp extends StatelessWidget {

const MyApp({Key? key}) : super(key: key);

// This widget is the root of your application.

@override

Widget build(BuildContext context) {

return MaterialApp(

title: 'Flutter Demo',

theme: ThemeData(

primarySwatch: Colors.blue,

home: Scaffold(

appBar: AppBar(

title: const Text('倒计时'),

body: const MyHomePage(),

));

}

class MyHomePage extends StatefulWidget {

const MyHomePage({Key? key}) : super(key: key);

@override

State<MyHomePage> createState() => _MyHomePageState();

}

class _MyHomePageState extends State<MyHomePage> {

late Duration time;

var seconds = 0;

Timer? countdownTimer;

@override

Widget build(BuildContext context) {

return Center(

child: Column(

children: <Widget>[

ElevatedButton(

child: const Text('定时'),

onPressed: () {

showCupertinoModalPopup<void>(

context: context,

builder: (BuildContext context) {

return Container(

height: 200,

color: CupertinoColors.white,

child: DefaultTextStyle(

style: const TextStyle(

color: CupertinoColors.black,

fontSize: 22.0,

child: CupertinoTimerPicker(

//initialTimerDuration: time,

//minuteInterval: 5,

mode: CupertinoTimerPickerMode.ms,

onTimerDurationChanged: (Duration newTimer) {

setState(() {

time = newTimer;

seconds = time.inSeconds;

// flag = true;

});

));

);

ElevatedButton(

child: const Text('开始倒计时'),

onPressed: () {

if (countdownTimer != null) {

return;

}

countdownTimer =

Timer.periodic(const Duration(seconds: 1), (timer) {

setState(() {

if (seconds > 0) {

seconds--;

} else {

countdownTimer?.cancel();

countdownTimer = null;

}

});

Text(

'倒计时： $seconds 秒',

style: const TextStyle(fontSize: 30),

);

}

@override

void dispose() {

countdownTimer?.cancel();

countdownTimer = null;

super.dispose();

}

参考链接

Flutter : LateInitializationError: Field ‘data’ has not been initialized

You don’t want a late variable, you want a nullable one. If you need to check if something is initialized, you should be using a nullable variable instead and your code is already set up to check for null

just change

late MyData data;

1	late MyData data;

MyData? data;

1	MyData? data;

E.g.

change to

参考链接

Flutter : LateInitializationError: Field ‘data’ has not been initialized, got error

Flutter画圆/虚线圆/渐变圆/进度圆

同一颜色的圆

例子样式:

废话不多说直接上代码,注释清楚!

1.调用该方法如果只要一个圆，赋值completeColor, completeWidth, completePercent就可以，剩下的不用赋值就是一个圆
2.如果需要俩圆的话直接调用赋值就行
3.如果只需要一个虚线圆的话，赋值isDividerRound = true; ,lineColor, width, 剩下的不用写,completeWidth 不得大于0
这是一个全圆就是比例是百分之百的圆,可以自行修改

/*
 * 如果只有一个圆的情况下,请设置已完成的圆  默认的圆的颜色不要设置
 */
import 'dart:math';

import 'package:flutter/cupertino.dart';

class MyPainter extends CustomPainter {
  //默认的线的背景颜色
  Color? lineColor;
  //默认的线的宽度
  double width;
  //已完成线的颜色
  Color completeColor;
  //已完成的百分比
  double completePercent;
  //已完成的线的宽度
  double completeWidth;
  // 从哪开始 1从下开始, 2 从上开始 3 从左开始 4 从右开始  默认从下开始
  double startType;
  //是不是虚线的圈
  bool isDividerRound;
  //中间的实圆 统计线条是不是渐变的圆
  bool isGradient;
  //结束的位置
  double endAngle;
  //默认的线的背景颜色
  List<Color> lineColors;
  //实心圆阴影颜色
  // Color shadowColor;
  //渐变圆  深色在下面 还是在左面  默认在下面
  bool isTransform;

  MyPainter({
    required this.lineColor,
    required this.completeColor,
    required this.completePercent,
    required this.width,
    required this.completeWidth,
    this.startType = 1,
    this.isDividerRound = false,
    this.isGradient = false,
    this.endAngle = pi * 2,
    required this.lineColors,
    this.isTransform = false,
    // this.shadowColor,
  });

  @override
  void paint(Canvas canvas, Size size) {
    Offset center = Offset(size.width / 2, size.height / 2); //  坐标中心
    double radius = min(size.width / 2, size.height / 2); //  半径

    //是否有第二层圆
    if (lineColor != null) {
      //是不是 虚线圆
      if (isDividerRound) {
        //背景的线
        Paint line = Paint()
          ..color = lineColor!
        // ..strokeCap = StrokeCap.round
          ..style = PaintingStyle.stroke
          ..isAntiAlias = true //抗锯齿
          ..strokeWidth = width;

        double i = 0.00;
        while (i < pi * 2) {
          canvas.drawArc(Rect.fromCircle(center: center, radius: radius), i,
              0.04, false, line);
          i = i + 0.08;
        }
      } else {
        //背景的线  实线
        Paint line = Paint()
          ..color = lineColor!
          ..strokeCap = StrokeCap.round
          ..style = PaintingStyle.stroke
          ..strokeWidth = width;

        canvas.drawCircle(
          //  画圆方法
            center,
            radius,
            line);
      }
    }
    //画上面的圆
    if (completeWidth > 0) {
      double arcAngle = 2 * pi * (completePercent / 100);

      // 从哪开始 1从下开始, 2 从上开始 3 从左开始 4 从右开始  默认从下开始
      double start = pi / 2;
      if (startType == 2) {
        start = -pi / 2;
      } else if (startType == 3) {
        start = pi;
      } else if (startType == 4) {
        start = pi * 2;
      }

      //创建画笔
      Paint paint = Paint()
        ..strokeCap = StrokeCap.round
        ..style = PaintingStyle.stroke
        ..strokeWidth = completeWidth;

      ///是渐变圆
      if (isGradient == true) {
        //渐变圆 深色位置偏移量  默认深色在下面
        double transform;
        if (isTransform == false) {
          //深色在下面
          transform = -pi / 2;
        } else {
          //深色在左面
          transform = pi * 2;
        }
        paint.shader = SweepGradient(
          startAngle: 0.0,
          endAngle: pi * 2,
          colors: lineColors,
          tileMode: TileMode.clamp,
          transform: GradientRotation(transform),
        ).createShader(
          Rect.fromCircle(center: center, radius: radius),
        );

        canvas.drawArc(Rect.fromCircle(center: center, radius: radius), start,
            arcAngle, false, paint);
      } else {
        ///是实体圆
        paint.color = completeColor;
        canvas.drawArc(
          Rect.fromCircle(center: center, radius: radius),
          start, //  -pi / 2,从正上方开始  pi / 2,从下方开始
          arcAngle,
          false,
          paint,
        );
      }
    }
  }

  @override
  bool shouldRepaint(CustomPainter oldDelegate) => false;
}

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* 如果只有一个圆的情况下,请设置已完成的圆默认的圆的颜色不要设置

import 'dart:math';

import 'package:flutter/cupertino.dart';

class MyPainter extends CustomPainter {

//默认的线的背景颜色

Color? lineColor;

//默认的线的宽度

double width;

//已完成线的颜色

Color completeColor;

//已完成的百分比

double completePercent;

//已完成的线的宽度

double completeWidth;

// 从哪开始 1从下开始, 2 从上开始 3 从左开始 4 从右开始默认从下开始

double startType;

//是不是虚线的圈

bool isDividerRound;

//中间的实圆统计线条是不是渐变的圆

bool isGradient;

//结束的位置

double endAngle;

//默认的线的背景颜色

List<Color> lineColors;

//实心圆阴影颜色

// Color shadowColor;

//渐变圆深色在下面还是在左面默认在下面

bool isTransform;

MyPainter({

required this.lineColor,

required this.completeColor,

required this.completePercent,

required this.width,

required this.completeWidth,

this.startType = 1,

this.isDividerRound = false,

this.isGradient = false,

this.endAngle = pi * 2,

required this.lineColors,

this.isTransform = false,

// this.shadowColor,

});

@override

void paint(Canvas canvas, Size size) {

Offset center = Offset(size.width / 2, size.height / 2); // 坐标中心

double radius = min(size.width / 2, size.height / 2); // 半径

//是否有第二层圆

if (lineColor != null) {

//是不是虚线圆

if (isDividerRound) {

//背景的线

Paint line = Paint()

..color = lineColor!

// ..strokeCap = StrokeCap.round

..style = PaintingStyle.stroke

..isAntiAlias = true //抗锯齿

..strokeWidth = width;

double i = 0.00;

while (i < pi * 2) {

canvas.drawArc(Rect.fromCircle(center: center, radius: radius), i,

0.04, false, line);

i = i + 0.08;

}

} else {

//背景的线实线

Paint line = Paint()

..color = lineColor!

..strokeCap = StrokeCap.round

..style = PaintingStyle.stroke

..strokeWidth = width;

canvas.drawCircle(

// 画圆方法

center,

radius,

line);

}

//画上面的圆

if (completeWidth > 0) {

double arcAngle = 2 * pi * (completePercent / 100);

// 从哪开始 1从下开始, 2 从上开始 3 从左开始 4 从右开始默认从下开始

double start = pi / 2;

if (startType == 2) {

start = -pi / 2;

} else if (startType == 3) {

start = pi;

} else if (startType == 4) {

start = pi * 2;

}

//创建画笔

Paint paint = Paint()

..strokeCap = StrokeCap.round

..style = PaintingStyle.stroke

..strokeWidth = completeWidth;

///是渐变圆

if (isGradient == true) {

//渐变圆深色位置偏移量默认深色在下面

double transform;

if (isTransform == false) {

//深色在下面

transform = -pi / 2;

} else {

//深色在左面

transform = pi * 2;

}

paint.shader = SweepGradient(

startAngle: 0.0,

endAngle: pi * 2,

colors: lineColors,

tileMode: TileMode.clamp,

transform: GradientRotation(transform),

).createShader(

Rect.fromCircle(center: center, radius: radius),

);

canvas.drawArc(Rect.fromCircle(center: center, radius: radius), start,

arcAngle, false, paint);

} else {

///是实体圆

paint.color = completeColor;

canvas.drawArc(

Rect.fromCircle(center: center, radius: radius),

start, // -pi / 2,从正上方开始 pi / 2,从下方开始

arcAngle,

false,

paint,

);

}

@override

bool shouldRepaint(CustomPainter oldDelegate) => false;

}

实践示例

我们用 Flutter 新建项目的例子代码来演示，如下：

import 'package:flutter/material.dart';

void main() {
  runApp(const MyApp());
}

class MyApp extends StatelessWidget {
  const MyApp({Key? key}) : super(key: key);

  // This widget is the root of your application.
  @override
  Widget build(BuildContext context) {
    return MaterialApp(
      title: 'Flutter Demo',
      theme: ThemeData(
        // This is the theme of your application.
        //
        // Try running your application with "flutter run". You'll see the
        // application has a blue toolbar. Then, without quitting the app, try
        // changing the primarySwatch below to Colors.green and then invoke
        // "hot reload" (press "r" in the console where you ran "flutter run",
        // or simply save your changes to "hot reload" in a Flutter IDE).
        // Notice that the counter didn't reset back to zero; the application
        // is not restarted.
        primarySwatch: Colors.blue,
      ),
      home: const MyHomePage(title: 'Flutter Demo Home Page'),
    );
  }
}

class MyHomePage extends StatefulWidget {
  const MyHomePage({Key? key, required this.title}) : super(key: key);

  // This widget is the home page of your application. It is stateful, meaning
  // that it has a State object (defined below) that contains fields that affect
  // how it looks.

  // This class is the configuration for the state. It holds the values (in this
  // case the title) provided by the parent (in this case the App widget) and
  // used by the build method of the State. Fields in a Widget subclass are
  // always marked "final".

  final String title;

  @override
  State<MyHomePage> createState() => _MyHomePageState();
}

class _MyHomePageState extends State<MyHomePage> {
  int _counter = 0;

  void _incrementCounter() {
    setState(() {
      // This call to setState tells the Flutter framework that something has
      // changed in this State, which causes it to rerun the build method below
      // so that the display can reflect the updated values. If we changed
      // _counter without calling setState(), then the build method would not be
      // called again, and so nothing would appear to happen.
      _counter++;
    });
  }

  @override
  Widget build(BuildContext context) {
    // This method is rerun every time setState is called, for instance as done
    // by the _incrementCounter method above.
    //
    // The Flutter framework has been optimized to make rerunning build methods
    // fast, so that you can just rebuild anything that needs updating rather
    // than having to individually change instances of widgets.
    return Scaffold(
      appBar: AppBar(
        // Here we take the value from the MyHomePage object that was created by
        // the App.build method, and use it to set our appbar title.
        title: Text(widget.title),
      ),
      body: Center(
        // Center is a layout widget. It takes a single child and positions it
        // in the middle of the parent.
        child: Column(
          // Column is also a layout widget. It takes a list of children and
          // arranges them vertically. By default, it sizes itself to fit its
          // children horizontally, and tries to be as tall as its parent.
          //
          // Invoke "debug painting" (press "p" in the console, choose the
          // "Toggle Debug Paint" action from the Flutter Inspector in Android
          // Studio, or the "Toggle Debug Paint" command in Visual Studio Code)
          // to see the wireframe for each widget.
          //
          // Column has various properties to control how it sizes itself and
          // how it positions its children. Here we use mainAxisAlignment to
          // center the children vertically; the main axis here is the vertical
          // axis because Columns are vertical (the cross axis would be
          // horizontal).
          mainAxisAlignment: MainAxisAlignment.center,
          children: <Widget>[
            const Text(
              'You have pushed the button this many times:',
            ),
            Text(
              '$_counter',
              style: Theme.of(context).textTheme.headline4,
            ),
            CustomPaint(
              size: const Size(200, 200),

              foregroundPainter: MyPainter(
                lineColor: const Color(0xFF000000),
                lineColors: [const Color(0xFF000000), const Color(0xFFFFFFFF)],
                completeWidth: 10,
                width: 6,
                completePercent: 90,
                completeColor: const Color(0xFFFF000F),
              ),
            ),
          ],
        ),
      ),
      floatingActionButton: FloatingActionButton(
        onPressed: _incrementCounter,
        tooltip: 'Increment',
        child: const Icon(Icons.add),
      ), // This trailing comma makes auto-formatting nicer for build methods.
    );
  }
}

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import 'package:flutter/material.dart';

void main() {

runApp(const MyApp());

}

class MyApp extends StatelessWidget {

const MyApp({Key? key}) : super(key: key);

// This widget is the root of your application.

@override

Widget build(BuildContext context) {

return MaterialApp(

title: 'Flutter Demo',

theme: ThemeData(

// This is the theme of your application.

// Try running your application with "flutter run". You'll see the

// application has a blue toolbar. Then, without quitting the app, try

// changing the primarySwatch below to Colors.green and then invoke

// "hot reload" (press "r" in the console where you ran "flutter run",

// or simply save your changes to "hot reload" in a Flutter IDE).

// Notice that the counter didn't reset back to zero; the application

// is not restarted.

primarySwatch: Colors.blue,

home: const MyHomePage(title: 'Flutter Demo Home Page'),

);

}

class MyHomePage extends StatefulWidget {

const MyHomePage({Key? key, required this.title}) : super(key: key);

// This widget is the home page of your application. It is stateful, meaning

// that it has a State object (defined below) that contains fields that affect

// how it looks.

// This class is the configuration for the state. It holds the values (in this

// case the title) provided by the parent (in this case the App widget) and

// used by the build method of the State. Fields in a Widget subclass are

// always marked "final".

final String title;

@override

State<MyHomePage> createState() => _MyHomePageState();

}

class _MyHomePageState extends State<MyHomePage> {

int _counter = 0;

void _incrementCounter() {

setState(() {

// This call to setState tells the Flutter framework that something has

// changed in this State, which causes it to rerun the build method below

// so that the display can reflect the updated values. If we changed

// _counter without calling setState(), then the build method would not be

// called again, and so nothing would appear to happen.

_counter++;

});

}

@override

Widget build(BuildContext context) {

// This method is rerun every time setState is called, for instance as done

// by the _incrementCounter method above.

// The Flutter framework has been optimized to make rerunning build methods

// fast, so that you can just rebuild anything that needs updating rather

// than having to individually change instances of widgets.

return Scaffold(

appBar: AppBar(

// Here we take the value from the MyHomePage object that was created by

// the App.build method, and use it to set our appbar title.

title: Text(widget.title),

body: Center(

// Center is a layout widget. It takes a single child and positions it

// in the middle of the parent.

child: Column(

// Column is also a layout widget. It takes a list of children and

// arranges them vertically. By default, it sizes itself to fit its

// children horizontally, and tries to be as tall as its parent.

// Invoke "debug painting" (press "p" in the console, choose the

// "Toggle Debug Paint" action from the Flutter Inspector in Android

// Studio, or the "Toggle Debug Paint" command in Visual Studio Code)

// to see the wireframe for each widget.

// Column has various properties to control how it sizes itself and

// how it positions its children. Here we use mainAxisAlignment to

// center the children vertically; the main axis here is the vertical

// axis because Columns are vertical (the cross axis would be

// horizontal).

mainAxisAlignment: MainAxisAlignment.center,

children: <Widget>[

const Text(

'You have pushed the button this many times:',

Text(

'$_counter',

style: Theme.of(context).textTheme.headline4,

CustomPaint(

size: const Size(200, 200),

foregroundPainter: MyPainter(

lineColor: const Color(0xFF000000),

lineColors: [const Color(0xFF000000), const Color(0xFFFFFFFF)],

completeWidth: 10,

width: 6,

completePercent: 90,

completeColor: const Color(0xFFFF000F),

floatingActionButton: FloatingActionButton(

onPressed: _incrementCounter,

tooltip: 'Increment',

child: const Icon(Icons.add),

), // This trailing comma makes auto-formatting nicer for build methods.

);

}

渐变色的圆

代码看看就会了

import 'dart:math';

import 'package:flutter/cupertino.dart';

///渐变圆
class MyGradientPainter extends CustomPainter {
  //默认的线的背景颜色
  List<Color> lineColor;
  //默认的线的宽度
  double width;
  double endAngle;

  MyGradientPainter({
    required this.lineColor,
    required this.width,
    this.endAngle = pi * 2,
  });

  @override
  void paint(Canvas canvas, Size size) {
    Offset center = Offset(size.width / 2, size.height / 2); //  坐标中心
    double radius = min(size.width / 2, size.height / 2); //  半径

    var paint = Paint()
      ..strokeCap = StrokeCap.round
      ..style = PaintingStyle.stroke
      ..isAntiAlias = true //抗锯齿
      ..strokeWidth = width;

    paint.shader = SweepGradient(
      startAngle: 0.0,
      endAngle: pi * 2,
      colors: lineColor,
      transform: const GradientRotation(pi * 1.2),
    ).createShader(
      Rect.fromCircle(center: center, radius: radius),
    );

    canvas.drawArc(Rect.fromCircle(center: center, radius: radius), 0, 2 * pi,
        false, paint);
  }

  @override
  bool shouldRepaint(CustomPainter oldDelegate) => false;
}

import 'dart:math';

import 'package:flutter/cupertino.dart';

///渐变圆

class MyGradientPainter extends CustomPainter {

//默认的线的背景颜色

List<Color> lineColor;

//默认的线的宽度

double width;

double endAngle;

MyGradientPainter({

required this.lineColor,

required this.width,

this.endAngle = pi * 2,

});

@override

void paint(Canvas canvas, Size size) {

Offset center = Offset(size.width / 2, size.height / 2); // 坐标中心

double radius = min(size.width / 2, size.height / 2); // 半径

var paint = Paint()

..strokeCap = StrokeCap.round

..style = PaintingStyle.stroke

..isAntiAlias = true //抗锯齿

..strokeWidth = width;

paint.shader = SweepGradient(

startAngle: 0.0,

endAngle: pi * 2,

colors: lineColor,

transform: const GradientRotation(pi * 1.2),

).createShader(

Rect.fromCircle(center: center, radius: radius),

);

canvas.drawArc(Rect.fromCircle(center: center, radius: radius), 0, 2 * pi,

false, paint);

}

@override

bool shouldRepaint(CustomPainter oldDelegate) => false;

}

实践示例

我们用 Flutter 新建项目的例子代码来演示，如下：

import 'package:flutter/material.dart';

void main() {
  runApp(const MyApp());
}

class MyApp extends StatelessWidget {
  const MyApp({Key? key}) : super(key: key);

  // This widget is the root of your application.
  @override
  Widget build(BuildContext context) {
    return MaterialApp(
      title: 'Flutter Demo',
      theme: ThemeData(
        // This is the theme of your application.
        //
        // Try running your application with "flutter run". You'll see the
        // application has a blue toolbar. Then, without quitting the app, try
        // changing the primarySwatch below to Colors.green and then invoke
        // "hot reload" (press "r" in the console where you ran "flutter run",
        // or simply save your changes to "hot reload" in a Flutter IDE).
        // Notice that the counter didn't reset back to zero; the application
        // is not restarted.
        primarySwatch: Colors.blue,
      ),
      home: const MyHomePage(title: 'Flutter Demo Home Page'),
    );
  }
}

class MyHomePage extends StatefulWidget {
  const MyHomePage({Key? key, required this.title}) : super(key: key);

  // This widget is the home page of your application. It is stateful, meaning
  // that it has a State object (defined below) that contains fields that affect
  // how it looks.

  // This class is the configuration for the state. It holds the values (in this
  // case the title) provided by the parent (in this case the App widget) and
  // used by the build method of the State. Fields in a Widget subclass are
  // always marked "final".

  final String title;

  @override
  State<MyHomePage> createState() => _MyHomePageState();
}

class _MyHomePageState extends State<MyHomePage> {
  int _counter = 0;

  void _incrementCounter() {
    setState(() {
      // This call to setState tells the Flutter framework that something has
      // changed in this State, which causes it to rerun the build method below
      // so that the display can reflect the updated values. If we changed
      // _counter without calling setState(), then the build method would not be
      // called again, and so nothing would appear to happen.
      _counter++;
    });
  }

  @override
  Widget build(BuildContext context) {
    // This method is rerun every time setState is called, for instance as done
    // by the _incrementCounter method above.
    //
    // The Flutter framework has been optimized to make rerunning build methods
    // fast, so that you can just rebuild anything that needs updating rather
    // than having to individually change instances of widgets.
    return Scaffold(
      appBar: AppBar(
        // Here we take the value from the MyHomePage object that was created by
        // the App.build method, and use it to set our appbar title.
        title: Text(widget.title),
      ),
      body: Center(
        // Center is a layout widget. It takes a single child and positions it
        // in the middle of the parent.
        child: Column(
          // Column is also a layout widget. It takes a list of children and
          // arranges them vertically. By default, it sizes itself to fit its
          // children horizontally, and tries to be as tall as its parent.
          //
          // Invoke "debug painting" (press "p" in the console, choose the
          // "Toggle Debug Paint" action from the Flutter Inspector in Android
          // Studio, or the "Toggle Debug Paint" command in Visual Studio Code)
          // to see the wireframe for each widget.
          //
          // Column has various properties to control how it sizes itself and
          // how it positions its children. Here we use mainAxisAlignment to
          // center the children vertically; the main axis here is the vertical
          // axis because Columns are vertical (the cross axis would be
          // horizontal).
          mainAxisAlignment: MainAxisAlignment.center,
          children: <Widget>[
            const Text(
              'You have pushed the button this many times:',
            ),
            Text(
              '$_counter',
              style: Theme.of(context).textTheme.headline4,
            ),
            CustomPaint(
              size: const Size(200, 200),

              foregroundPainter: MyGradientPainter(
                  width: 8, lineColor: [const Color(0xFF000000),const Color(0xFFFFFFFF)]),
            ),
          ],
        ),
      ),
      floatingActionButton: FloatingActionButton(
        onPressed: _incrementCounter,
        tooltip: 'Increment',
        child: const Icon(Icons.add),
      ), // This trailing comma makes auto-formatting nicer for build methods.
    );
  }
}

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119

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import 'package:flutter/material.dart';

void main() {

runApp(const MyApp());

}

class MyApp extends StatelessWidget {

const MyApp({Key? key}) : super(key: key);

// This widget is the root of your application.

@override

Widget build(BuildContext context) {

return MaterialApp(

title: 'Flutter Demo',

theme: ThemeData(

// This is the theme of your application.

// Try running your application with "flutter run". You'll see the

// application has a blue toolbar. Then, without quitting the app, try

// changing the primarySwatch below to Colors.green and then invoke

// "hot reload" (press "r" in the console where you ran "flutter run",

// or simply save your changes to "hot reload" in a Flutter IDE).

// Notice that the counter didn't reset back to zero; the application

// is not restarted.

primarySwatch: Colors.blue,

home: const MyHomePage(title: 'Flutter Demo Home Page'),

);

}

class MyHomePage extends StatefulWidget {

const MyHomePage({Key? key, required this.title}) : super(key: key);

// This widget is the home page of your application. It is stateful, meaning

// that it has a State object (defined below) that contains fields that affect

// how it looks.

// This class is the configuration for the state. It holds the values (in this

// case the title) provided by the parent (in this case the App widget) and

// used by the build method of the State. Fields in a Widget subclass are

// always marked "final".

final String title;

@override

State<MyHomePage> createState() => _MyHomePageState();

}

class _MyHomePageState extends State<MyHomePage> {

int _counter = 0;

void _incrementCounter() {

setState(() {

// This call to setState tells the Flutter framework that something has

// changed in this State, which causes it to rerun the build method below

// so that the display can reflect the updated values. If we changed

// _counter without calling setState(), then the build method would not be

// called again, and so nothing would appear to happen.

_counter++;

});

}

@override

Widget build(BuildContext context) {

// This method is rerun every time setState is called, for instance as done

// by the _incrementCounter method above.

// The Flutter framework has been optimized to make rerunning build methods

// fast, so that you can just rebuild anything that needs updating rather

// than having to individually change instances of widgets.

return Scaffold(

appBar: AppBar(

// Here we take the value from the MyHomePage object that was created by

// the App.build method, and use it to set our appbar title.

title: Text(widget.title),

body: Center(

// Center is a layout widget. It takes a single child and positions it

// in the middle of the parent.

child: Column(

// Column is also a layout widget. It takes a list of children and

// arranges them vertically. By default, it sizes itself to fit its

// children horizontally, and tries to be as tall as its parent.

// Invoke "debug painting" (press "p" in the console, choose the

// "Toggle Debug Paint" action from the Flutter Inspector in Android

// Studio, or the "Toggle Debug Paint" command in Visual Studio Code)

// to see the wireframe for each widget.

// Column has various properties to control how it sizes itself and

// how it positions its children. Here we use mainAxisAlignment to

// center the children vertically; the main axis here is the vertical

// axis because Columns are vertical (the cross axis would be

// horizontal).

mainAxisAlignment: MainAxisAlignment.center,

children: <Widget>[

const Text(

'You have pushed the button this many times:',

Text(

'$_counter',

style: Theme.of(context).textTheme.headline4,

CustomPaint(

size: const Size(200, 200),

foregroundPainter: MyGradientPainter(

width: 8, lineColor: [const Color(0xFF000000),const Color(0xFFFFFFFF)]),

floatingActionButton: FloatingActionButton(

onPressed: _incrementCounter,

tooltip: 'Increment',

child: const Icon(Icons.add),

), // This trailing comma makes auto-formatting nicer for build methods.

);

}

参考链接

Flutter全屏效果实现

在切换横竖屏/全屏模式时用到 SystemChrome，它作为一个全局属性，很像 Android 的 Application，功能很强大。注意，这个SystemChrome 里面的 Chrome 实质上指的是 ChromeOS 不是 Chrome 浏览器，这些 API 最早在 ChromeOS 上实现，因此才这样命名。

setPreferredOrientations

在我们日常应用中可能会需要设置横竖屏，或锁定单方向屏幕等不同要求，通过 **setPreferredOrientations** 配合实现；简单可以按 **portraitUp 上 / portraitDown 下 / landscapeLeft 右 / landscapeRight 左** 来区分； **Tips：landscapeLeft 是以 portraitUp 顺时针旋转 90 度；landscapeRight 是以逆时针旋转 90 度，故是视觉相反。**

1	在我们日常应用中可能会需要设置横竖屏，或锁定单方向屏幕等不同要求，通过 setPreferredOrientations 配合实现；简单可以按 portraitUp 上 / portraitDown 下 / landscapeLeft 右 / landscapeRight 左来区分； Tips：landscapeLeft 是以 portraitUp 顺时针旋转 90 度；landscapeRight 是以逆时针旋转 90 度，故是视觉相反。

1. 单方向

 若需要固定应用为单一方向，仅需设置所需要的方向属性即可；

1	若需要固定应用为单一方向，仅需设置所需要的方向属性即可；

// 竖直上
SystemChrome.setPreferredOrientations([DeviceOrientation.portraitUp]);
// 竖直下
SystemChrome.setPreferredOrientations([DeviceOrientation.portraitDown]);
// 水平左
SystemChrome.setPreferredOrientations([DeviceOrientation.landscapeLeft]);
// 水平右
SystemChrome.setPreferredOrientations([DeviceOrientation.landscapeRight]);

// 竖直上

SystemChrome.setPreferredOrientations([DeviceOrientation.portraitUp]);

// 竖直下

SystemChrome.setPreferredOrientations([DeviceOrientation.portraitDown]);

// 水平左

SystemChrome.setPreferredOrientations([DeviceOrientation.landscapeLeft]);

// 水平右

SystemChrome.setPreferredOrientations([DeviceOrientation.landscapeRight]);

2. 多方向

  若需要应用随重力感应变化方向，需设置多个方向属性；

1	若需要应用随重力感应变化方向，需设置多个方向属性；

// 竖直方向
SystemChrome.setPreferredOrientations([DeviceOrientation.portraitUp, DeviceOrientation.portraitDown]);
// 水平方向
SystemChrome.setPreferredOrientations([DeviceOrientation.landscapeLeft, DeviceOrientation.landscapeLeft]);
// 多方向
SystemChrome.setPreferredOrientations([DeviceOrientation.landscapeLeft, DeviceOrientation.landscapeLeft, DeviceOrientation.portraitUp]);

// 竖直方向

SystemChrome.setPreferredOrientations([DeviceOrientation.portraitUp, DeviceOrientation.portraitDown]);

// 水平方向

SystemChrome.setPreferredOrientations([DeviceOrientation.landscapeLeft, DeviceOrientation.landscapeLeft]);

// 多方向

SystemChrome.setPreferredOrientations([DeviceOrientation.landscapeLeft, DeviceOrientation.landscapeLeft, DeviceOrientation.portraitUp]);

Tips:

portraitDown 属性请注意，多方向时一般不会有效果，系统默认不会颠倒；
多方向设置时初始方向分两种情况，第一种：当前重力感应方向不在设置多方向列表中，初始方向为列表第一个设置方法；第二种：当前重力感应方向在设置多方向列表中，无论顺序第几位，默认均展示当前重力感应方向(非 portraitDown)。

setEnabledSystemUIOverlays

**setEnabledSystemUIOverlays** 是指定在应用程序运行时可见的系统叠加，主要对状态栏的操作，读起来比较拗口，但是看测试用例就很明了；参数分 **top 顶部 / bottom 底部** 两种；

这个 API 从 v2.3.0-17.0.pre 开始被标注为过期，被 setEnabledSystemUIMode 替代

**setEnabledSystemUIOverlays** 是指定在应用程序运行时可见的系统叠加，主要对状态栏的操作，读起来比较拗口，但是看测试用例就很明了；参数分 **top 顶部 / bottom 底部** 两种；

这个 API 从 v2.3.0-17.0.pre 开始被标注为过期，被 setEnabledSystemUIMode 替代

1. SystemUiOverlay.top

默认隐藏底部虚拟状态栏(需手机支持虚拟状态栏设备)，即三大金刚键；获取焦点后展示状态栏，展示大小为去掉状态栏时整体大小；

1	默认隐藏底部虚拟状态栏(需手机支持虚拟状态栏设备)，即三大金刚键；获取焦点后展示状态栏，展示大小为去掉状态栏时整体大小；

SystemChrome.setEnabledSystemUIOverlays([SystemUiOverlay.top]);

1	SystemChrome.setEnabledSystemUIOverlays([SystemUiOverlay.top]);

2. SystemUiOverlay.bottom

默认隐藏顶部虚拟状态栏，获取焦点后展示状态栏，展示大小为去掉状态栏时整体大小；

1	默认隐藏顶部虚拟状态栏，获取焦点后展示状态栏，展示大小为去掉状态栏时整体大小；

SystemChrome.setEnabledSystemUIOverlays([SystemUiOverlay.bottom]);

1	SystemChrome.setEnabledSystemUIOverlays([SystemUiOverlay.bottom]);

3. 两者皆有

即默认情况，顶部底部状态栏均展示；

1	即默认情况，顶部底部状态栏均展示；

SystemChrome.setEnabledSystemUIOverlays([SystemUiOverlay.top, SystemUiOverlay.bottom]);

1	SystemChrome.setEnabledSystemUIOverlays([SystemUiOverlay.top, SystemUiOverlay.bottom]);

setSystemUIOverlayStyle

**setSystemUIOverlayStyle** 用来设置状态栏顶部和底部样式，默认有 **light** 和 **dark** 模式，也可以按照需求自定义样式；

1	setSystemUIOverlayStyle 用来设置状态栏顶部和底部样式，默认有 light 和 dark 模式，也可以按照需求自定义样式；

1. systemNavigationBarColor

该属性仅用于 **Android** 设备且 **SDK >= O** 时，底部状态栏颜色；

1	该属性仅用于 Android 设备且 SDK >= O 时，底部状态栏颜色；

SystemChrome.setSystemUIOverlayStyle(const SystemUiOverlayStyle(systemNavigationBarColor: Colors.pink));

1	SystemChrome.setSystemUIOverlayStyle(const SystemUiOverlayStyle(systemNavigationBarColor: Colors.pink));

2. systemNavigationBarDividerColor

该属性仅用于 **Android** 设备且 **SDK >= P** 时，底部状态栏与主内容分割线颜色，效果不是很明显；

1	该属性仅用于 Android 设备且 SDK >= P 时，底部状态栏与主内容分割线颜色，效果不是很明显；

SystemChrome.setSystemUIOverlayStyle(const SystemUiOverlayStyle(systemNavigationBarDividerColor: Colors.yellow));

1	SystemChrome.setSystemUIOverlayStyle(const SystemUiOverlayStyle(systemNavigationBarDividerColor: Colors.yellow));

3. systemNavigationBarIconBrightness

该属性仅用于 **Android** 设备且 **SDK >= O** 时，底部状态栏图标样式，主要是三大按键颜色；

1	该属性仅用于 Android 设备且 SDK >= O 时，底部状态栏图标样式，主要是三大按键颜色；

SystemChrome.setSystemUIOverlayStyle(const SystemUiOverlayStyle(systemNavigationBarColor: Colors.pink));

1	SystemChrome.setSystemUIOverlayStyle(const SystemUiOverlayStyle(systemNavigationBarColor: Colors.pink));

4. statusBarColor

该属性仅用于 **Android** 设备且 **SDK >= M** 时，顶部状态栏颜色；

1	该属性仅用于 Android 设备且 SDK >= M 时，顶部状态栏颜色；

SystemChrome.setSystemUIOverlayStyle(SystemUiOverlayStyle(statusBarColor: Colors.red));

1	SystemChrome.setSystemUIOverlayStyle(SystemUiOverlayStyle(statusBarColor: Colors.red));

5. statusBarIconBrightness

该属性仅用于 **Android** 设备且 **SDK >= M** 时，顶部状态栏图标的亮度；但感觉并不明显；

1	该属性仅用于 Android 设备且 SDK >= M 时，顶部状态栏图标的亮度；但感觉并不明显；

SystemChrome.setSystemUIOverlayStyle(const SystemUiOverlayStyle(statusBarIconBrightness: Brightness.dark));

1	SystemChrome.setSystemUIOverlayStyle(const SystemUiOverlayStyle(statusBarIconBrightness: Brightness.dark));

6. statusBarBrightness

该属性仅用于 **iOS** 设备顶部状态栏亮度；

1	该属性仅用于 iOS 设备顶部状态栏亮度；

SystemChrome.setSystemUIOverlayStyle(const SystemUiOverlayStyle(statusBarBrightness: Brightness.light));

1	SystemChrome.setSystemUIOverlayStyle(const SystemUiOverlayStyle(statusBarBrightness: Brightness.light));

setApplicationSwitcherDescription

个人理解该属性显示效果是在应用程序切换器相关的应用程序的当前状态时，但是反复测试并没有实际效果，希望有理解的大神多多指点；

1	个人理解该属性显示效果是在应用程序切换器相关的应用程序的当前状态时，但是反复测试并没有实际效果，希望有理解的大神多多指点；

SystemChrome.setApplicationSwitcherDescription(
        const ApplicationSwitcherDescription(
            label: "Demo Flutter", primaryColor: 0xFFE53935))
    .then((_) {
  runApp(new MyApp());
});

SystemChrome.setApplicationSwitcherDescription(

const ApplicationSwitcherDescription(

label: "Demo Flutter", primaryColor: 0xFFE53935))

.then((_) {

runApp(new MyApp());

});

整体来说 **Flutter** 对顶部底部状态栏的设置很方便，只是有些理解不够深入的地方，有见解对朋友希望多多指导！

1	整体来说 Flutter 对顶部底部状态栏的设置很方便，只是有些理解不够深入的地方，有见解对朋友希望多多指导！

实践示例

上面都是对于 API 的介绍，但是在实际项目开发中，上述的代码究竟应该添加到何处呢？我们用 Flutter 新建项目的例子代码来演示，如下：

import 'package:flutter/material.dart';
import 'package:flutter/services.dart';

void main() {
  runApp(const MyApp());
}

class MyApp extends StatelessWidget {
  const MyApp({Key? key}) : super(key: key);

  // This widget is the root of your application.
  @override
  Widget build(BuildContext context) {
    return MaterialApp(
      title: 'Flutter Demo',
      theme: ThemeData(
        // This is the theme of your application.
        //
        // Try running your application with "flutter run". You'll see the
        // application has a blue toolbar. Then, without quitting the app, try
        // changing the primarySwatch below to Colors.green and then invoke
        // "hot reload" (press "r" in the console where you ran "flutter run",
        // or simply save your changes to "hot reload" in a Flutter IDE).
        // Notice that the counter didn't reset back to zero; the application
        // is not restarted.
        primarySwatch: Colors.blue,
      ),
      home: const MyHomePage(title: 'Flutter Demo Home Page'),
    );
  }
}

class MyHomePage extends StatefulWidget {
  const MyHomePage({Key? key, required this.title}) : super(key: key);

  // This widget is the home page of your application. It is stateful, meaning
  // that it has a State object (defined below) that contains fields that affect
  // how it looks.

  // This class is the configuration for the state. It holds the values (in this
  // case the title) provided by the parent (in this case the App widget) and
  // used by the build method of the State. Fields in a Widget subclass are
  // always marked "final".

  final String title;

  @override
  State<MyHomePage> createState() => _MyHomePageState();
}

class _MyHomePageState extends State<MyHomePage> {
  int _counter = 0;

  void _incrementCounter() {
    setState(() {
      // This call to setState tells the Flutter framework that something has
      // changed in this State, which causes it to rerun the build method below
      // so that the display can reflect the updated values. If we changed
      // _counter without calling setState(), then the build method would not be
      // called again, and so nothing would appear to happen.
      _counter++;
    });
  }

  @override
  void initState() {
    /// 初始化时隐藏
    SystemChrome.setEnabledSystemUIMode(SystemUiMode.manual, overlays: []);

    super.initState();
  }

  @override
  Widget build(BuildContext context) {
    // This method is rerun every time setState is called, for instance as done
    // by the _incrementCounter method above.
    //
    // The Flutter framework has been optimized to make rerunning build methods
    // fast, so that you can just rebuild anything that needs updating rather
    // than having to individually change instances of widgets.
    return Scaffold(
      appBar: AppBar(
        // Here we take the value from the MyHomePage object that was created by
        // the App.build method, and use it to set our appbar title.
        title: Text(widget.title),
      ),
      body: Center(
        // Center is a layout widget. It takes a single child and positions it
        // in the middle of the parent.
        child: Column(
          // Column is also a layout widget. It takes a list of children and
          // arranges them vertically. By default, it sizes itself to fit its
          // children horizontally, and tries to be as tall as its parent.
          //
          // Invoke "debug painting" (press "p" in the console, choose the
          // "Toggle Debug Paint" action from the Flutter Inspector in Android
          // Studio, or the "Toggle Debug Paint" command in Visual Studio Code)
          // to see the wireframe for each widget.
          //
          // Column has various properties to control how it sizes itself and
          // how it positions its children. Here we use mainAxisAlignment to
          // center the children vertically; the main axis here is the vertical
          // axis because Columns are vertical (the cross axis would be
          // horizontal).
          mainAxisAlignment: MainAxisAlignment.center,
          children: <Widget>[
            const Text(
              'You have pushed the button this many times:',
            ),
            Text(
              '$_counter',
              style: Theme.of(context).textTheme.headline4,
            ),
          ],
        ),
      ),
      floatingActionButton: FloatingActionButton(
        onPressed: _incrementCounter,
        tooltip: 'Increment',
        child: const Icon(Icons.add),
      ), // This trailing comma makes auto-formatting nicer for build methods.
    );
  }
}

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import 'package:flutter/material.dart';

import 'package:flutter/services.dart';

void main() {

runApp(const MyApp());

}

class MyApp extends StatelessWidget {

const MyApp({Key? key}) : super(key: key);

// This widget is the root of your application.

@override

Widget build(BuildContext context) {

return MaterialApp(

title: 'Flutter Demo',

theme: ThemeData(

// This is the theme of your application.

// Try running your application with "flutter run". You'll see the

// application has a blue toolbar. Then, without quitting the app, try

// changing the primarySwatch below to Colors.green and then invoke

// "hot reload" (press "r" in the console where you ran "flutter run",

// or simply save your changes to "hot reload" in a Flutter IDE).

// Notice that the counter didn't reset back to zero; the application

// is not restarted.

primarySwatch: Colors.blue,

home: const MyHomePage(title: 'Flutter Demo Home Page'),

);

}

class MyHomePage extends StatefulWidget {

const MyHomePage({Key? key, required this.title}) : super(key: key);

// This widget is the home page of your application. It is stateful, meaning

// that it has a State object (defined below) that contains fields that affect

// how it looks.

// This class is the configuration for the state. It holds the values (in this

// case the title) provided by the parent (in this case the App widget) and

// used by the build method of the State. Fields in a Widget subclass are

// always marked "final".

final String title;

@override

State<MyHomePage> createState() => _MyHomePageState();

}

class _MyHomePageState extends State<MyHomePage> {

int _counter = 0;

void _incrementCounter() {

setState(() {

// This call to setState tells the Flutter framework that something has

// changed in this State, which causes it to rerun the build method below

// so that the display can reflect the updated values. If we changed

// _counter without calling setState(), then the build method would not be

// called again, and so nothing would appear to happen.

_counter++;

});

}

@override

void initState() {

/// 初始化时隐藏

SystemChrome.setEnabledSystemUIMode(SystemUiMode.manual, overlays: []);

super.initState();

}

@override

Widget build(BuildContext context) {

// This method is rerun every time setState is called, for instance as done

// by the _incrementCounter method above.

// The Flutter framework has been optimized to make rerunning build methods

// fast, so that you can just rebuild anything that needs updating rather

// than having to individually change instances of widgets.

return Scaffold(

appBar: AppBar(

// Here we take the value from the MyHomePage object that was created by

// the App.build method, and use it to set our appbar title.

title: Text(widget.title),

body: Center(

// Center is a layout widget. It takes a single child and positions it

// in the middle of the parent.

child: Column(

// Column is also a layout widget. It takes a list of children and

// arranges them vertically. By default, it sizes itself to fit its

// children horizontally, and tries to be as tall as its parent.

// Invoke "debug painting" (press "p" in the console, choose the

// "Toggle Debug Paint" action from the Flutter Inspector in Android

// Studio, or the "Toggle Debug Paint" command in Visual Studio Code)

// to see the wireframe for each widget.

// Column has various properties to control how it sizes itself and

// how it positions its children. Here we use mainAxisAlignment to

// center the children vertically; the main axis here is the vertical

// axis because Columns are vertical (the cross axis would be

// horizontal).

mainAxisAlignment: MainAxisAlignment.center,

children: <Widget>[

const Text(

'You have pushed the button this many times:',

Text(

'$_counter',

style: Theme.of(context).textTheme.headline4,

floatingActionButton: FloatingActionButton(

onPressed: _incrementCounter,

tooltip: 'Increment',

child: const Icon(Icons.add),

), // This trailing comma makes auto-formatting nicer for build methods.

);

}

全屏模式简介

Flutter 定义了五种全屏模式，其实就是 Android/iOS 系统的全屏模式的映射，定义如下：

/// Describes different display configurations for both Android and iOS.
///
/// These modes mimic Android-specific display setups.
///
/// Used by [SystemChrome.setEnabledSystemUIMode].
enum SystemUiMode {
  /// Fullscreen display with status and navigation bars presentable by tapping
  /// anywhere on the display.
  ///
  /// Available starting at SDK 16 or Android J. Earlier versions of Android
  /// will not be affected by this setting.
  ///
  /// For applications running on iOS, the status bar and home indicator will be
  /// hidden for a similar fullscreen experience.
  ///
  /// Tapping on the screen displays overlays, this gesture is not received by
  /// the application.
  ///
  /// See also:
  ///
  ///   * [SystemUiChangeCallback], used to listen and respond to the change in
  ///     system overlays.
  leanBack,

  /// Fullscreen display with status and navigation bars presentable through a
  /// swipe gesture at the edges of the display.
  ///
  /// Available starting at SDK 19 or Android K. Earlier versions of Android
  /// will not be affected by this setting.
  ///
  /// For applications running on iOS, the status bar and home indicator will be
  /// hidden for a similar fullscreen experience.
  ///
  /// A swipe gesture from the edge of the screen displays overlays. In contrast
  /// to [SystemUiMode.immersiveSticky], this gesture is not received by the
  /// application.
  ///
  /// See also:
  ///
  ///   * [SystemUiChangeCallback], used to listen and respond to the change in
  ///     system overlays.
  immersive,

  /// Fullscreen display with status and navigation bars presentable through a
  /// swipe gesture at the edges of the display.
  ///
  /// Available starting at SDK 19 or Android K. Earlier versions of Android
  /// will not be affected by this setting.
  ///
  /// For applications running on iOS, the status bar and home indicator will be
  /// hidden for a similar fullscreen experience.
  ///
  /// A swipe gesture from the edge of the screen displays overlays. In contrast
  /// to [SystemUiMode.immersive], this gesture is received by the application.
  ///
  /// See also:
  ///
  ///   * [SystemUiChangeCallback], used to listen and respond to the change in
  ///     system overlays.
  immersiveSticky,

  /// Fullscreen display with status and navigation elements rendered over the
  /// application.
  ///
  /// Available starting at SDK 29 or Android 10. Earlier versions of Android
  /// will not be affected by this setting.
  ///
  /// For applications running on iOS, the status bar and home indicator will be
  /// visible.
  ///
  /// The system overlays will not disappear or reappear in this mode as they
  /// are permanently displayed on top of the application.
  ///
  /// See also:
  ///
  ///   * [SystemUiOverlayStyle], can be used to configure transparent status and
  ///     navigation bars with or without a contrast scrim.
  edgeToEdge,

  /// Declares manually configured [SystemUiOverlay]s.
  ///
  /// When using this mode with [SystemChrome.setEnabledSystemUIMode], the
  /// preferred overlays must be set by the developer.
  ///
  /// When [SystemUiOverlay.top] is enabled, the status bar will remain visible
  /// on all platforms. Omitting this overlay will hide the status bar on iOS &
  /// Android.
  ///
  /// When [SystemUiOverlay.bottom] is enabled, the navigation bar and home
  /// indicator of Android and iOS applications will remain visible. Omitting this
  /// overlay will hide them.
  ///
  /// Omitting both overlays will result in the same configuration as
  /// [SystemUiMode.leanBack].
  manual,
}

/// Describes different display configurations for both Android and iOS.

///

/// These modes mimic Android-specific display setups.

///

/// Used by [SystemChrome.setEnabledSystemUIMode].

enum SystemUiMode {

/// Fullscreen display with status and navigation bars presentable by tapping

/// anywhere on the display.

///

/// Available starting at SDK 16 or Android J. Earlier versions of Android

/// will not be affected by this setting.

///

/// For applications running on iOS, the status bar and home indicator will be

/// hidden for a similar fullscreen experience.

///

/// Tapping on the screen displays overlays, this gesture is not received by

/// the application.

///

/// See also:

///

/// * [SystemUiChangeCallback], used to listen and respond to the change in

/// system overlays.

leanBack,

/// Fullscreen display with status and navigation bars presentable through a

/// swipe gesture at the edges of the display.

///

/// Available starting at SDK 19 or Android K. Earlier versions of Android

/// will not be affected by this setting.

///

/// For applications running on iOS, the status bar and home indicator will be

/// hidden for a similar fullscreen experience.

///

/// A swipe gesture from the edge of the screen displays overlays. In contrast

/// to [SystemUiMode.immersiveSticky], this gesture is not received by the

/// application.

///

/// See also:

///

/// * [SystemUiChangeCallback], used to listen and respond to the change in

/// system overlays.

immersive,

/// Fullscreen display with status and navigation bars presentable through a

/// swipe gesture at the edges of the display.

///

/// Available starting at SDK 19 or Android K. Earlier versions of Android

/// will not be affected by this setting.

///

/// For applications running on iOS, the status bar and home indicator will be

/// hidden for a similar fullscreen experience.

///

/// A swipe gesture from the edge of the screen displays overlays. In contrast

/// to [SystemUiMode.immersive], this gesture is received by the application.

///

/// See also:

///

/// * [SystemUiChangeCallback], used to listen and respond to the change in

/// system overlays.

immersiveSticky,

/// Fullscreen display with status and navigation elements rendered over the

/// application.

///

/// Available starting at SDK 29 or Android 10. Earlier versions of Android

/// will not be affected by this setting.

///

/// For applications running on iOS, the status bar and home indicator will be

/// visible.

///

/// The system overlays will not disappear or reappear in this mode as they

/// are permanently displayed on top of the application.

///

/// See also:

///

/// * [SystemUiOverlayStyle], can be used to configure transparent status and

/// navigation bars with or without a contrast scrim.

edgeToEdge,

/// Declares manually configured [SystemUiOverlay]s.

///

/// When using this mode with [SystemChrome.setEnabledSystemUIMode], the

/// preferred overlays must be set by the developer.

///

/// When [SystemUiOverlay.top] is enabled, the status bar will remain visible

/// on all platforms. Omitting this overlay will hide the status bar on iOS &

/// Android.

///

/// When [SystemUiOverlay.bottom] is enabled, the navigation bar and home

/// indicator of Android and iOS applications will remain visible. Omitting this

/// overlay will hide them.

///

/// Omitting both overlays will result in the same configuration as

/// [SystemUiMode.leanBack].

manual,

}

下面我们简单介绍一下这几种模式的区别：

1. leanBack ：向后倾斜模式适用于用户不会与屏幕进行大量互动的全屏体验，例如在观看视频时。
当用户希望调出系统栏时，只需点按屏幕上的任意位置即可。

2. immersive : 沉浸模式适用于用户将与屏幕进行大量互动的应用。示例包括游戏、查看图库中的图片或者阅读分页内容，如图书或演示文稿中的幻灯片。
当用户需要调出系统栏时，他们可从隐藏系统栏的任一边滑动。要求使用这种这种意图更强的手势是为了确保用户与您应用的互动不会因意外轻触和滑动而中断。

3. immersiveSticky : 在普通的沉浸模式中，只要用户从边缘滑动，系统就会负责显示系统栏，您的应用甚至不会知道发生了该手势。因此，如果用户实际上可能是出于主要的应用体验而需要从屏幕边缘滑动，例如在玩需要大量滑动的游戏或使用绘图应用时，您应改为启用“粘性”沉浸模式。
在粘性沉浸模式下，如果用户从隐藏了系统栏的边缘滑动，系统栏会显示出来，但它们是半透明的，并且轻触手势会传递给应用，因此应用也会响应该手势。
例如，在使用这种方法的绘图应用中，如果用户想绘制从屏幕最边缘开始的线条，则从这个边缘滑动会显示系统栏，同时还会开始绘制从最边缘开始的线条。无互动几秒钟后，或者用户在系统栏之外的任何位置轻触或做手势时，系统栏会自动消失。

4. edgeToEdge : 实现从边到边的全面屏体验后，系统栏会覆盖在应用内容前方。应用也得以通过更大幅面的内容为用户带来更具有冲击力的体验。

5. manual ：手动配置，可以独立配置状态栏，导航栏的显示与隐藏。如果选择状态栏，导航栏都隐藏，那么行为与向后倾斜模式相同。

适配安卓刘海、水滴屏显示全屏

上面的配置在刘海、水滴屏幕上会在顶部出现一道黑色的背景，比如 Honor 30 。解决方法就是将 shortEdges 放到 style 标签内。如下：

找到 android/app/src/main/res/目录，新建 values-v27 目录(这个API从Android API 27 才开始支持)，并在目录下创建 styles.xml ，内容从原来的 values/styles.xml 中拷贝出来，将 shortEdges 放到 style 标签内，如下：

<?xml version="1.0" encoding="utf-8"?>
<resources>
    <!-- Theme applied to the Android Window while the process is starting -->
    <style name="LaunchTheme" parent="@android:style/Theme.Black.NoTitleBar">
        <!-- Show a splash screen on the activity. Automatically removed when
             Flutter draws its first frame -->
        <item name="android:windowBackground">@drawable/launch_background</item>
        
        <!-- 刘海，水滴屏幕全屏适配 -->
        <item name="android:windowLayoutInDisplayCutoutMode">shortEdges</item>
    </style>
    <!-- Theme applied to the Android Window as soon as the process has started.
         This theme determines the color of the Android Window while your
         Flutter UI initializes, as well as behind your Flutter UI while its
         running.
         
         This Theme is only used starting with V2 of Flutter's Android embedding. -->
    <style name="NormalTheme" parent="@android:style/Theme.Black.NoTitleBar">
        <item name="android:windowBackground">@android:color/white</item>
        
        <!-- 刘海，水滴屏幕全屏适配 -->
        <item name="android:windowLayoutInDisplayCutoutMode">shortEdges</item>
    </style>
</resources>

<?xml version="1.0" encoding="utf-8"?>

<!-- Show a splash screen on the activity. Automatically removed when

Flutter draws its first frame -->

<item name="android:windowBackground">@drawable/launch_background</item>

<item name="android:windowLayoutInDisplayCutoutMode">shortEdges</item>

</style>

<!-- Theme applied to the Android Window as soon as the process has started.

This theme determines the color of the Android Window while your

Flutter UI initializes, as well as behind your Flutter UI while its

running.

This Theme is only used starting with V2 of Flutter's Android embedding. -->

<item name="android:windowBackground">@android:color/white</item>

<item name="android:windowLayoutInDisplayCutoutMode">shortEdges</item>

</style>

</resources>

LaunchTheme 指的是启动页的主题，也就是我们常说的 Splash 页面。如果需要启动页全屏就放在里面。

NormalTheme 代表正常页面的主题。

同样需要修改暗黑主题相关的风格文件，如下：

创建 android/app/src/main/res/values-night-v27 目录，新建 styles.xml ，将 shortEdges 放到 style 标签内 (这个API从Android API 27 才开始支持)，如下：

<?xml version="1.0" encoding="utf-8"?>
<resources>
    <!-- Theme applied to the Android Window while the process is starting -->
    <style name="LaunchTheme" parent="@android:style/Theme.Black.NoTitleBar">
        <!-- Show a splash screen on the activity. Automatically removed when
             Flutter draws its first frame -->
        <item name="android:windowBackground">@drawable/launch_background</item>

        <!-- 刘海，水滴屏幕全屏适配 -->
        <item name="android:windowLayoutInDisplayCutoutMode">shortEdges</item>
    </style>
    <!-- Theme applied to the Android Window as soon as the process has started.
         This theme determines the color of the Android Window while your
         Flutter UI initializes, as well as behind your Flutter UI while its
         running.
         
         This Theme is only used starting with V2 of Flutter's Android embedding. -->
    <style name="NormalTheme" parent="@android:style/Theme.Black.NoTitleBar">
        <item name="android:windowBackground">@android:color/white</item>
        
        <!-- 刘海，水滴屏幕全屏适配 -->
        <item name="android:windowLayoutInDisplayCutoutMode">shortEdges</item>
    </style>
</resources>

<?xml version="1.0" encoding="utf-8"?>

<!-- Show a splash screen on the activity. Automatically removed when

Flutter draws its first frame -->

<item name="android:windowBackground">@drawable/launch_background</item>

<item name="android:windowLayoutInDisplayCutoutMode">shortEdges</item>

</style>

<!-- Theme applied to the Android Window as soon as the process has started.

This theme determines the color of the Android Window while your

Flutter UI initializes, as well as behind your Flutter UI while its

running.

This Theme is only used starting with V2 of Flutter's Android embedding. -->

<item name="android:windowBackground">@android:color/white</item>

<item name="android:windowLayoutInDisplayCutoutMode">shortEdges</item>

</style>

</resources>

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