What would google have to do to create a device calibration.. for example for Samsung S8+ so that it too could be supported ?
Opened this issue · 8 comments
janerivi commented
I would assume there isnt a huge difference in device specs between Samsung S8 and S8+
I bought an S8+ because it had a more powerful processor and someone wrote in an article that ARCore was supported on S8+ (wich was wrong).
I assume it would not take that many hours for an employee at google to setup the device calibrations for S8+ when there already is one for S8. I assume it has something to do with stuff like lens distortion parameters for the lens in S8+ wich may differ slightly from the S8.
Best regards..
hong19860320 commented
Maybe you can try it as following steps:
- create a configuration file /sdcard/CAD.xml, you can use S8's configuration i dumped from libtango_service_library.so of arcore-preview.apk
<!-- SoC based calibration from 47 Qualcomm S8 Phones-->
<rig>
<device_id>0</device_id>
<camera>
<camera_model type="calibu_fu_fv_u0_v0_k1_k2_k3" index="0">
<rolling_shutter_readout_time>0.0326218</rolling_shutter_readout_time>
<rolling_shutter_direction>vertical</rolling_shutter_direction>
<height>480</height>
<width>640</width>
<params> [495.733883807343; 495.6676553008456; 315.4700278866147; 232.2707439173451; 0.1489241495201168;
-0.4417427288891008; 0.4067056789938272] </params>
</camera_model>
</camera>
<camera>
<camera_model type="calibu_fu_fv_u0_v0_k1_k2_k3" index="1">
<rolling_shutter_readout_time>0.0326218</rolling_shutter_readout_time>
<rolling_shutter_direction>vertical</rolling_shutter_direction>
<height>1080</height>
<width>1920</width>
<params> [1487.199; 1487.001; 946.410; 516.813; 0.1489241495201168; -0.4417427288891008; 0.4067056789938272] </params>
</camera_model>
</camera>
<camera>
<camera_model type="calibu_fu_fv_u0_v0_k1_k2_k3" index="3">
<rolling_shutter_readout_time>0.0326218</rolling_shutter_readout_time>
<rolling_shutter_direction>vertical</rolling_shutter_direction>
<height>1080</height>
<width>1920</width>
<params> [1487.199; 1487.001; 946.410; 516.813; 0.1489241495201168; -0.4417427288891008; 0.4067056789938272] </params>
</camera_model>
</camera>
<intrinsic_imu_calibration name="" imu_id="100" type="linear_imu_sg_mg_sa_ma_gqa">
<b_w_b_a> [0.002358463772260724; 0.001809926290445352; 0.001591088205025581; -0.02611307672906278; -0.1105770734858414; 0.1079185441646273] </b_w_b_a>
<intrinsics> [1.005704361068297; 1.026189925411079; 1.002831637595448; 0.004578144716975105; -0.001848050570252286; -0.00296183013855017; 1.005412424479319; 1.005207929570434; 1.003552846073736; -0.001463114802064685; 0.003828624926299869; 0.006517712743266594; 0.003935646301693438; -0.0006195812757256409; 0.00100949438688012; 0.9999915538284879] </intrinsics>
<gyro_noise_sigma>0.00053088444</gyro_noise_sigma>
<gyro_bias_sigma>0.00014125375</gyro_bias_sigma>
<accel_noise_sigma>0.0048836490000000003</accel_noise_sigma>
<accel_bias_sigma>0.012589253999999999</accel_bias_sigma>
</intrinsic_imu_calibration>
<extrinsic_calibration frame_A_id="100" frame_B_id="0">
<A_q_B> [0.9999847053718686; 0.001229914633586842; -0.00329806225450645; 0.004266042392761234] </A_q_B>
<A_p_B> [-0.005508152151446929; 0.007537306913866897; -0.008580830707013921] </A_p_B>
</extrinsic_calibration>
<extrinsic_calibration frame_A_id="100" frame_B_id="1">
<A_q_B> [0.9999847053718686; 0.001229914633586842; -0.00329806225450645; 0.004266042392761234] </A_q_B>
<A_p_B> [-0.005508152151446929; 0.007537306913866897; -0.008580830707013921] </A_p_B>
</extrinsic_calibration>
<extrinsic_calibration frame_A_id="100" frame_B_id="3">
<A_q_B> [0.9999847053718686; 0.001229914633586842; -0.00329806225450645; 0.004266042392761234] </A_q_B>
<A_p_B> [-0.005508152151446929; 0.007537306913866897; -0.008580830707013921] </A_p_B>
</extrinsic_calibration>
<extrinsic_calibration name="Device_T_OpenGl" index="0" frame_A_id="40" frame_B_id="42">
<A_T_B> [0, 1, 0, 0; -1, 0, 0, 0; 0, 0, 1, 0] </A_T_B>
</extrinsic_calibration>
<extrinsic_calibration name="Imu_T_Device" index="0" frame_A_id="100" frame_B_id="40">
<A_T_B> [0, -1, 0, 0; 1, 0, 0, 0; 0, 0, 1, 0] </A_T_B>
</extrinsic_calibration>
</rig>
- set path to android property "ro.config.calibration_cad" after root your device, sothat libtango_service_library.so can find and load it:
# setprop ro.config.calibration_cad /sdcard/CAD.xml - run ARCore sample code
My huawei P9 can run, but can not find any surface. Maybe S8's configuration is not suitable for my device, GOOD LUCK!
kevin-dong-ros commented
Hi, @hong19860320, I have tested you method, but the tango core is still stopped after running ARcore sample. My phone is XIAOMI MI6. Is this problem not happened in your phone?
hong19860320 commented
@kevin-dong-ros Hi, can you provide your log file, I need more details.
BTW, for huawei P9, tango core will crash because it can't find the calibration file, just like this:
10-16 13:58:20.056 3919-3950/? W/tango: helpers.cc:418 Defaulting to persistent calibration file.
10-16 13:58:20.056 3919-3950/? W/tango: helpers.cc:395 Property calibration_cad is not defined.
10-16 13:58:20.056 3919-3950/? I/tango: calibration_provider.cc:486 Instantiating calibration provider with sources:
CAD:
Factory:
Online: /data/data/com.google.tango/files/config/online-calibration.xml
ActiveFile: kOnlineCalibrationFile
Hardcoded CAD model fallback: Enabled
10-16 13:58:20.058 3919-3919/? A/tango: calibration_provider.cc:589 Check failed: parse_cad_error_code == LoadCalibrationXmlErrorCode::kSuccess
10-16 13:58:20.058 3919-3950/? E/tango: device_provider.cc:336 Could not identify device type from build fingerprint 'HUAWEI/EVA-AL10/HWEVA:7.0/HUAWEIEVA-AL10/C00B386:user/release-keys'.
10-16 13:58:20.058 3919-3950/? E/tango: helpers.cc:288 Hardcoded CAD model unavailable for device kUnknownDevice
10-16 13:58:20.058 3919-3950/? W/tango: calibration_provider.cc:379 Requested parsing of Online calibration, but failed to parse it and the following fallbacks:
- Online calibration: File does not exist: /data/data/com.google.tango/files/config/online-calibration.xml.
- Factory calibration: File not set.
- CAD calibration: File not set.
- Hardcoded CAD model: Could not load hardcoded CAD model. It is only available when:
- Explicitly setting the active file to kHardcodedCadModel.
- On device, as a fallback when reading the CAD calibration file fails.
10-16 13:58:20.058 3919-3950/? W/tango: calibration_provider.cc:379 Requested parsing of CAD calibration, but failed to parse it and the following fallbacks:
- CAD calibration: File not set.
- Hardcoded CAD model: Could not load hardcoded CAD model. It is only available when:
- Explicitly setting the active file to kHardcodedCadModel.
- On device, as a fallback when reading the CAD calibration file fails.
--------- beginning of crash
10-16 13:58:20.058 3919-3919/? A/libc: Fatal signal 6 (SIGABRT), code -6 in tid 3919 (om.google.tango)
[ 10-16 13:58:20.059 364: 364 W/ ]
debuggerd: handling request: pid=3919 uid=10117 gid=10117 tid=3919
10-16 13:58:20.064 1782-2327/? I/PGServer: checkPkgType. calling pkg: com.huawei.iaware
10-16 13:58:20.124 3951-3951/? A/DEBUG: *** *** *** *** *** *** *** *** *** *** *** *** *** *** *** ***
10-16 13:58:20.124 3951-3951/? A/DEBUG: Build fingerprint: 'HUAWEI/EVA-AL10/HWEVA:7.0/HUAWEIEVA-AL10/C00B386:user/release-keys'
10-16 13:58:20.124 3951-3951/? A/DEBUG: Revision: '0'
10-16 13:58:20.124 3951-3951/? A/DEBUG: ABI: 'arm64'
10-16 13:58:20.125 3951-3951/? A/DEBUG: pid: 3919, tid: 3919, name: om.google.tango >>> com.google.tango <<<
10-16 13:58:20.125 3951-3951/? A/DEBUG: signal 6 (SIGABRT), code -6 (SI_TKILL), fault addr --------
10-16 13:58:20.127 3951-3951/? A/DEBUG: Abort message: 'calibration_provider.cc:589 Check failed: parse_cad_error_code == LoadCalibrationXmlErrorCode::kSuccess '
10-16 13:58:20.127 3951-3951/? A/DEBUG: x0 0000000000000000 x1 0000000000000f4f x2 0000000000000006 x3 0000000000000008
10-16 13:58:20.127 3951-3951/? A/DEBUG: x4 0000000000000000 x5 0000000000808080 x6 0000007de6257000 x7 0000000000000000
10-16 13:58:20.127 3951-3951/? A/DEBUG: x8 0000000000000083 x9 ffffffffffffffdf x10 0000000000000000 x11 0000000000000001
10-16 13:58:20.127 3951-3951/? A/DEBUG: x12 ffffffffffffffff x13 0000000000000000 x14 0000000000000000 x15 0000e048428e72d9
10-16 13:58:20.127 3951-3951/? A/DEBUG: x16 0000007de56ffec8 x17 0000007de56a9624 x18 0000000000000000 x19 0000007de630ab40
10-16 13:58:20.127 3951-3951/? A/DEBUG: x20 0000000000000006 x21 0000007de630aa98 x22 0000000000000002 x23 0000007fd0092978
10-16 13:58:20.127 3951-3951/? A/DEBUG: x24 0000000000000068 x25 0000007de234c198 x26 0000007dd71e3680 x27 0000007de22b6a20
10-16 13:58:20.127 3951-3951/? A/DEBUG: x28 0000007de22b69f8 x29 0000007fd0092350 x30 0000007de56a6acc
10-16 13:58:20.127 3951-3951/? A/DEBUG: sp 0000007fd0092330 pc 0000007de56a962c pstate 0000000060000000
10-16 13:58:20.137 3951-3951/? A/DEBUG: backtrace:
10-16 13:58:20.137 3951-3951/? A/DEBUG: #00 pc 000000000006b62c /system/lib64/libc.so (tgkill+8)
10-16 13:58:20.137 3951-3951/? A/DEBUG: #01 pc 0000000000068ac8 /system/lib64/libc.so (pthread_kill+64)
10-16 13:58:20.137 3951-3951/? A/DEBUG: #02 pc 0000000000023de8 /system/lib64/libc.so (raise+24)
10-16 13:58:20.137 3951-3951/? A/DEBUG: #03 pc 000000000001c86c /system/lib64/libc.so (abort+52)
10-16 13:58:20.137 3951-3951/? A/DEBUG: #04 pc 0000000000005bf8 /vendor/lib64/liblog.so (__android_log_assert+232)
10-16 13:58:20.137 3951-3951/? A/DEBUG: #05 pc 0000000000100718 /data/app/com.google.tango-1/lib/arm64/libtango_service_library.so (_ZN13MessageLoggerD2Ev+4120)
10-16 13:58:20.137 3951-3951/? A/DEBUG: #06 pc 0000000000c8433c /data/app/com.google.tango-1/lib/arm64/libtango_service_library.so
10-16 13:58:20.137 3951-3951/? A/DEBUG: #07 pc 0000000000c85be8 /data/app/com.google.tango-1/lib/arm64/libtango_service_library.so
10-16 13:58:20.137 3951-3951/? A/DEBUG: #08 pc 0000000000129150 /data/app/com.google.tango-1/lib/arm64/libtango_service_library.so (_ZN13tango_service12TangoContextC1ESt10shared_ptrINS_15JniTangoServiceEE+512)
10-16 13:58:20.137 3951-3951/? A/DEBUG: #09 pc 000000000013c80c /data/app/com.google.tango-1/lib/arm64/libtango_service_library.so (_ZN12tango_binder7ServiceC2ESt10shared_ptrIN13tango_service15JniTangoServiceEE+228)
10-16 13:58:20.138 3951-3951/? A/DEBUG: #10 pc 000000000013a238 /data/app/com.google.tango-1/lib/arm64/libtango_service_library.so (Java_com_google_atap_tango_TangoServiceJNINative_CreateNativeService+972)
10-16 13:58:20.138 3951-3951/? A/DEBUG: #11 pc 00000000007f5eb8 /data/app/com.google.tango-1/oat/arm64/base.odex (offset 0x7a7000)
10-16 13:58:20.210 420-434/? I/gralloc: alloc_device_alloc:564: Alloc handle(0x7d23247300): interfmt=200000001, stride=1088, size=8486912, usage=0xb00
10-16 13:58:20.214 420-3783/? I/gralloc: alloc_device_alloc:564: Alloc handle(0x7d23247700): interfmt=200000001, stride=1088, size=8486912, usage=0xb00
10-16 13:58:20.217 420-3783/? I/gralloc: alloc_device_alloc:564: Alloc handle(0x7d2320f300): interfmt=200000001, stride=1088, size=8486912, usage=0xb00
10-16 13:58:20.220 420-3783/? I/gralloc: alloc_device_alloc:564: Alloc handle(0x7d23293000): interfmt=200000001, stride=1088, size=8486912, usage=0xb00
10-16 13:58:20.223 420-434/? I/gralloc: alloc_device_alloc:564: Alloc handle(0x7d2320f600): interfmt=200000001, stride=1088, size=8486912, usage=0xb00
10-16 13:58:20.235 2449-2449/? W/IInputConnectionWrapper: reportFullscreenMode on inexistent InputConnection
kevin-dong-ros commented
Hi, @hong19860320, log information is provided as follow:
And I have done
#setprop ro.config.calibration_cad /storage/emulated/0/CAD.xml
hong19860320 commented
@kevin-dong-ros try this:
CAD.zip
kevin-dong-ros commented
@hong19860320, I have linked this CAD.xml file to ro.config.calibration_cad and tango-core still crashed. Can you share the log from your phone which tango-core is not crashed?
hong19860320 commented
@kevin-dong-ros check tangcore's permissions, and make sure it can access your calibration file.
huaweip9_load_cad_file_ok.zip
kevin-dong-ros commented
@hong19860320, my sample app can access calibration file after giving storage permissions. But it is already crashed because of no valid camera index being detected.
I think it is happened because of the camera index and property is not similar between google pixel/HUAWEI P9 to XIAOMI MI6.