From 30d1312b7741ec1aa6b88374529f4561fb68a8a3 Mon Sep 17 00:00:00 2001
From: Ranjith Kagathi Ananda <ranjithkagathi@google.com>
Date: Thu, 29 Jun 2017 16:37:03 -0700
Subject: [PATCH] Remove IMU cad calibration file

Remove the cad calibration file and use only factory calibration
file.

Test: Tested on Taimen

BUG=63146009

Change-Id: I3cf1a0084723b925eaa358830f76d48da0841b4e
---
 calibration_cad.xml | 58 ---------------------------------------------
 device.mk           |  5 ----
 2 files changed, 63 deletions(-)
 delete mode 100644 calibration_cad.xml

diff --git a/calibration_cad.xml b/calibration_cad.xml
deleted file mode 100644
index 5a40d55..0000000
--- a/calibration_cad.xml
+++ /dev/null
@@ -1,58 +0,0 @@
-<rig>
-<device_id>0</device_id>
-<camera>
-    <camera_model name="feature_tracking_primary" index="0" type="calibu_fu_fv_u0_v0_k1_k2_k3" rolling_shutter_readout_time="0.016666667">
-        <width>640</width>
-        <height>480</height>
-        <params> [512.4374;  512.4374;  320.0;  240.0;  0.0;  0.0;  0.0] </params>
-    </camera_model>
-    <pose />
-</camera>
-<camera>
-    <camera_model name="color_primary" index="1" type="calibu_fu_fv_u0_v0_k1_k2_k3" rolling_shutter_readout_time="0.016666667">
-        <width>640</width>
-        <height>480</height>
-        <params> [512.4374;  512.4374;  320.0;  240.0;  0.0;  0.0;  0.0] </params>
-    </camera_model>
-    <pose />
-</camera>
-<camera>
-    <camera_model name="depth_ir_primary" index="3" type="calibu_fu_fv_u0_v0_k1_k2_k3" rolling_shutter_readout_time="0.016666667">
-        <width>640</width>
-        <height>480</height>
-        <params> [512.4374;  512.4374;  320.0;  240.0;  0.0;  0.0;  0.0] </params>
-    </camera_model>
-    <pose />
-</camera>
-<intrinsic_imu_calibration name="" imu_id="100" type="linear_imu_sg_mg_sa_ma_gqa">
-    <b_w_b_a> [0.0; 0.0;   0.0;   0.0;   0.0;   0.0] </b_w_b_a>
-    <intrinsics> [1; 1; 1; 0; 0; 0; 1; 1; 1; 0; 0; 0; 0; 0; 0; 1] </intrinsics>
-    <gyro_noise_sigma>5.3088444e-4</gyro_noise_sigma>
-    <gyro_bias_sigma>1.4125375e-4</gyro_bias_sigma>
-    <accel_noise_sigma>0.004883649</accel_noise_sigma>
-    <accel_bias_sigma>1.2589254e-2</accel_bias_sigma>
-</intrinsic_imu_calibration>
-<extrinsic_calibration name="imu_T_feature_tracking_primary" index="0" frame_A_id="100" frame_B_id="0">
-    <A_T_B> [1, 0, 0, -0.0394227;  0, -1, 0, 0.0277431;  0, 0, -1, -0.00758045] </A_T_B>
-</extrinsic_calibration>
-<extrinsic_calibration name="imu_T_color_primary" index="0" frame_A_id="100" frame_B_id="1">
-    <A_T_B> [1, 0, 0, -0.0394227;  0, -1, 0, 0.0277431;  0, 0, -1, -0.00758045] </A_T_B>
-</extrinsic_calibration>
-<extrinsic_calibration name="imu_T_depth_ir_primary" index="0" frame_A_id="100" frame_B_id="3">
-    <A_T_B> [1, 0, 0, -0.0394227;  0, -1, 0, 0.0277431;  0, 0, -1, -0.00758045] </A_T_B>
-</extrinsic_calibration>
-<extrinsic_calibration name="imu_T_android" 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>
-<extrinsic_calibration name="android_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="android_T_display" index="0" frame_A_id="40" frame_B_id="43">
-    <A_T_B> [0, 1, 0, 0;  -1, 0, 0, 0;  0, 0, 1, 0] </A_T_B>
-</extrinsic_calibration>
-<geo_location>
-    <latitude>37.389444</latitude>
-    <longitude>122.0819</longitude>
-    <altitude>32</altitude>
-</geo_location>
-</rig>
diff --git a/device.mk b/device.mk
index 8a52bbe..98d331b 100644
--- a/device.mk
+++ b/device.mk
@@ -75,13 +75,8 @@ PRODUCT_PROPERTY_OVERRIDES += \
     ro.radio.log_prefix="modem_log_"
 endif
 
-#IMU calibration
-PRODUCT_COPY_FILES += \
-    device/google/taimen/calibration_cad.xml:$(TARGET_COPY_OUT_VENDOR)/etc/sensors/calibration_cad.xml
-
 #IMU calibration
 PRODUCT_PROPERTY_OVERRIDES += \
-  persist.config.calibration_cad=/vendor/etc/sensors/calibration_cad.xml \
   persist.config.calibration_fac=/persist/sensors/calibration/calibration.xml
 
 # Vibrator HAL