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Merge "Remove IMU cad calibration file" into oc-dr1-dev

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TreeHugger Robot
2017-06-30 23:50:42 +00:00
committed by Android (Google) Code Review
parent 5a6b9c64ff c5901da08c
commit ca3ccd44eb
2 changed files with 0 additions and 63 deletions
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58
calibration_cad.xml
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@@ -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>

5
device-common.mk
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@@ -89,13 +89,8 @@ PRODUCT_COPY_FILES += \
PRODUCT_COPY_FILES += \
device/google/muskie/WCNSS_qcom_cfg.ini:$(TARGET_COPY_OUT_VENDOR)/firmware/wlan/qca_cld/WCNSS_qcom_cfg.ini
#IMU calibration
PRODUCT_COPY_FILES += \
device/google/muskie/calibration_cad.xml:$(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
# HWUI common settings