hong19860320
commented
6 years ago Maybe you can try it as following steps: 1) 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>2) 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
3) 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
I think it is happened because of the camera index and property is not similar between google pixel/HUAWEI P9 to XIAOMI MI6.
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..