Calibrating a low-volume device prototype

[janwillemp]

Hello,

The studio where I work is currently designing and building a new AR device prototype. Our client has expressed the desire to have the device run applications written on top of arcore. We understand that device calibration is a strict requirement commonly carried out at Google with a fair amount of production devices. This is going to be difficult in our case, as our assignment is to build just a few prototypes for testing the device concept (it is pretty unique) and use it for internal stakeholder presentations.

We are a small company specialised in rapid prototyping of mostly connected devices. For this project we're working on Lantronix/Intrinsyc Qualcomm Snapdragon 845 uSoM platform. Mostly for reasons of speed (these are supported in the stock BSP) we're using an IMX214 based camera and ST's LSM6DSM IMU. We can run the (Unity) demo app but it is impossible to get a tracking lock.

Is there an alternative way for cases like ours to get at least our few (<10) prototypes calibrated? Please advise.

Thanks

[janwillemp]

After having read #594 (comment) and looking at the most common output of what we're now seeing, it seems that we should fix the Timestamps bit first. Seeing mostly these warnings:

05-08 10:40:11.978  3564  3941 W native  : imu_integrator_utils.cc:39 Gyro samples do not cover << [ 720080186844 ; 720179970333 ] nanosecond. Use identity R. Gyro samples cover [ 720121580226 ; 720295647284 ] nanosecond.
05-08 10:40:11.979  3564  3591 W native  : pose_manager.cc:55 GetRecentDevicePose failed. INVALID_ARGUMENT: Passed timestamp is too new. Latest VIO t: 12m0.051094341s, latest IMU t: 12m0.295647284s, query t:12m0.31718356s

What does these mean? Where I can check and change the way these timestamps are generated?

[desgraci]

same issue here

9673 pose_manager.cc:66] GetRecentDevicePose failed. INVALID_ARGUMENT: Passed timestamp is too old.
    === Source Location Trace: === 
    third_party/redwood/perception/pose_manager/pose_manager.cc:406
     Latest VIO t: -1ns, latest IMU t: 54m12.007479476s, query t:51m39.14164619s
2021-10-22 09:29:37.395 19609-19654/com.google.ar.core.examples.kotlin.helloar W/native: W1022 09:29:37.395841   19654 pose_manager.cc:66] GetRecentDevicePose failed. INVALID_ARGUMENT: Passed timestamp is too new. [mtc.pose_node.latest_imu_timestamp_ns='3252007479476']
    === Source Location Trace: === 
    third_party/redwood/perception/pose_manager/pose_manager.cc:395
     Latest VIO t: -1ns, latest IMU t: 54m12.007479476s, query t:54m14.06650319s
     

Or

    third_party/redwood/perception/pose_manager/pose_manager.cc:395
     Latest VIO t: -1ns, latest IMU t: 56m22.693098583s, query t:56m24.482654s
2021-10-22 09:31:47.377 20680-20716/com.google.ar.core.examples.kotlin.helloar W/native: W1022 09:31:47.377550   20716 pose_manager.cc:66] GetRecentDevicePose failed. INVALID_ARGUMENT: Passed timestamp is too new. [mtc.pose_node.latest_imu_timestamp_ns='3382693098583']
    === Source Location Trace: ===
    third_party/redwood/perception/pose_manager/pose_manager.cc:395
     Latest VIO t: -1ns, latest IMU t: 56m22.693098583s, query t:56m24.515993941s
2021-10-22 09:31:47.388 20680-20816/com.google.ar.core.examples.kotlin.helloar W/native: W1022 09:31:47.388143   20816 pose_manager.cc:66] GetRecentDevicePose failed. INVALID_ARGUMENT: Passed timestamp is too new. [mtc.pose_node.latest_imu_timestamp_ns='3382693098583']
    === Source Location Trace: ===
    third_party/redwood/perception/pose_manager/pose_manager.cc:395
     Latest VIO t: -1ns, latest IMU t: 56m22.693098583s, query t:56m24.515993s