Add 7971 front/back camera constants and fix height reference
The height reference for the targets is actually supposed to be from the
camera, not the floor.
Change-Id: Iee5a23230b4b1fbc6f0f1ebaf5344135cc78b14a
diff --git a/y2019/control_loops/drivetrain/camera.h b/y2019/control_loops/drivetrain/camera.h
index 8015772..04e4157 100644
--- a/y2019/control_loops/drivetrain/camera.h
+++ b/y2019/control_loops/drivetrain/camera.h
@@ -108,7 +108,7 @@
Scalar heading; // radians
// The distance from the camera to the target.
Scalar distance; // meters
- // Height of the target from the floor.
+ // Height of the target from the camera.
Scalar height; // meters
// The angle of the target relative to the frame of the camera.
Scalar skew; // radians
@@ -292,7 +292,7 @@
view.reading.heading = heading;
view.reading.distance = distance;
view.reading.skew = skew;
- view.reading.height = target.pose().abs_pos().z();
+ view.reading.height = relative_pose.rel_pos().z();
view.target = ⌖
view.camera_pose = camera_abs_pose;