Add calibration for the practice robot.
Change-Id: I890e77933e7e56d9e2ed6a19800a9b5d4d966091
diff --git a/y2019/vision/calibrate_9971.sh b/y2019/vision/calibrate_9971.sh
new file mode 100755
index 0000000..9a05ce2
--- /dev/null
+++ b/y2019/vision/calibrate_9971.sh
@@ -0,0 +1,70 @@
+#!/bin/bash
+
+set -e
+
+cd "$(dirname "${BASH_SOURCE[0]}")"
+
+# We need to rebuild to save the old constants since the .cc file is baked into
+# the executable.
+calibration() {
+ bazel build -c opt //y2019/vision:global_calibration
+
+ ../../bazel-bin/y2019/vision/global_calibration "$@"
+}
+
+# Calibrate the comp robot. This is assuming the data file captured has been
+# extracted into the users home directory.
+calibration \
+ --camera_id 1 \
+ --tape_start_x=-12.5 \
+ --tape_start_y=0.0 \
+ --tape_direction_x=-1.0 \
+ --tape_direction_y=0.0 \
+ --beginning_tape_measure_reading=16 \
+ --image_count=45 \
+ --constants=constants.cc \
+ --prefix ~/cam1/debug_viewer_jpeg_
+
+calibration \
+ --camera_id 14 \
+ --tape_start_x=12.5 \
+ --tape_start_y=0.0 \
+ --tape_direction_x=1.0 \
+ --tape_direction_y=0.0 \
+ --beginning_tape_measure_reading=16 \
+ --image_count=71 \
+ --constants=constants.cc \
+ --prefix ~/cam14/debug_viewer_jpeg_
+
+calibration \
+ --camera_id 15 \
+ --tape_start_x=12.5 \
+ --tape_start_y=0.0 \
+ --tape_direction_x=1.0 \
+ --tape_direction_y=0.0 \
+ --beginning_tape_measure_reading=25 \
+ --image_count=62 \
+ --constants=constants.cc \
+ --prefix ~/cam15/debug_viewer_jpeg_
+
+calibration \
+ --camera_id 17 \
+ --tape_start_x=-6.5 \
+ --tape_start_y=11.0 \
+ --tape_direction_x=0.0 \
+ --tape_direction_y=-1.0 \
+ --beginning_tape_measure_reading=29 \
+ --image_count=58 \
+ --constants=constants.cc \
+ --prefix ~/cam17/debug_viewer_jpeg_
+
+calibration \
+ --camera_id 18 \
+ --tape_start_x=6.5 \
+ --tape_start_y=-11.0 \
+ --tape_direction_x=0.0 \
+ --tape_direction_y=1.0 \
+ --beginning_tape_measure_reading=27 \
+ --image_count=60 \
+ --constants=constants.cc \
+ --prefix ~/cam18/debug_viewer_jpeg_