commit 3bf1bee9b0e070b3a5d19a00ef8da2eb4396fdc4
author Alex Perry <alex.perry96@gmail.com> Sat Feb 23 20:01:15 2019 -0800
committer Alex Perry <alex.perry96@gmail.com> Sat Mar 02 15:57:39 2019 -0800
tree 961d2d6849073d3eefb484869bb667e7570de80e
parent 409993acf65b43f8960a4ac01d7923edce872fcc

recieve params on jevois cameras.

Change-Id: I6075ab70dad44c6e31ec4eeda5e492611bef6a46

y2019/vision/target_finder.h

diff --git a/y2019/vision/target_finder.h b/y2019/vision/target_finder.h
index 633733a..5957fa6 100644
--- a/y2019/vision/target_finder.h
+++ b/y2019/vision/target_finder.h
@@ -57,6 +57,7 @@
   const Target &GetTemplateTarget() { return target_template_; }
 
   const IntrinsicParams &intrinsics() const { return intrinsics_; }
+  IntrinsicParams *mutable_intrinsics() { return &intrinsics_; }
 
  private:
   // Find a loosly connected target.

y2019/vision/target_sender.cc

diff --git a/y2019/vision/target_sender.cc b/y2019/vision/target_sender.cc
index be56e91..2617d33 100644
--- a/y2019/vision/target_sender.cc
+++ b/y2019/vision/target_sender.cc
@@ -381,6 +381,11 @@
               frc971::jevois::UartUnpackToCamera(packet);
           if (calibration_question) {
             const auto &calibration = *calibration_question;
+            IntrinsicParams *intrinsics = finder_.mutable_intrinsics();
+            intrinsics->mount_angle = calibration.calibration(0, 0);
+            intrinsics->focal_length = calibration.calibration(0, 1);
+            intrinsics->barrel_mount = calibration.calibration(0, 2);
+
             switch (calibration.camera_command) {
               case CameraCalibration::CameraCommand::kNormal:
                 break;