commit 463a3bc0c3cdd3f96b657c7d35f50b5a0ae530d5
author Alex Perry <alex.perry96@gmail.com> Sun Mar 10 21:01:26 2019 -0700
committer Alex Perry <alex.perry96@gmail.com> Sun Mar 10 21:01:26 2019 -0700
tree d89514b480b5e14ec2e10bd72709adfbef888dee
parent 2ca1574ad141826e04929d97a17e24415388dadc

Recalibrate practice bot cameras with new distortion math.

Change-Id: I1598bdf7ec006b674f8eec669fc22cd9cfd66f46

y2019/vision/constants.cc

diff --git a/y2019/vision/constants.cc b/y2019/vision/constants.cc
index 6a41e14..a587007 100644
--- a/y2019/vision/constants.cc
+++ b/y2019/vision/constants.cc
@@ -7,12 +7,12 @@
 
 CameraCalibration camera_1 = {
     {
-        -0.898335 / 180.0 * M_PI, 340.971, 1.90889 / 180.0 * M_PI,
+        -0.873939 / 180.0 * M_PI, 338.976, 2.44587 / 180.0 * M_PI,
     },
     {
-        {{-5.24755 * kInchesToMeters, 2.83241 * kInchesToMeters,
-          33.1178 * kInchesToMeters}},
-        181.873 / 180.0 * M_PI,
+        {{-5.46283 * kInchesToMeters, 2.98951 * kInchesToMeters,
+          33.0848 * kInchesToMeters}},
+        181.951 / 180.0 * M_PI,
     },
     {
         1,
@@ -151,12 +151,12 @@
 
 CameraCalibration camera_14 = {
     {
-        -0.0448007 / 180.0 * M_PI, 343.776, 0.682175 / 180.0 * M_PI,
+        0.108434 / 180.0 * M_PI, 338.756, 0.606249 / 180.0 * M_PI,
     },
     {
-        {{5.51139 * kInchesToMeters, 2.06852 * kInchesToMeters,
-          33.2133 * kInchesToMeters}},
-        -12.2943 / 180.0 * M_PI,
+        {{5.90372 * kInchesToMeters, 2.08009 * kInchesToMeters,
+          33.1342 * kInchesToMeters}},
+        -12.4624 / 180.0 * M_PI,
     },
     {
         14,
@@ -169,12 +169,12 @@
 
 CameraCalibration camera_15 = {
     {
-        -0.699071 / 180.0 * M_PI, 343.108, 1.59015 / 180.0 * M_PI,
+        -0.855459 / 180.0 * M_PI, 348.799, 1.4559 / 180.0 * M_PI,
     },
     {
-        {{3.83957 * kInchesToMeters, 4.15371 * kInchesToMeters,
-          33.5056 * kInchesToMeters}},
-        20.6893 / 180.0 * M_PI,
+        {{3.15291 * kInchesToMeters, 4.16556 * kInchesToMeters,
+          33.5924 * kInchesToMeters}},
+        20.3884 / 180.0 * M_PI,
     },
     {
         15,
@@ -205,12 +205,12 @@
 
 CameraCalibration camera_17 = {
     {
-        34.8608 / 180.0 * M_PI, 337.479, 2.37199 / 180.0 * M_PI,
+        34.8231 / 180.0 * M_PI, 338.051, 2.43035 / 180.0 * M_PI,
     },
     {
-        {{3.1435 * kInchesToMeters, -2.56124 * kInchesToMeters,
-          11.8428 * kInchesToMeters}},
-        -92.0541 / 180.0 * M_PI,
+        {{3.17222 * kInchesToMeters, -2.49752 * kInchesToMeters,
+          11.8333 * kInchesToMeters}},
+        -92.1018 / 180.0 * M_PI,
     },
     {
         17,
@@ -223,12 +223,12 @@
 
 CameraCalibration camera_18 = {
     {
-        33.9889 / 180.0 * M_PI, 337.936, -2.23211 / 180.0 * M_PI,
+        33.9761 / 180.0 * M_PI, 338.017, -2.32243 / 180.0 * M_PI,
     },
     {
-        {{3.93503 * kInchesToMeters, 5.52062 * kInchesToMeters,
-          12.3607 * kInchesToMeters}},
-        96.3738 / 180.0 * M_PI,
+        {{3.95182 * kInchesToMeters, 5.50479 * kInchesToMeters,
+          12.3506 * kInchesToMeters}},
+        96.4141 / 180.0 * M_PI,
     },
     {
         18,