Calibrate cameras 7-9
Change-Id: Ie2fc1c2c565fabddcefa9b52dca257caba2ed196
diff --git a/y2019/vision/constants.cc b/y2019/vision/constants.cc
index ef99521..44a143c 100644
--- a/y2019/vision/constants.cc
+++ b/y2019/vision/constants.cc
@@ -59,6 +59,60 @@
75,
}};
+CameraCalibration camera_7 = {
+ {
+ -2.30729 / 180.0 * M_PI, 339.894, 1.16684 / 180.0 * M_PI,
+ },
+ {
+ {{3.62399 * kInchesToMeters, 3.94792 * kInchesToMeters,
+ 33.3196 * kInchesToMeters}},
+ 18.5828 / 180.0 * M_PI,
+ },
+ {
+ 7,
+ {{12.5 * kInchesToMeters, 0.0}},
+ {{1 * kInchesToMeters, 0.0}},
+ 21,
+ "data/cam7_0/debug_viewer_jpeg_",
+ 65,
+ }};
+
+CameraCalibration camera_8 = {
+ {
+ 37.0966 / 180.0 * M_PI, 339.997, 0.265968 / 180.0 * M_PI,
+ },
+ {
+ {{3.53674 * kInchesToMeters, 5.25891 * kInchesToMeters,
+ 12.6869 * kInchesToMeters}},
+ 92.4773 / 180.0 * M_PI,
+ },
+ {
+ 8,
+ {{6.5 * kInchesToMeters, -11 * kInchesToMeters}},
+ {{0.0, 1 * kInchesToMeters}},
+ 25,
+ "data/cam8_0/debug_viewer_jpeg_",
+ 61,
+ }};
+
+CameraCalibration camera_9 = {
+ {
+ 35.3461 / 180.0 * M_PI, 337.599, 3.34351 / 180.0 * M_PI,
+ },
+ {
+ {{4.24216 * kInchesToMeters, -2.97032 * kInchesToMeters,
+ 11.323 * kInchesToMeters}},
+ -93.3026 / 180.0 * M_PI,
+ },
+ {
+ 9,
+ {{-6.5 * kInchesToMeters, 11 * kInchesToMeters}},
+ {{0.0, -1 * kInchesToMeters}},
+ 30,
+ "data/cam9_0/debug_viewer_jpeg_",
+ 56,
+ }};
+
CameraCalibration camera_10 = {
{
-0.165199 / 180.0 * M_PI, 340.666, 0.596842 / 180.0 * M_PI,
@@ -121,6 +175,12 @@
return &camera_5;
case 6:
return &camera_6;
+ case 7:
+ return &camera_7;
+ case 8:
+ return &camera_8;
+ case 9:
+ return &camera_9;
case 10:
return &camera_10;
case 16: