Calibrated cameras.
Change-Id: Iaa5b656dd736d4c5d4bd18caa9952f2559cb14d3
diff --git a/y2016/vision/calibration.pb b/y2016/vision/calibration.pb
index 83fd42a..b24a6e4 100644
--- a/y2016/vision/calibration.pb
+++ b/y2016/vision/calibration.pb
@@ -1,7 +1,7 @@
calibration {
robot: "competition"
calibration: {
- focal_length: 1.116070312
+ focal_length: 1.236070312
center_center_dist: 0.27051
center_center_skew: -16.65
camera_y_skew: 20.0
@@ -15,14 +15,14 @@
camera_exposure: 10
camera_brightness: 128
camera_gain: 0
- camera_fps: 10
+ camera_fps: 20
}
}
calibration {
robot: "practice"
calibration {
- focal_length: 1.1160703125
+ focal_length: 1.236070312
center_center_dist: 0.26829
center_center_skew: 0.0
camera_y_skew: 0.0
@@ -36,7 +36,7 @@
camera_exposure: 10
camera_brightness: 128
camera_gain: 0
- camera_fps: 5
+ camera_fps: 20
}
}
diff --git a/y2016/vision/target_receiver.cc b/y2016/vision/target_receiver.cc
index 3ccb1dd..3967e60 100644
--- a/y2016/vision/target_receiver.cc
+++ b/y2016/vision/target_receiver.cc
@@ -125,9 +125,12 @@
}
current_.target = target;
current_.rx_time = now;
- current_.capture_time =
- now - ::aos::time::Time::InNS(target.send_timestamp() -
- target.image_timestamp());
+ current_.capture_time = now -
+ ::aos::time::Time::InNS(target.send_timestamp() -
+ target.image_timestamp()) +
+ // It takes a bit to shoot a frame. Push the frame
+ // further back in time.
+ ::aos::time::Time::InMS(10);
current_.received = true;
}