Calibrated cameras.
Change-Id: Iaa5b656dd736d4c5d4bd18caa9952f2559cb14d3
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;
}