commit 74f1edc5decc50e2f0ebc8b47ab8de18b64f3311
author Alex Perry <alex.perry96@gmail.com> Sun Mar 03 17:15:14 2019 -0800
committer Alex Perry <alex.perry96@gmail.com> Sun Mar 03 17:17:21 2019 -0800
tree 518bcd21077d888d6b4b600d750a11e027d47032
parent f07155160f7522b3028fab0ae0daae1a1c20f7dc

Add constants for camera 16 and 19 (code bot 1 front and back)

Change-Id: Ia6bc3cd7b56f49653ae5807dc79a4f5c34d1952d

y2019/vision/constants.cc

diff --git a/y2019/vision/constants.cc b/y2019/vision/constants.cc
index ea47dd7..6238cb1 100644
--- a/y2019/vision/constants.cc
+++ b/y2019/vision/constants.cc
@@ -7,48 +7,83 @@
 
 CameraCalibration camera_4 = {
     {
-        3.73623 / 180.0 * M_PI, 588.1, 0.269291 / 180.0 * M_PI,
+     3.73623 / 180.0 * M_PI, 588.1, 0.269291 / 180.0 * M_PI,
     },
     {
-        {{6.02674 * kInchesToMeters, 4.57805 * kInchesToMeters,
-          33.3849 * kInchesToMeters}},
-        22.4535 / 180.0 * M_PI,
+     {{6.02674 * kInchesToMeters, 4.57805 * kInchesToMeters,
+       33.3849 * kInchesToMeters}},
+     22.4535 / 180.0 * M_PI,
     },
     {
-        4,
-        {{12.5 * kInchesToMeters, 12 * kInchesToMeters}},
-        {{1 * kInchesToMeters, 0.0}},
-        26,
-        "cam4_0/debug_viewer_jpeg_",
-        52,
+     4,
+     {{12.5 * kInchesToMeters, 12 * kInchesToMeters}},
+     {{1 * kInchesToMeters, 0.0}},
+     26,
+     "cam4_0/debug_viewer_jpeg_",
+     52,
     }};
 
 CameraCalibration camera_5 = {
     {
-        1.00774 / 180.0 * M_PI, 658.554, 2.43864 / 180.0 * M_PI,
+     1.00774 / 180.0 * M_PI, 658.554, 2.43864 / 180.0 * M_PI,
     },
     {
-        {{5.51248 * kInchesToMeters, 2.04087 * kInchesToMeters,
-          33.2555 * kInchesToMeters}},
-        -13.1396 / 180.0 * M_PI,
+     {{5.51248 * kInchesToMeters, 2.04087 * kInchesToMeters,
+       33.2555 * kInchesToMeters}},
+     -13.1396 / 180.0 * M_PI,
     },
     {
-        5,
-        {{12.5 * kInchesToMeters, 0.5 * kInchesToMeters}},
-        {{1 * kInchesToMeters, 0.0}},
-        26,
-        "cam5_0/debug_viewer_jpeg_",
-        59,
+     5,
+     {{12.5 * kInchesToMeters, 0.5 * kInchesToMeters}},
+     {{1 * kInchesToMeters, 0.0}},
+     26,
+     "cam5_0/debug_viewer_jpeg_",
+     59,
+    }};
+
+CameraCalibration camera_16 = {
+    {
+     -1.30906 / 180.0 * M_PI, 347.372, 2.18486 / 180.0 * M_PI,
+    },
+    {
+     {{4.98126 * kInchesToMeters, 1.96988 * kInchesToMeters,
+       33.4276 * kInchesToMeters}},
+     -12.2377 / 180.0 * M_PI,
+    },
+    {
+     16,
+     {{12.5 * kInchesToMeters, 0.5 * kInchesToMeters}},
+     {{1 * kInchesToMeters, 0.0}},
+     16,
+     "cam16/debug_viewer_jpeg_",
+     55,
+    }};
+
+CameraCalibration camera_19 = {
+    {
+     -0.341036 / 180.0 * M_PI, 324.626, 1.2545 / 180.0 * M_PI,
+    },
+    {
+     {{6.93309 * kInchesToMeters, -2.64735 * kInchesToMeters,
+       32.8758 * kInchesToMeters}},
+     2.58102 / 180.0 * M_PI,
+    },
+    {
+     19,
+     {{12.5 * kInchesToMeters, 0.5 * kInchesToMeters}},
+     {{1 * kInchesToMeters, 0.0}},
+     16,
+     "cam19/debug_viewer_jpeg_",
+     68,
     }};
 
 const CameraCalibration *GetCamera(int camera_id) {
   switch (camera_id) {
-    case 4:
-      return &camera_4;
-    case 5:
-      return &camera_5;
-    default:
-      return nullptr;
+  case 4: return &camera_4;
+  case 5: return &camera_5;
+  case 16: return &camera_16;
+  case 19: return &camera_19;
+  default: return nullptr;
   }
 }