diff --git a/y2019/vision/constants.cc b/y2019/vision/constants.cc
index fa7c130..bc8a56d 100644
--- a/y2019/vision/constants.cc
+++ b/y2019/vision/constants.cc
@@ -7,85 +7,108 @@
 
 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_10 = {
+    {
+        0.0429164 / 180.0 * M_PI, 337.247, 0.865625 / 180.0 * M_PI,
+    },
+    {
+        {{20.5486 * kInchesToMeters, -2.47638 * kInchesToMeters,
+          33.1395 * kInchesToMeters}},
+        2.08049 / 180.0 * M_PI,
+    },
+    {
+        10,
+        {{12.5 * kInchesToMeters, 0.5 * kInchesToMeters}},
+        {{1 * kInchesToMeters, 0.0}},
+        26,
+        "data/cam10_0/debug_viewer_jpeg_",
+        59,
     }};
 
 CameraCalibration camera_16 = {
     {
-     -1.30906 / 180.0 * M_PI, 347.372, 2.18486 / 180.0 * M_PI,
+        -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,
+        {{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,
+        16,
+        {{12.5 * kInchesToMeters, 0.5 * kInchesToMeters}},
+        {{1 * kInchesToMeters, 0.0}},
+        16,
+        "cam16/debug_viewer_jpeg_",
+        55,
     }};
 
-// Note: x/y should be negated and heading should be offset by 180 deg to
-// account for this being calibrated on the rear of the robot.
 CameraCalibration camera_19 = {
     {
-     -0.341036 / 180.0 * M_PI, 324.626, 1.2545 / 180.0 * M_PI,
+        -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,
+        {{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,
+        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;
-  case 16: return &camera_16;
-  case 19: return &camera_19;
-  default: return nullptr;
+    case 4:
+      return &camera_4;
+    case 5:
+      return &camera_5;
+    case 10:
+      return &camera_10;
+    case 16:
+      return &camera_16;
+    case 19:
+      return &camera_19;
+    default:
+      return nullptr;
   }
 }