Add constants.h which contains the result of calibration.
Change-Id: Ia7f76ff9bd549728c40888e800ebc266769525db
diff --git a/y2019/vision/constants.cc b/y2019/vision/constants.cc
new file mode 100644
index 0000000..bf3953c
--- /dev/null
+++ b/y2019/vision/constants.cc
@@ -0,0 +1,33 @@
+#include "y2019/vision/constants.h"
+
+namespace y2019 {
+namespace vision {
+
+constexpr double kInchesToMeters = 0.0254;
+
+CameraCalibration camera_4 = {
+ {
+ 3.50309 / 180.0 * M_PI, 593.557, -0.0487739 / 180.0 * M_PI,
+ },
+ {
+ {{5.56082 / kInchesToMeters, 4.70235 / kInchesToMeters,
+ 33.4998 / kInchesToMeters}},
+ 22.2155 * M_PI / 180.0,
+ },
+ {
+ 4,
+ {{12.5 / kInchesToMeters, 12.0 / kInchesToMeters}},
+ {{kInchesToMeters, 0.0}},
+ 26.0,
+ "cam4_0/debug_viewer_jpeg_",
+ }};
+
+const CameraCalibration *GetCamera(int camera_id) {
+ switch (camera_id) {
+ case 4: return &camera_4;
+ default: return nullptr;
+ }
+}
+
+} // namespace vision
+} // namespace y2019