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