= Camera Shifts =

== Introduction ==

 * Look in robot/vision/dogParams.cc to see what the current shifts are, and to get an idea of what the numbers should be.
 * Now head to base/colour/linearShifts and type "make".
 * You will notice that two programs are made, "getDogShifts.java" and "reconfigureShifts".
 * You will also notice there is a script "rename".

== getDogShifts.java ==

 * This is a java file that takes ring-corrected, but unshifted BFL files and turns them into numbers that are used as linear shifts.
 * For more details run "java getDogShifts --help".
 * This produces csv files, which contain the information needed to verify and obtain linear shifts.
 * Note that to turn off linear shifts so that the images can be taken you need to change the appropriate #define in robot/vision/CorrectedImage.h.

== reconfigureShifts ==

 * This program is used to convert a dog into a base dog, shifting all of the apropriate values.

== rename ==

 * A handy shell script used to rename BFL files for getDogShifts.java.

== shifts* folders ==

 * Holds the csv files for past shifts.
 * You should make one of these for your set of shifts, and commit it.

== But how does all of this work on the dogs? ==

 * Copy the information from the csv files that are generated back into the dogParams.cc file.