Add ball color detector
Signed-off-by: Griffin Bui <griffinbui+gerrit@gmail.com>
Change-Id: Ia05d6964a0fa622aa47a0219e0380053a9eb602b
diff --git a/y2022/vision/BUILD b/y2022/vision/BUILD
index a26c507..65ab20c 100644
--- a/y2022/vision/BUILD
+++ b/y2022/vision/BUILD
@@ -149,6 +149,73 @@
],
)
+cc_binary(
+ name = "ball_color_detector",
+ srcs = [
+ "ball_color_main.cc",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//y2022:__subpackages__"],
+ deps = [
+ ":ball_color_lib",
+ "//aos:init",
+ "//aos/events:shm_event_loop",
+ ],
+)
+
+cc_test(
+ name = "ball_color_test",
+ srcs = [
+ "ball_color_test.cc",
+ ],
+ data = [
+ "test_ball_color_image.jpg",
+ ],
+ deps = [
+ ":ball_color_lib",
+ "//aos:json_to_flatbuffer",
+ "//aos/events:simulated_event_loop",
+ "//aos/testing:googletest",
+ "//aos/testing:test_logging",
+ "//y2022:constants",
+ ],
+)
+
+cc_library(
+ name = "ball_color_lib",
+ srcs = [
+ "ball_color.cc",
+ ],
+ hdrs = [
+ "ball_color.h",
+ ],
+ data = [
+ "//y2022:aos_config",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//y2022:__subpackages__"],
+ deps = [
+ ":ball_color_fbs",
+ "//aos/events:event_loop",
+ "//aos/events:shm_event_loop",
+ "//aos/network:team_number",
+ "//frc971/input:joystick_state_fbs",
+ "//frc971/vision:vision_fbs",
+ "//third_party:opencv",
+ ],
+)
+
+flatbuffer_cc_library(
+ name = "ball_color_fbs",
+ srcs = ["ball_color.fbs"],
+ gen_reflections = 1,
+ includes = [
+ "//frc971/input:joystick_state_fbs_includes",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+ visibility = ["//y2022:__subpackages__"],
+)
+
cc_library(
name = "geometry_lib",
hdrs = [