commit 38bb70bd48b972c40dda0e1efd716afb3a17f2fc
author Jim Ostrowski <yimmy13@gmail.com> Fri Feb 21 20:46:10 2020 -0800
committer Brian Silverman <bsilver16384@gmail.com> Wed Feb 26 20:10:27 2020 -0800
tree 1e75dc842a17eef5bd4921086bb8394bf03bd7ed
parent bab4005942a36e638730ad64a25e7f81241991fb

Finishing out write of camera_definition and target_definition to flatbuffer

Includes a lot more target_definition and ability to run commandline

Adds test of camera and target definition

Use deepcopy to make sure each calibration is independent of the other

Adding dependencies on python files

Changed argparser style of handling args

Change-Id: I132e1ffd0ef9de710ae03916de21442ed1cb2cc8

y2020/vision/tools/python_code/BUILD

diff --git a/y2020/vision/tools/python_code/BUILD b/y2020/vision/tools/python_code/BUILD
index 670b664..3d7bedb 100644
--- a/y2020/vision/tools/python_code/BUILD
+++ b/y2020/vision/tools/python_code/BUILD
@@ -2,27 +2,29 @@
 
 py_binary(
     name = "load_sift_training",
-    data = [
-        ":test_images/train_power_port_red.png",
-        ":test_images/train_power_port_red_webcam.png",
-        ":test_images/train_power_port_blue.png",
-        ":test_images/train_loading_bay_red.png",
-        ":test_images/train_loading_bay_blue.png",
-    ],
-    srcs = ["load_sift_training.py",
+    srcs = [
         "camera_definition.py",
         "define_training_data.py",
+        "load_sift_training.py",
         "target_definition.py",
         "train_and_match.py",
     ],
-    args = ["sift_training_data.h",
+    args = [
+        "sift_training_data.h",
+    ],
+    data = [
+        ":test_images/train_loading_bay_blue.png",
+        ":test_images/train_loading_bay_red.png",
+        ":test_images/train_power_port_blue.png",
+        ":test_images/train_power_port_red.png",
+        ":test_images/train_power_port_red_webcam.png",
     ],
     default_python_version = "PY3",
     srcs_version = "PY2AND3",
     deps = [
         "//y2020/vision/sift:sift_fbs_python",
-        "@opencv_contrib_nonfree_amd64//:python_opencv",
         "@bazel_tools//tools/python/runfiles",
+        "@opencv_contrib_nonfree_amd64//:python_opencv",
     ],
 )
 
@@ -41,9 +43,76 @@
 )
 
 cc_library(
-    name = "sift_training",
+    name = "sift_training_data",
     hdrs = [
         "sift_training_data.h",
     ],
     visibility = ["//visibility:public"],
 )
+
+py_binary(
+    name = "load_sift_training_test",
+    srcs = [
+        "camera_definition.py",
+        "define_training_data.py",
+        "load_sift_training.py",
+        "target_definition.py",
+        "train_and_match.py",
+    ],
+    args = [
+        "sift_training_data_test.h",
+        "test",
+    ],
+    data = [
+        ":test_images/train_power_port_red.png",
+    ],
+    default_python_version = "PY3",
+    main = "load_sift_training.py",
+    srcs_version = "PY2AND3",
+    deps = [
+        "//y2020/vision/sift:sift_fbs_python",
+        "@bazel_tools//tools/python/runfiles",
+        "@opencv_contrib_nonfree_amd64//:python_opencv",
+    ],
+)
+
+genrule(
+    name = "run_load_sift_training_test",
+    outs = [
+        "sift_training_data_test.h",
+    ],
+    cmd = " ".join([
+        "$(location :load_sift_training_test)",
+        "$(location sift_training_data_test.h) test",
+    ]),
+    tools = [
+        ":load_sift_training_test",
+    ],
+)
+
+cc_library(
+    name = "sift_training_data_test",
+    hdrs = [
+        "sift_training_data_test.h",
+    ],
+    visibility = ["//visibility:public"],
+)
+
+cc_test(
+    name = "camera_param_test",
+    srcs = [
+        "camera_param_test.cc",
+    ],
+    restricted_to = [
+        "//tools:k8",
+        "//tools:armhf-debian",
+    ],
+    deps = [
+        ":sift_training_data_test",
+        "//aos/testing:googletest",
+        "//third_party:opencv",
+        "//y2020/vision:vision_fbs",
+        "//y2020/vision/sift:sift_fbs",
+        "//y2020/vision/sift:sift_training_fbs",
+    ],
+)