add generated dir as argument

SConscript

@@ -8,6 +8,9 @@ ekf_sym = "#rednose/helpers/ekf_sym.py"
 
 to_build = {
     'live': ('examples/live_kf.py', 'examples/generated'),
+    'pos_computer_4': ('rednose/helpers/lst_sq_computer.py', 'examples/generated'),
+    'pos_computer_5': ('rednose/helpers/lst_sq_computer.py', 'examples/generated'),
+    'feature_handler_5': ('rednose/helpers/feature_handler.py', 'examples/generated'),
 }
 
 
@@ -23,7 +26,6 @@ for target, (command, generated_folder) in found.items():
 
     env.Command(target_files,
                 [templates, command_file, sympy_helpers, ekf_sym],
-                command_file.get_abspath()+" "+target
-    )
+                command_file.get_abspath() + " " + target + " " + Dir(generated_folder).get_abspath())
 
     env.SharedLibrary(f'{generated_folder}/' + target, target_files[0])

rednose/helpers/feature_handler.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 
 import os
+import sys
 
 import numpy as np
 
@@ -37,7 +38,7 @@ class FeatureHandler():
   name = 'feature_handler'
 
   @staticmethod
-  def generate_code(K=5):
+  def generate_code(generated_dir, K=5):
     # Wrap c code for slow matching
     c_header = "\nvoid merge_features(double *tracks, double *features, long long *empty_idxs);"
 
@@ -47,9 +48,9 @@ class FeatureHandler():
     c_code += "\n" + open(os.path.join(TEMPLATE_DIR, "feature_handler.c")).read()
 
     filename = f"{FeatureHandler.name}_{K}"
-    write_code(filename, c_code, c_header)
+    write_code(generated_dir, filename, c_code, c_header)
 
-  def __init__(self, K=5):
+  def __init__(self, generated_dir, K=5):
     self.MAX_TRACKS = 6000
     self.K = K
 
@@ -64,7 +65,7 @@ class FeatureHandler():
     self.tracks[:] = np.nan
 
     name = f"{FeatureHandler.name}_{K}"
-    ffi, lib = load_code(name)
+    ffi, lib = load_code(generated_dir, name)
 
     def merge_features_c(tracks, features, empty_idxs):
       lib.merge_features(ffi.cast("double *", tracks.ctypes.data),
@@ -163,4 +164,5 @@ def generate_orient_error_jac(K):
 
 if __name__ == "__main__":
   # TODO: get K from argparse
-  FeatureHandler.generate_code()
+  generated_dir = sys.argv[2]
+  FeatureHandler.generate_code(generated_dir)

rednose/helpers/lst_sq_computer.py

@@ -47,7 +47,7 @@ class LstSqComputer():
   name = 'pos_computer'
 
   @staticmethod
-  def generate_code(K=4):
+  def generate_code(generated_dir, K=4):
     sympy_functions = generate_residual(K)
     header, code = sympy_into_c(sympy_functions)
 
@@ -59,15 +59,15 @@ class LstSqComputer():
     """
 
     filename = f"{LstSqComputer.name}_{K}"
-    write_code(filename, code, header)
+    write_code(generated_dir, filename, code, header)
 
-  def __init__(self, K=4, MIN_DEPTH=2, MAX_DEPTH=500):
+  def __init__(self, generated_dir, K=4, MIN_DEPTH=2, MAX_DEPTH=500):
     self.to_c = orient.rot_matrix(-np.pi / 2, -np.pi / 2, 0)
     self.MAX_DEPTH = MAX_DEPTH
     self.MIN_DEPTH = MIN_DEPTH
 
     name = f"{LstSqComputer.name}_{K}"
-    ffi, lib = load_code(name)
+    ffi, lib = load_code(generated_dir, name)
 
     # wrap c functions
     def residual_jac(x, poses, img_positions):
@@ -170,4 +170,5 @@ def project(poses, ecef_pos):
 
 if __name__ == "__main__":
   K = int(sys.argv[1].split("_")[-1])
-  LstSqComputer.generate_code(K=K)
+  generated_dir = sys.argv[2]
+  LstSqComputer.generate_code(generated_dir, K=K)