Finally get a custom pipeline to work

photon-client/src/types/PipelineTypes.ts

@@ -324,17 +324,20 @@ export interface CustomTestPipelineSettings extends PipelineSettings {
   test3: number;
 }
 export type ConfigurableCustomTestPipelineSettings = Partial<
-  Omit<CustomTestPipelineSettings, "pipelineType" | "hammingDist" | "debug">
+  Omit<CustomTestPipelineSettings, "pipelineType">
 > &
   ConfigurablePipelineSettings;
 export const DefaultCustomTestPipelineSettings: CustomTestPipelineSettings = {
   ...DefaultPipelineSettings,
   pipelineType: PipelineType.CustomTest,
-  cameraGain: 20,
+  cameraGain: 75,
-  targetModel: TargetModel.InfiniteRechargeHighGoalOuter,
+  outputShowMultipleTargets: true,
-  ledMode: true,
+  targetModel: TargetModel.AprilTag6p5in_36h11,
-  outputShowMultipleTargets: false,
+  cameraExposureRaw: -1,
-  cameraExposureRaw: 6,
+  cameraAutoExposure: true,
+  ledMode: false,
+
+
   test1: 1,
   test2: 2,
   test3: 3

photon-core/src/main/java/org/photonvision/vision/pipe/impl/BlurDetectionPipe.java

@@ -0,0 +1,46 @@
+package org.photonvision.vision.pipe.impl;
+
+import org.opencv.core.Mat;
+import org.opencv.core.MatOfDouble;
+import org.opencv.core.Size;
+import org.opencv.imgproc.Imgproc;
+import org.photonvision.vision.pipe.MutatingPipe;
+import org.photonvision.vision.pipe.CVPipe;
+
+import static org.opencv.core.Core.meanStdDev;
+
+public class BlurDetectionPipe extends CVPipe<Mat, Double, BlurDetectionPipe.BlurDetectionParams> {
+    @Override
+    protected Double process(Mat in) {
+        Mat destination = new Mat();
+        Imgproc.Laplacian(in, destination, 3);
+
+        MatOfDouble pMean = new MatOfDouble();
+        MatOfDouble pStdDev = new MatOfDouble();
+        meanStdDev(destination, pMean, pStdDev);
+
+        double sum = 0.0;
+        double[] arr = pStdDev.toArray();
+        for (int i = 0; i < arr.length; i++) {
+            sum += arr[i];
+        }
+
+        return Math.pow(sum, 2);
+    }
+
+    public static class BlurDetectionParams {
+        //Default blur settings
+        public static BlurDetectionParams DEFAULT = new BlurDetectionParams(0.2);
+
+        // Blur threshold
+        private final double threshhold;
+
+        public BlurDetectionParams(double threshhold) {
+            this.threshhold = threshhold;
+        }
+
+        public double getThreshhold() {
+            return threshhold;
+        }
+    }
+}

photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipeline.java

@@ -92,7 +92,6 @@ public abstract class CVPipeline<R extends CVPipelineResult, S extends CVPipelin
      */
     @Override
     public void release() {
-        new Exception().printStackTrace();
         released = true;
     }
 }

photon-core/src/main/java/org/photonvision/vision/pipeline/CustomTestPipeline.java

@@ -1,15 +1,24 @@
 package org.photonvision.vision.pipeline;
 
+import org.opencv.core.Point;
+import org.opencv.core.Scalar;
+import org.opencv.imgproc.Imgproc;
+import org.photonvision.common.util.ColorHelper;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.FrameThresholdType;
 import org.photonvision.vision.pipe.CVPipe;
+import org.photonvision.vision.pipe.impl.BlurDetectionPipe;
 import org.photonvision.vision.pipe.impl.BlurPipe;
+import org.photonvision.vision.pipe.impl.CalculateFPSPipe;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
 
+import java.awt.*;
 import java.util.List;
 
 public class CustomTestPipeline extends CVPipeline<CVPipelineResult, CustomTestPipelineSettings> {
     private static final FrameThresholdType PROCESSING_TYPE = FrameThresholdType.GREYSCALE;
+    private final CalculateFPSPipe calculateFPSPipe = new CalculateFPSPipe();
+    private final BlurDetectionPipe blurDetectionPipe = new BlurDetectionPipe();
 
     private final BlurPipe blurPipe = new BlurPipe();
 
@@ -28,6 +37,7 @@ public class CustomTestPipeline extends CVPipeline<CVPipelineResult, CustomTestP
 //        super.setPipeParamsImpl();
         this.released = false;
         blurPipe.setParams(new BlurPipe.BlurParams(5));
+        blurDetectionPipe.setParams(new BlurDetectionPipe.BlurDetectionParams(100));
 
 
 //        if (frameStaticProperties.cameraCalibration != null) {
@@ -41,22 +51,33 @@ public class CustomTestPipeline extends CVPipeline<CVPipelineResult, CustomTestP
 //        }
     }
 
+    private static final Scalar FONT_COLOR = ColorHelper.colorToScalar(Color.RED);
+
+
     @Override
     protected CVPipelineResult process(Frame frame, CustomTestPipelineSettings settings) {
+        long total_proc_time = 0;
+
         if (frame.type != FrameThresholdType.GREYSCALE) {
             // We asked for a GREYSCALE frame, but didn't get one -- best we can do is give up
             return new CVPipelineResult(frame.sequenceID, 0, 0, List.of(), frame);
         }
 
-        var pr = blurPipe.run(frame.processedImage.getMat());
+//        var pr = blurPipe.run(frame.processedImage.getMat());
+//        total_proc_time += pr.nanosElapsed;
 
+        double blurAmount = blurDetectionPipe.run(frame.processedImage.getMat()).output;
+        System.out.println(blurAmount);
 
+        Imgproc.putText(frame.processedImage.getMat(), "BLUR: " + blurAmount, new Point(10,50), Imgproc.FONT_HERSHEY_TRIPLEX, 1, FONT_COLOR);
 
-        return new CVPipelineResult(frame.sequenceID, pr.nanosElapsed, 10, List.of(), frame);
+        var fps = calculateFPSPipe.run(null).output;
+
+        return new CVPipelineResult(frame.sequenceID, total_proc_time, fps, List.of(), frame);
     }
 
-//    @Override
+    @Override
-//    public void release() {
+    public void release() {
-//        super.release();
+        super.release();
-//    }
+    }
 }

photon-core/src/main/java/org/photonvision/vision/pipeline/CustomTestPipelineSettings.java

@@ -2,7 +2,7 @@ package org.photonvision.vision.pipeline;
 
 import com.fasterxml.jackson.annotation.JsonTypeName;
 
-@JsonTypeName("AprilTagPipelineSettings")
+@JsonTypeName("CustomTestPipelineSettings")
 public class CustomTestPipelineSettings extends AdvancedPipelineSettings {
     public int test1 = 1;
     public int test2 = 2;
@@ -10,7 +10,7 @@ public class CustomTestPipelineSettings extends AdvancedPipelineSettings {
 
     public CustomTestPipelineSettings() {
         super();
-
+        pipelineType = PipelineType.CustomTest;
     }
     @Override
     public int hashCode() {