Attempt to write code

photon-client/src/components/dashboard/CameraAndPipelineSelectCard.vue

@@ -28,6 +28,9 @@ const changeCurrentCameraIndex = (index: number) => {
     case PipelineType.ObjectDetection:
       pipelineType.value = WebsocketPipelineType.ObjectDetection;
       break;
+    case PipelineType.CustomTest:
+      pipelineType.value = WebsocketPipelineType.CustomTest;
+      break;
   }
 };
 
@@ -130,7 +133,8 @@ const validNewPipelineTypes = computed(() => {
     { name: "Reflective", value: WebsocketPipelineType.Reflective },
     { name: "Colored Shape", value: WebsocketPipelineType.ColoredShape },
     { name: "AprilTag", value: WebsocketPipelineType.AprilTag },
-    { name: "Aruco", value: WebsocketPipelineType.Aruco }
+    { name: "Aruco", value: WebsocketPipelineType.Aruco },
+    { name: "Custom Test", value: WebsocketPipelineType.CustomTest }
   ];
   if (useSettingsStore().general.supportedBackends.length > 0) {
     pipelineTypes.push({ name: "Object Detection", value: WebsocketPipelineType.ObjectDetection });
@@ -168,7 +172,8 @@ const pipelineTypesWrapper = computed<{ name: string; value: number }[]>(() => {
     { name: "Reflective", value: WebsocketPipelineType.Reflective },
     { name: "Colored Shape", value: WebsocketPipelineType.ColoredShape },
     { name: "AprilTag", value: WebsocketPipelineType.AprilTag },
-    { name: "Aruco", value: WebsocketPipelineType.Aruco }
+    { name: "Aruco", value: WebsocketPipelineType.Aruco },
+    { name: "Custom Test", value: WebsocketPipelineType.CustomTest }
   ];
   if (useSettingsStore().general.supportedBackends.length > 0) {
     pipelineTypes.push({ name: "Object Detection", value: WebsocketPipelineType.ObjectDetection });
@@ -230,6 +235,9 @@ useCameraSettingsStore().$subscribe((mutation, state) => {
     case PipelineType.ObjectDetection:
       pipelineType.value = WebsocketPipelineType.ObjectDetection;
       break;
+    case PipelineType.CustomTest:
+      pipelineType.value = WebsocketPipelineType.CustomTest;
+      break;
   }
 });
 </script>

photon-client/src/components/dashboard/CamerasCard.vue

@@ -1,4 +1,4 @@
-<script setup lang="ts">
+zz<script setup lang="ts">
 import { computed } from "vue";
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
 import { useStateStore } from "@/stores/StateStore";

photon-client/src/components/dashboard/ConfigOptions.vue

@@ -14,6 +14,7 @@ import TargetsTab from "@/components/dashboard/tabs/TargetsTab.vue";
 import PnPTab from "@/components/dashboard/tabs/PnPTab.vue";
 import Map3DTab from "@/components/dashboard/tabs/Map3DTab.vue";
 import { WebsocketPipelineType } from "@/types/WebsocketDataTypes";
+import CustomTestTab from "@/components/dashboard/tabs/CustomTestTab.vue";
 
 interface ConfigOption {
   tabName: string;
@@ -45,6 +46,10 @@ const allTabs = Object.freeze({
     tabName: "Object Detection",
     component: ObjectDetectionTab
   },
+  customTestTab: {
+    tabName: "Custom test",
+    component: CustomTestTab
+  },
   outputTab: {
     tabName: "Output",
     component: OutputTab
@@ -81,6 +86,7 @@ const getTabGroups = (): ConfigOption[][] => {
         allTabs.apriltagTab,
         allTabs.arucoTab,
         allTabs.objectDetectionTab,
+        allTabs.customTestTab,
         allTabs.outputTab
       ],
       [allTabs.targetsTab, allTabs.pnpTab, allTabs.map3dTab]
@@ -94,6 +100,7 @@ const getTabGroups = (): ConfigOption[][] => {
         allTabs.apriltagTab,
         allTabs.arucoTab,
         allTabs.objectDetectionTab,
+        allTabs.customTestTab,
         allTabs.outputTab
       ],
       [allTabs.targetsTab, allTabs.pnpTab, allTabs.map3dTab]
@@ -102,7 +109,7 @@ const getTabGroups = (): ConfigOption[][] => {
     return [
       [allTabs.inputTab],
       [allTabs.thresholdTab],
-      [allTabs.contoursTab, allTabs.apriltagTab, allTabs.arucoTab, allTabs.objectDetectionTab, allTabs.outputTab],
+      [allTabs.contoursTab, allTabs.apriltagTab, allTabs.arucoTab, allTabs.objectDetectionTab, allTabs.customTestTab,allTabs.outputTab],
       [allTabs.targetsTab, allTabs.pnpTab, allTabs.map3dTab]
     ];
   }
@@ -116,8 +123,9 @@ const tabGroups = computed<ConfigOption[][]>(() => {
   const allow3d = useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled;
   const isAprilTag = useCameraSettingsStore().currentWebsocketPipelineType === WebsocketPipelineType.AprilTag;
   const isAruco = useCameraSettingsStore().currentWebsocketPipelineType === WebsocketPipelineType.Aruco;
-  const isObjectDetection =
+  const isObjectDetection = useCameraSettingsStore().currentWebsocketPipelineType === WebsocketPipelineType.ObjectDetection;
-    useCameraSettingsStore().currentWebsocketPipelineType === WebsocketPipelineType.ObjectDetection;
+  const isCustomTest = useCameraSettingsStore().currentWebsocketPipelineType === WebsocketPipelineType.CustomTest;
+
 
   return getTabGroups()
     .map((tabGroup) =>
@@ -129,7 +137,8 @@ const tabGroups = computed<ConfigOption[][]>(() => {
           !((isAprilTag || isAruco || isObjectDetection) && tabConfig.tabName === "Contours") && //Filter out contours if we're doing AprilTags
           !(!isAprilTag && tabConfig.tabName === "AprilTag") && //Filter out apriltag unless we actually are doing AprilTags
           !(!isAruco && tabConfig.tabName === "Aruco") &&
-          !(!isObjectDetection && tabConfig.tabName === "Object Detection") //Filter out aruco unless we actually are doing Aruco
+          !(!isObjectDetection && tabConfig.tabName === "Object Detection") && //Filter out aruco unless we actually are doing Aruco
+          !(!isCustomTest && tabConfig.tabName === "Custom test") // Filter out custom test
       )
     )
     .filter((it) => it.length); // Remove empty tab groups

photon-client/src/components/dashboard/tabs/CustomTestTab.vue

@@ -23,17 +23,39 @@ const interactiveCols = computed(() =>
 </script>
 
 <template>
-  <div v-if="currentPipelineSettings.pipelineType === PipelineType.AprilTag">
+  <div v-if="currentPipelineSettings.pipelineType === PipelineType.CustomTest">
     <pv-slider
-      v-model="currentPipelineSettings.blur"
+      v-model="currentPipelineSettings.test1"
       class="pt-2"
       :slider-cols="interactiveCols"
-      label="Blur"
+      label="Test 1"
       tooltip="Gaussian blur added to the image, high FPS cost for slightly decreased noise"
       :min="0"
-      :max="5"
+      :max="10"
-      :step="0.1"
+      :step="1"
-      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ blur: value }, false)"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ test1: value }, false)"
+    />
+    <pv-slider
+      v-model="currentPipelineSettings.test2"
+      class="pt-2"
+      :slider-cols="interactiveCols"
+      label="Test 2"
+      tooltip="Gaussian blur added to the image, high FPS cost for slightly decreased noise"
+      :min="0"
+      :max="10"
+      :step="1"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ test2: value }, false)"
+  />
+  <pv-slider
+        v-model="currentPipelineSettings.test3"
+        class="pt-2"
+        :slider-cols="interactiveCols"
+        label="Test 3"
+        tooltip="Gaussian blur added to the image, high FPS cost for slightly decreased noise"
+        :min="0"
+        :max="10"
+        :step="1"
+        @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ test3: value }, false)"
     />
   </div>
 </template>

photon-client/src/types/PipelineTypes.ts

@@ -318,7 +318,7 @@ export const DefaultObjectDetectionPipelineSettings: ObjectDetectionPipelineSett
 };
 
 export interface CustomTestPipelineSettings extends PipelineSettings {
-  pipelineType: PipelineType.AprilTag;
+  pipelineType: PipelineType.CustomTest;
   test1: number;
   test2: number;
   test3: number;
@@ -329,7 +329,7 @@ export type ConfigurableCustomTestPipelineSettings = Partial<
   ConfigurablePipelineSettings;
 export const DefaultCustomTestPipelineSettings: CustomTestPipelineSettings = {
   ...DefaultPipelineSettings,
-  pipelineType: PipelineType.AprilTag,
+  pipelineType: PipelineType.CustomTest,
   cameraGain: 20,
   targetModel: TargetModel.InfiniteRechargeHighGoalOuter,
   ledMode: true,

photon-client/src/types/WebsocketDataTypes.ts

@@ -107,5 +107,6 @@ export enum WebsocketPipelineType {
   ColoredShape = 1,
   AprilTag = 2,
   Aruco = 3,
-  ObjectDetection = 4
+  ObjectDetection = 4,
+  CustomTest = 5
 }

photon-core/src/main/java/org/photonvision/vision/opencv/ContourSortMode.java

@@ -17,9 +17,10 @@
 
 package org.photonvision.vision.opencv;
 
-import java.util.Comparator;
 import org.photonvision.vision.target.PotentialTarget;
 
+import java.util.Comparator;
+
 public enum ContourSortMode {
     Largest(
             Comparator.comparingDouble(PotentialTarget::getArea)

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

@@ -70,7 +70,9 @@ public class AprilTagDetectionPipe
 
     @Override
     public void release() {
-        m_detector.close();
+        if(m_detector != null) {
-        m_detector = null;
+            m_detector.close();
+            m_detector = null;
+        }
     }
 }

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

@@ -68,7 +68,7 @@ public abstract class CVPipeline<R extends CVPipelineResult, S extends CVPipelin
 
     public R run(Frame frame, QuirkyCamera cameraQuirks) {
         if (released) {
-            throw new RuntimeException("Pipeline use-after-free!");
+            throw new RuntimeException( settings.pipelineNickname + " Pipeline use-after-free!");
         }
         if (settings == null) {
             throw new RuntimeException("No settings provided for pipeline!");
@@ -92,6 +92,7 @@ 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/CVPipelineSettings.java

@@ -33,7 +33,8 @@ import org.photonvision.vision.opencv.ImageRotationMode;
     @JsonSubTypes.Type(value = DriverModePipelineSettings.class),
     @JsonSubTypes.Type(value = AprilTagPipelineSettings.class),
     @JsonSubTypes.Type(value = ArucoPipelineSettings.class),
-    @JsonSubTypes.Type(value = ObjectDetectionPipelineSettings.class)
+    @JsonSubTypes.Type(value = ObjectDetectionPipelineSettings.class),
+    @JsonSubTypes.Type(value = CustomTestPipelineSettings.class)
 })
 public class CVPipelineSettings implements Cloneable {
     public int pipelineIndex = 0;

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

@@ -2,6 +2,8 @@ package org.photonvision.vision.pipeline;
 
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.FrameThresholdType;
+import org.photonvision.vision.pipe.CVPipe;
+import org.photonvision.vision.pipe.impl.BlurPipe;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
 
 import java.util.List;
@@ -9,8 +11,11 @@ import java.util.List;
 public class CustomTestPipeline extends CVPipeline<CVPipelineResult, CustomTestPipelineSettings> {
     private static final FrameThresholdType PROCESSING_TYPE = FrameThresholdType.GREYSCALE;
 
-    public CustomTestPipeline(FrameThresholdType thresholdType) {
+    private final BlurPipe blurPipe = new BlurPipe();
-        super(thresholdType);
+
+    public CustomTestPipeline() {
+        super(PROCESSING_TYPE);
+        settings = new CustomTestPipelineSettings();
     }
 
     public CustomTestPipeline(CustomTestPipelineSettings settings) {
@@ -20,7 +25,20 @@ public class CustomTestPipeline extends CVPipeline<CVPipelineResult, CustomTestP
 
     @Override
     protected void setPipeParamsImpl() {
+//        super.setPipeParamsImpl();
+        this.released = false;
+        blurPipe.setParams(new BlurPipe.BlurParams(5));
 
+
+//        if (frameStaticProperties.cameraCalibration != null) {
+//            var cameraMatrix = frameStaticProperties.cameraCalibration.getCameraIntrinsicsMat();
+//            if (cameraMatrix != null && cameraMatrix.rows() > 0) {
+//                var cx = cameraMatrix.get(0, 2)[0];
+//                var cy = cameraMatrix.get(1, 2)[0];
+//                var fx = cameraMatrix.get(0, 0)[0];
+//                var fy = cameraMatrix.get(1, 1)[0];
+//            }
+//        }
     }
 
     @Override
@@ -29,6 +47,16 @@ public class CustomTestPipeline extends CVPipeline<CVPipelineResult, CustomTestP
             // 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);
         }
-            return new CVPipelineResult(frame.sequenceID, 50, 10, List.of(), frame);
+
+        var pr = blurPipe.run(frame.processedImage.getMat());
+
+
+
+        return new CVPipelineResult(frame.sequenceID, pr.nanosElapsed, 10, List.of(), frame);
     }
+
+//    @Override
+//    public void release() {
+//        super.release();
+//    }
 }

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

@@ -128,7 +128,7 @@ public class ObjectDetectionPipeline
         var filterContoursResult = filterContoursPipe.run(rknnResult.output);
         sumPipeNanosElapsed += filterContoursResult.nanosElapsed;
 
-        CVPipeResult<List<PotentialTarget>> sortContoursResult =
+        CVPipeResult<List< PotentialTarget>> sortContoursResult =
                 sortContoursPipe.run(
                         filterContoursResult.output.stream()
                                 .map(shape -> new PotentialTarget(shape))

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

@@ -229,6 +229,8 @@ public class OutputStreamPipeline {
                     pipeProfileNanos[7] = 0;
                     pipeProfileNanos[8] = 0;
                 }
+            } else if (settings instanceof CustomTestPipelineSettings) {
+                //TODO
             }
         }
 

photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java

@@ -243,6 +243,7 @@ public class PipelineManager {
     private void recreateUserPipeline() {
         // Cleanup potential old native resources before swapping over from a user
         // pipeline
+//        logger.info(currentUserPipeline.getSettings().pipelineNickname);
         if (currentUserPipeline != null && !(currentPipelineIndex < 0)) {
             currentUserPipeline.release();
         }

photon-core/src/main/java/org/photonvision/vision/processes/VisionRunner.java

@@ -112,6 +112,7 @@ public class VisionRunner {
                 // There's no guarantee the processing type change will occur this tick, so pipelines should
                 // check themselves
                 try {
+//                    logger.info("Running pipeline with name: " + pipeline.getSettings().pipelineNickname);
                     var pipelineResult = pipeline.run(frame, cameraQuirks);
                     pipelineResultConsumer.accept(pipelineResult);
                 } catch (Exception ex) {

photon-server/build.gradle

@@ -43,6 +43,7 @@ node {
 }
 
 tasks.register('copyClientUIToResources', Copy) {
+    dependsOn "processResources"
     from "${projectDir}/../photon-client/dist/"
     into "${projectDir}/src/main/resources/web/"
 }