2.3 (#56)

### features - added auto install and update - added calibration status and accuracy message - added 2020 loading station pnp model ### bugs - fixed solve pnp model upload - fixed solve pnp draw
2026-06-23 01:21:40 +00:00 · 2020-01-28 10:44:52 -08:00
parent a0b89168b4
commit 515faa182f
28 changed files with 368 additions and 161 deletions
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -54,20 +54,10 @@ workflows:
  version: 2
  release:
    jobs:
-      - build_ui:
-          filters:
-            branches:
-              only: 
-                - master
-                - dev
+      - build_ui
      - build_jar:
          requires:
            - build_ui
-          filters:
-            branches:
-              only:
-                - master
-                - dev
      - deploy:
          requires:
            - build_jar
--- a/chameleon-client/src/assets/FRCtargets.json
+++ b/chameleon-client/src/assets/FRCtargets.json
@@ -5,6 +5,12 @@
    [9.819867, -17],
    [19.625,0]
  ],
+  "2020 Loading Station": [
+    [-3.54,5.5],
+    [-3.54,-5.5],
+    [3.54,-5.5],
+    [3.54,5.5]
+  ],
  "2019 Dual Target": [
    [-7.75, 3],
    [-7.75, -3],
--- a/chameleon-client/src/views/CameraViewes/3D.vue
+++ b/chameleon-client/src/views/CameraViewes/3D.vue
@@ -17,10 +17,14 @@
                <mini-map class="miniMapClass" :targets="targets" :horizontal-f-o-v="horizontalFOV"/>
            </v-col>
            <v-col>
-                <v-select v-model="selectedModel" :items="FRCtargets" item-text="name" item-value="data" dark color="#4baf62" item-color="green"/>
+                <v-select v-model="selectedModel" :items="FRCtargets" item-text="name" item-value="data" dark
+                          color="#4baf62" item-color="green"/>
                <v-btn small v-if="selectedModel !== null" @click="uploadPremade">Upload Premade</v-btn>
            </v-col>
        </v-row>
+        <v-snackbar v-model="snack" top :color="snackbar.color">
+            <span>{{snackbar.text}}</span>
+        </v-snackbar>
    </div>
 </template>

@@ -41,7 +45,12 @@
            return {
                is3D: false,
                selectedModel: null,
-                FRCtargets: null
+                FRCtargets: null,
+                snackbar: {
+                    color: "success",
+                    text: ""
+                },
+                snack: false
            }
        },
        methods: {
@@ -57,13 +66,50 @@
                });
            },
            onParse(result) {
-                this.uploadModel(result.data);
+                if (result.data.length > 0) {
+
+
+                    let data = [];
+                    for (let item of result.data) {
+                        let tmp = [];
+                        tmp.push(Number(item[0]));
+                        tmp.push(Number(item[1]));
+                        if (isNaN(tmp[0]) || isNaN(tmp[1])) {
+                            this.snackbar = {
+                                color: "error",
+                                text: "Error: cvs did parse correctly"
+                            };
+                            this.snack = true;
+                            return;
+                        }
+                        data.push(tmp);
+                    }
+                    this.uploadModel(data);
+                } else {
+                    this.snackbar = {
+                        color: "error",
+                        text: "Error: cvs did not contain any data"
+                    };
+                    this.snack = true;
+                }
            },
            uploadPremade() {
                this.uploadModel(this.selectedModel);
            },
            uploadModel(model) {
-                this.axios.post("http://" + this.$address + "/api/vision/pnpModel", model);
+                this.axios.post("http://" + this.$address + "/api/vision/pnpModel", model).then((response) => {
+                    this.snackbar = {
+                        color: "success",
+                        text: "File uploaded successfully"
+                    };
+                    this.snack = true;
+                }).catch((error) => {
+                    this.snackbar = {
+                        color: "error",
+                        text: "An error occurred"
+                    };
+                    this.snack = true;
+                })
            }
        },
        computed: {
--- a/chameleon-client/src/views/Settings.vue
+++ b/chameleon-client/src/views/Settings.vue
@@ -11,7 +11,7 @@
                    <component :is="selectedComponent" @update="$emit('save')"/>
                </div>
            </v-col>
-            <v-col class="colsClass" v-show="selectedTab === 1 || selectedTab === 2">
+            <v-col class="colsClass" v-show="selectedTab === 1">
                <div class="videoClass">
                    <img :src="streamAddress" alt="Camera Stream">
                </div>
@@ -34,18 +34,13 @@
        data() {
            return {
                selectedTab: 0,
+                tabList:[General, Cameras]
            }
        },
        computed: {
            selectedComponent: {
                get() {
-                    switch (this.selectedTab) {
-                        case 0:
-                            return "General";
-                        case 1:
-                            return "Cameras";
-                    }
-                    return "";
+                    return this.tabList[this.selectedTab];
                }
            },
            streamAddress: {
--- a/chameleon-client/src/views/SettingsViewes/Cameras.vue
+++ b/chameleon-client/src/views/SettingsViewes/Cameras.vue
@@ -48,9 +48,21 @@
                    <span>Snapshot Amount: {{snapshotAmount}}</span>
                </v-col>
            </v-row>
+            <div v-if="isCalibrating">
+                <v-checkbox v-model="isAdvanced" label="Advanced Menu" dark/>
+                <div v-if="isAdvanced">
+                    <CVslider name="Exposure" v-model="pipeline.exposure" :min="0" :max="100"
+                              @input="handleData('exposure')"/>
+                    <CVslider name="Brightness" v-model="pipeline.brightness" :min="0" :max="100"
+                              @input="handleData('brightness')"/>
+                    <CVslider name="Gain" v-if="pipeline.gain !== -1" v-model="pipeline.gain" :min="0" :max="100"
+                              @input="handleData('gain')"/>
+                    <CVselect name="FPS" v-model="pipeline.videoModeIndex" :list="stringFpsList" @input="changeFps"/>
+                </div>
+            </div>
        </div>
-        <v-snackbar v-model="snack">
-            <span>Calibration Failed</span>
+        <v-snackbar v-model="snack" top :color="snackbar.color">
+            <span>{{snackbar.text}}</span>
        </v-snackbar>
    </div>
 </template>
@@ -58,12 +70,14 @@
 <script>
    import CVselect from '../../components/cv-select'
    import CVnumberinput from '../../components/cv-number-input'
+    import CVslider from '../../components/cv-slider'

    export default {
        name: 'CameraSettings',
        components: {
            CVselect,
-            CVnumberinput
+            CVnumberinput,
+            CVslider
        },
        data() {
            return {
@@ -77,13 +91,24 @@
                    text: "Cancel Calibration",
                    color: "red"
                },
+                snackbar: {
+                    color: "success",
+                    text: ""
+                },
                squareSize: 1.0,
                snapshotAmount: 0,
                hasEnough: false,
-                snack: false
+                snack: false,
+                isAdvanced: false
            }
        },
        methods: {
+            handleData(val) {
+                this.handleInput(val, this.pipeline[val]);
+            },
+            changeFps() {
+                this.handleInput('videoModeIndex', this.filteredFpsList[this.pipeline['videoModeIndex']]['actualIndex']);
+            },
            sendCameraSettings() {
                const self = this;
                this.axios.post("http://" + this.$address + "/api/settings/camera", this.cameraSettings).then(
@@ -129,9 +154,13 @@
                let connection_string = "/api/settings/endCalibration";
                let data = {};
                data['squareSize'] = this.squareSize;
-                self.axios.post("http://" + this.$address + connection_string, data).then(
-                    function (response) {
-                        if (response.status === 500) {
+                self.axios.post("http://" + this.$address + connection_string, data).then((response) => {
+                        if (response.status === 200) {
+                            self.snackbar = {
+                                color: "success",
+                                text: "calibration successful. \n" +
+                                    "accuracy: " + response.data['accuracy'].toFixed(5)
+                            };
                            self.snack = true;
                        }
                        self.isCalibrating = false;
@@ -141,7 +170,19 @@
                        self.cancellationModeButton.text = "Cancel Calibration";
                        self.cancellationModeButton.color = "red";
                    }
-                );
+                ).catch(() => {
+                    self.snackbar = {
+                        color: "error",
+                        text: "calibration failed"
+                    };
+                    self.snack = true;
+                    self.isCalibrating = false;
+                    self.hasEnough = false;
+                    self.snapshotAmount = 0;
+                    self.calibrationModeButton.text = "Start Calibration";
+                    self.cancellationModeButton.text = "Cancel Calibration";
+                    self.cancellationModeButton.color = "red";
+                });
            }
        },
        computed: {
@@ -186,6 +227,27 @@
                    return tmp_list;
                }
            },
+            filteredFpsList() {
+                let selectedRes = this.$store.state.resolutionList[this.resolutionIndex];
+                let tmpList = [];
+                for (let i in this.$store.state.resolutionList) {
+                    let res = JSON.parse(JSON.stringify(this.$store.state.resolutionList[i]));
+                    if (!tmpList.some(e => e['fps'] === res['fps'])) {
+                        if (res.width === selectedRes.width && res.height === selectedRes.height) {
+                            res['actualIndex'] = parseInt(i);
+                            tmpList.push(res);
+                        }
+                    }
+                }
+                return tmpList;
+            },
+            stringFpsList() {
+                let tmp = [];
+                for (let i of this.filteredFpsList) {
+                    tmp.push(i['fps']);
+                }
+                return tmp;
+            },
            stringResolutionList: {
                get() {
                    let tmp = [];
@@ -203,7 +265,9 @@
                    this.$store.commit('cameraSettings', value);
                }
            },
-
+            pipeline() {
+                return this.$store.state.pipeline
+            }
        }
    }
 </script>
--- a/chameleon-client/src/views/SettingsViewes/General.vue
+++ b/chameleon-client/src/views/SettingsViewes/General.vue
@@ -1,5 +1,9 @@
 <template>
    <div>
+        <div style="margin-top: 15px">
+            <span>General Settings:</span>
+            <v-divider color="white"></v-divider>
+        </div>
        <CVnumberinput v-model="settings.teamNumber" name="Team Number"/>
        <CVradio v-model="settings.connectionType" :list="['DHCP','Static']"/>
        <v-divider color="white"/>
@@ -9,6 +13,30 @@
        <v-divider color="white"/>
        <CVinput name="Hostname" v-model="settings.hostname"/>
        <v-btn style="margin-top:10px" small color="#4baf62" @click="sendGeneralSettings">Save General Settings</v-btn>
+        <div style="margin-top: 20px">
+            <span>Install or Update:</span>
+            <v-divider color="white"></v-divider>
+        </div>
+        <div v-if="!isLoading">
+            <v-row dense align="center">
+                <v-col :cols="3">
+                    <span>Choose a newer version: </span>
+                </v-col>
+                <v-col :cols="6">
+                    <v-file-input accept=".jar" dark v-model="file"></v-file-input>
+                </v-col>
+            </v-row>
+            <v-btn small @click="installOrUpdate">{{fileUploadText}}</v-btn>
+        </div>
+        <div v-else style="text-align: center; margin-top: 20px">
+            <v-progress-circular color="white" :indeterminate="true" size="32"
+                                 width="4"></v-progress-circular>
+            <br>
+            <span>Please wait this may take a while</span>
+        </div>
+        <v-snackbar v-model="snack" top :color="snackbar.color">
+            <span>{{snackbar.text}}</span>
+        </v-snackbar>
    </div>
 </template>

@@ -25,26 +53,64 @@
            CVinput
        },
        data() {
-            return {}
+            return {
+                file: undefined,
+                snackbar: {
+                    color: "success",
+                    text: ""
+                },
+                snack: false,
+                isLoading: false
+            }
        },
        methods: {
            sendGeneralSettings() {
                const self = this;
                this.axios.post("http://" + this.$address + "/api/settings/general", this.settings).then(
                    function (response) {
-                        if (response.status === 200){
+                        if (response.status === 200) {
                            self.$store.state.saveBar = true;
                        }
                    }
                )
+            },
+            installOrUpdate() {
+                let formData = new FormData();
+                formData.append('file', this.file);
+                if (this.file !== undefined) {
+                    this.isLoading = true;
+                }
+                this.axios.post("http://" + this.$address + "/api/install", formData, {
+                    headers: {
+                        'Content-Type': 'multipart/form-data'
+                    }
+                }).then(() => {
+                    this.snackbar = {
+                        color: "success",
+                        text: "Installation successful"
+                    };
+                    this.isLoading = false;
+                    this.snack = true;
+                }).catch(error => {
+                    this.snackbar = {
+                        color: "error",
+                        text: error.response.data
+                    };
+                    this.isLoading = false;
+                    this.snack = true;
+                })
            }
        },
        computed: {
-            isDisabled() {
-                if (this.settings.connectionType === 0) {
-                    return true;
+            fileUploadText() {
+                if (this.file !== undefined) {
+                    return "Install and update"
+                } else {
+                    return "Install current version"
                }
-                return false;
+            },
+            isDisabled() {
+                return this.settings.connectionType === 0;
            },
            settings: {
                get() {
--- a/chameleon-server/chameleon-vision.iml
+++ b/chameleon-server/chameleon-vision.iml
@@ -7,33 +7,32 @@
      <sourceFolder url="file://$MODULE_DIR$/src/main/java" isTestSource="false" />
      <sourceFolder url="file://$MODULE_DIR$/src/main/resources" type="java-resource" />
      <sourceFolder url="file://$MODULE_DIR$/src/test/java" isTestSource="true" />
-      <sourceFolder url="file://$MODULE_DIR$/testimages" type="java-resource" />
      <excludeFolder url="file://$MODULE_DIR$/target" />
    </content>
    <orderEntry type="inheritedJdk" />
    <orderEntry type="sourceFolder" forTests="false" />
-    <orderEntry type="library" name="Maven: io.javalin:javalin:3.4.1" level="project" />
-    <orderEntry type="library" name="Maven: org.jetbrains.kotlin:kotlin-stdlib-jdk8:1.3.31" level="project" />
-    <orderEntry type="library" name="Maven: org.jetbrains.kotlin:kotlin-stdlib:1.3.31" level="project" />
-    <orderEntry type="library" name="Maven: org.jetbrains.kotlin:kotlin-stdlib-common:1.3.31" level="project" />
+    <orderEntry type="library" name="Maven: io.javalin:javalin:3.7.0" level="project" />
+    <orderEntry type="library" name="Maven: org.jetbrains.kotlin:kotlin-stdlib-jdk8:1.3.61" level="project" />
+    <orderEntry type="library" name="Maven: org.jetbrains.kotlin:kotlin-stdlib:1.3.61" level="project" />
+    <orderEntry type="library" name="Maven: org.jetbrains.kotlin:kotlin-stdlib-common:1.3.61" level="project" />
    <orderEntry type="library" name="Maven: org.jetbrains:annotations:13.0" level="project" />
-    <orderEntry type="library" name="Maven: org.jetbrains.kotlin:kotlin-stdlib-jdk7:1.3.31" level="project" />
-    <orderEntry type="library" name="Maven: org.slf4j:slf4j-api:1.7.26" level="project" />
-    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-server:9.4.19.v20190610" level="project" />
+    <orderEntry type="library" name="Maven: org.jetbrains.kotlin:kotlin-stdlib-jdk7:1.3.61" level="project" />
+    <orderEntry type="library" name="Maven: org.slf4j:slf4j-api:1.7.28" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-server:9.4.25.v20191220" level="project" />
    <orderEntry type="library" name="Maven: javax.servlet:javax.servlet-api:3.1.0" level="project" />
-    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-http:9.4.19.v20190610" level="project" />
-    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-util:9.4.19.v20190610" level="project" />
-    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-io:9.4.19.v20190610" level="project" />
-    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-webapp:9.4.19.v20190610" level="project" />
-    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-xml:9.4.19.v20190610" level="project" />
-    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-servlet:9.4.19.v20190610" level="project" />
-    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-security:9.4.19.v20190610" level="project" />
-    <orderEntry type="library" name="Maven: org.eclipse.jetty.websocket:websocket-server:9.4.19.v20190610" level="project" />
-    <orderEntry type="library" name="Maven: org.eclipse.jetty.websocket:websocket-common:9.4.19.v20190610" level="project" />
-    <orderEntry type="library" name="Maven: org.eclipse.jetty.websocket:websocket-api:9.4.19.v20190610" level="project" />
-    <orderEntry type="library" name="Maven: org.eclipse.jetty.websocket:websocket-client:9.4.19.v20190610" level="project" />
-    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-client:9.4.19.v20190610" level="project" />
-    <orderEntry type="library" name="Maven: org.eclipse.jetty.websocket:websocket-servlet:9.4.19.v20190610" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-http:9.4.25.v20191220" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-util:9.4.25.v20191220" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-io:9.4.25.v20191220" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-webapp:9.4.25.v20191220" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-xml:9.4.25.v20191220" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-servlet:9.4.25.v20191220" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-security:9.4.25.v20191220" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty.websocket:websocket-server:9.4.25.v20191220" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty.websocket:websocket-common:9.4.25.v20191220" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty.websocket:websocket-api:9.4.25.v20191220" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty.websocket:websocket-client:9.4.25.v20191220" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty:jetty-client:9.4.25.v20191220" level="project" />
+    <orderEntry type="library" name="Maven: org.eclipse.jetty.websocket:websocket-servlet:9.4.25.v20191220" level="project" />
    <orderEntry type="library" name="Maven: org.json:json:20190722" level="project" />
    <orderEntry type="library" name="Maven: org.slf4j:slf4j-nop:1.7.26" level="project" />
    <orderEntry type="library" name="Maven: org.apache.commons:commons-math3:3.6.1" level="project" />
--- a/chameleon-server/pom.xml
+++ b/chameleon-server/pom.xml
@@ -6,7 +6,7 @@
    <groupId>org.chameleon-vision.main</groupId>
    <artifactId>chameleon-vision</artifactId>

-    <version>2.2-RELEASE</version>
+    <version>2.3-RELEASE</version>
    <build>
        <plugins>
            <!--setup for java jdk 12-->
@@ -63,7 +63,7 @@
        <dependency>
            <groupId>io.javalin</groupId>
            <artifactId>javalin</artifactId>
-            <version>3.4.1</version>
+            <version>RELEASE</version>
        </dependency>

        <!--org.json from saving and loading data-->
--- a/chameleon-server/src/main/java/com/chameleonvision/config/JsonMat.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/config/JsonMat.java
@@ -4,11 +4,7 @@ import com.fasterxml.jackson.annotation.JsonProperty;
 import org.opencv.core.CvType;
 import org.opencv.core.Mat;

-import java.lang.reflect.Array;
-import java.util.ArrayList;
 import java.util.Arrays;
-import java.util.LinkedList;
-import java.util.List;


 public class JsonMat {
--- a/chameleon-server/src/main/java/com/chameleonvision/scripting/ScriptEvent.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/scripting/ScriptEvent.java
@@ -4,10 +4,6 @@ import com.chameleonvision.Debug;
 import com.chameleonvision.util.ShellExec;

 import java.io.IOException;
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.LinkedList;
-import java.util.List;

 public class ScriptEvent {
    private static final ShellExec executor = new ShellExec(true, true);
--- a/chameleon-server/src/main/java/com/chameleonvision/util/Helpers.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/util/Helpers.java
@@ -4,10 +4,28 @@ import edu.wpi.cscore.VideoMode;
 import org.opencv.core.Scalar;

 import java.awt.*;
+import java.io.FileWriter;
+import java.io.IOException;
+import java.io.Writer;
+import java.nio.file.Path;
 import java.util.HashMap;
-import java.util.Map;

 public class Helpers {
+    private static final String kServicePath = "/etc/systemd/system/chameleonVision.service";
+    private static final String kServiceString = "[Unit]\n" +
+            "Description=chameleon vision\n" +
+            "\n" +
+            "[Service]\n" +
+            "ExecStart=/usr/bin/java -jar %s \n" +
+            "StandardOutput=file:/var/log/something.out.txt\n" +
+            "StandardError=file:/var/log/something.err.txt\n" +
+            "Type=simple\n" +
+            "WorkingDirectory=/usr/local/bin\n" +
+            "\n" +
+            "[Install]\n" +
+            "WantedBy=multi-user.target\n" +
+            "\n";
+
    private Helpers() {
    }

@@ -17,9 +35,19 @@ public class Helpers {

    public static HashMap VideoModeToHashMap(VideoMode videoMode) {
        return new HashMap<String, Object>() {{
-                put("width", videoMode.width);
-                put("height", videoMode.height);
-                put("fps", videoMode.fps);
-                put("pixelFormat", videoMode.pixelFormat.toString());}};
+            put("width", videoMode.width);
+            put("height", videoMode.height);
+            put("fps", videoMode.fps);
+            put("pixelFormat", videoMode.pixelFormat.toString());
+        }};
+    }
+
+    public static void setService(Path filePath) throws IOException, InterruptedException {
+        String newService = String.format(kServiceString, filePath.toString());
+        Writer writer = new FileWriter(kServicePath, false);
+        writer.write(newService);
+        writer.close();
+        Process p = Runtime.getRuntime().exec("systemctl enable chameleonVision.service");
+        p.waitFor();
    }
 }
--- a/chameleon-server/src/main/java/com/chameleonvision/util/JacksonHelper.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/util/JacksonHelper.java
@@ -1,7 +1,5 @@
 package com.chameleonvision.util;

-import com.chameleonvision.config.serializers.StandardCVPipelineSettingsDeserializer;
-import com.chameleonvision.vision.pipeline.impl.StandardCVPipelineSettings;
 import com.fasterxml.jackson.databind.ObjectMapper;
 import com.fasterxml.jackson.databind.deser.std.StdDeserializer;
 import com.fasterxml.jackson.databind.json.JsonMapper;
--- a/chameleon-server/src/main/java/com/chameleonvision/util/MathHandler.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/util/MathHandler.java
@@ -1,8 +1,5 @@
 package com.chameleonvision.util;

-import java.lang.Math;
-
-import edu.wpi.first.wpiutil.math.Num;
 import org.apache.commons.math3.util.FastMath;

 public class MathHandler {
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/VisionProcess.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/VisionProcess.java
@@ -4,17 +4,18 @@ import com.chameleonvision.Debug;
 import com.chameleonvision.config.CameraCalibrationConfig;
 import com.chameleonvision.config.CameraConfig;
 import com.chameleonvision.config.ConfigManager;
+import com.chameleonvision.config.FullCameraConfiguration;
 import com.chameleonvision.networktables.NetworkTablesManager;
 import com.chameleonvision.scripting.ScriptEventType;
 import com.chameleonvision.scripting.ScriptManager;
-import com.chameleonvision.config.FullCameraConfiguration;
-import com.chameleonvision.util.LoopingRunnable;
 import com.chameleonvision.util.MathHandler;
 import com.chameleonvision.vision.camera.CameraStreamer;
 import com.chameleonvision.vision.camera.USBCameraCapture;
-import com.chameleonvision.vision.pipeline.*;
-import com.chameleonvision.vision.pipeline.impl.StandardCVPipeline;
+import com.chameleonvision.vision.pipeline.CVPipelineResult;
+import com.chameleonvision.vision.pipeline.CVPipelineSettings;
+import com.chameleonvision.vision.pipeline.PipelineManager;
 import com.chameleonvision.vision.pipeline.impl.DriverVisionPipeline;
+import com.chameleonvision.vision.pipeline.impl.StandardCVPipeline;
 import com.chameleonvision.vision.pipeline.impl.StandardCVPipelineSettings;
 import com.chameleonvision.web.SocketHandler;
 import com.fasterxml.jackson.core.JsonProcessingException;
@@ -25,11 +26,10 @@ import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpiutil.CircularBuffer;
 import org.apache.commons.lang3.tuple.Pair;
 import org.opencv.core.Mat;
+
 import java.util.ArrayList;
 import java.util.HashMap;
 import java.util.List;
-import java.util.concurrent.BlockingQueue;
-import java.util.concurrent.LinkedBlockingDeque;
 import java.util.stream.Collectors;


--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/PipelineManager.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/PipelineManager.java
@@ -5,7 +5,10 @@ import com.chameleonvision.config.CameraConfig;
 import com.chameleonvision.config.ConfigManager;
 import com.chameleonvision.vision.VisionManager;
 import com.chameleonvision.vision.VisionProcess;
-import com.chameleonvision.vision.pipeline.impl.*;
+import com.chameleonvision.vision.pipeline.impl.Calibrate3dPipeline;
+import com.chameleonvision.vision.pipeline.impl.DriverVisionPipeline;
+import com.chameleonvision.vision.pipeline.impl.StandardCVPipeline;
+import com.chameleonvision.vision.pipeline.impl.StandardCVPipelineSettings;
 import com.chameleonvision.web.SocketHandler;
 import edu.wpi.cscore.VideoMode;
 import edu.wpi.first.networktables.NetworkTableEntry;
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/Calibrate3dPipeline.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/Calibrate3dPipeline.java
@@ -38,6 +38,7 @@ public class Calibrate3dPipeline extends CVPipeline<DriverVisionPipeline.DriverP
    private TermCriteria criteria = new TermCriteria(3, 30, 0.001); //(Imgproc.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)

    private int captureCount = 0;
+    private double calibrationAccuracy = 0;
    private boolean wantsSnapshot = false;
    private double squareSizeInches;

@@ -129,7 +130,7 @@ public class Calibrate3dPipeline extends CVPipeline<DriverVisionPipeline.DriverP
        List<Mat> tvecs = new ArrayList<>();

        try {
-            Calib3d.calibrateCamera(objpoints, imgpoints, imageSize, cameraMatrix, distortionCoeffs, rvecs, tvecs);
+           calibrationAccuracy = Calib3d.calibrateCamera(objpoints, imgpoints, imageSize, cameraMatrix, distortionCoeffs, rvecs, tvecs);
        } catch(Exception e) {
            System.err.println("Camera calibration failed!");
            initPipeline(cameraCapture);
@@ -162,4 +163,8 @@ public class Calibrate3dPipeline extends CVPipeline<DriverVisionPipeline.DriverP
    public int getSnapshotCount() {
        return captureCount + 1;
    }
+
+    public double getCalibrationAccuracy(){
+        return calibrationAccuracy;
+    }
 }
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/DriverVisionPipeline.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/DriverVisionPipeline.java
@@ -10,7 +10,6 @@ import com.chameleonvision.vision.pipeline.pipes.Draw2dCrosshairPipe;
 import com.chameleonvision.vision.pipeline.pipes.RotateFlipPipe;
 import org.apache.commons.lang3.tuple.Pair;
 import org.opencv.core.Mat;
-import org.opencv.core.RotatedRect;

 import java.util.List;

--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/StandardCVPipeline.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/StandardCVPipeline.java
@@ -9,13 +9,13 @@ import com.chameleonvision.vision.pipeline.CVPipelineResult;
 import com.chameleonvision.vision.pipeline.pipes.*;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import org.apache.commons.lang3.tuple.Pair;
-import org.opencv.core.*;
 import org.opencv.core.Point;
+import org.opencv.core.*;

 import java.awt.*;
 import java.util.List;

-import static com.chameleonvision.vision.pipeline.impl.StandardCVPipeline.*;
+import static com.chameleonvision.vision.pipeline.impl.StandardCVPipeline.StandardCVPipelineResult;

@SuppressWarnings("WeakerAccess")
 public class StandardCVPipeline extends CVPipeline<StandardCVPipelineResult, StandardCVPipelineSettings> {
@@ -135,10 +135,11 @@ public class StandardCVPipeline extends CVPipeline<StandardCVPipelineResult, Sta
            if (solvePNPPipe == null)
                solvePNPPipe = new SolvePNPPipe(settings, cameraCapture.getCurrentCalibrationData(), cameraCapture.getProperties().getTilt());
            if (drawSolvePNPPipe == null)
-                drawSolvePNPPipe = new DrawSolvePNPPipe(cameraCapture.getCurrentCalibrationData());
+                drawSolvePNPPipe = new DrawSolvePNPPipe(settings, cameraCapture.getCurrentCalibrationData());

            solvePNPPipe.setConfig(settings, cameraCapture.getCurrentCalibrationData(), cameraCapture.getProperties().getTilt());
            drawSolvePNPPipe.setConfig(cameraCapture.getCurrentCalibrationData());
+            drawSolvePNPPipe.setConfig(settings);

        }

--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/Collect2dTargetsPipe.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/Collect2dTargetsPipe.java
@@ -1,16 +1,17 @@
 package com.chameleonvision.vision.pipeline.pipes;

 import com.chameleonvision.vision.camera.CaptureStaticProperties;
+import com.chameleonvision.vision.enums.CalibrationMode;
 import com.chameleonvision.vision.enums.TargetOrientation;
 import com.chameleonvision.vision.enums.TargetRegion;
 import com.chameleonvision.vision.pipeline.Pipe;
 import com.chameleonvision.vision.pipeline.impl.StandardCVPipeline;
-import com.chameleonvision.vision.enums.CalibrationMode;
 import org.apache.commons.lang3.tuple.Pair;
 import org.apache.commons.math3.util.FastMath;
 import org.opencv.core.Point;

-import java.util.*;
+import java.util.ArrayList;
+import java.util.List;

 public class Collect2dTargetsPipe implements Pipe<Pair<List<StandardCVPipeline.TrackedTarget>, CaptureStaticProperties>, List<StandardCVPipeline.TrackedTarget>> {

--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/Draw2dContoursPipe.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/Draw2dContoursPipe.java
@@ -1,7 +1,7 @@
 package com.chameleonvision.vision.pipeline.pipes;

-import com.chameleonvision.vision.camera.CaptureStaticProperties;
 import com.chameleonvision.util.Helpers;
+import com.chameleonvision.vision.camera.CaptureStaticProperties;
 import com.chameleonvision.vision.pipeline.Pipe;
 import com.chameleonvision.vision.pipeline.impl.StandardCVPipeline;
 import org.apache.commons.lang3.tuple.Pair;
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/DrawSolvePNPPipe.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/DrawSolvePNPPipe.java
@@ -4,6 +4,7 @@ import com.chameleonvision.config.CameraCalibrationConfig;
 import com.chameleonvision.util.Helpers;
 import com.chameleonvision.vision.pipeline.Pipe;
 import com.chameleonvision.vision.pipeline.impl.StandardCVPipeline;
+import com.chameleonvision.vision.pipeline.impl.StandardCVPipelineSettings;
 import org.apache.commons.lang3.tuple.Pair;
 import org.opencv.calib3d.Calib3d;
 import org.opencv.core.*;
@@ -11,59 +12,44 @@ import org.opencv.core.Point;
 import org.opencv.imgproc.Imgproc;

 import java.awt.*;
+import java.util.ArrayList;
 import java.util.List;
+import java.util.stream.Collectors;

 public class DrawSolvePNPPipe implements Pipe<Pair<Mat, List<StandardCVPipeline.TrackedTarget>>, Mat> {

    private MatOfPoint3f boxCornerMat = new MatOfPoint3f();
-    private MatOfPoint tempMatOfPoints = new MatOfPoint();

    public Scalar green = Helpers.colorToScalar(Color.GREEN);
    public Scalar blue = Helpers.colorToScalar(Color.BLUE);
    public Scalar red = Helpers.colorToScalar(Color.RED);
    public Scalar orange = Helpers.colorToScalar(Color.orange);

-    public DrawSolvePNPPipe(CameraCalibrationConfig settings) {
+    public DrawSolvePNPPipe(StandardCVPipelineSettings standardCVPipelineSettings, CameraCalibrationConfig settings) {
        setConfig(settings);
-//        setObjectBox(14.5, 6, 2);
-        set2020Box();
+        setBox(standardCVPipelineSettings.targetCornerMat);
    }

-    public void setObjectBox(double targetWidth, double targetHeight, double targetDepth) {
-        // implementation from 5190 Green Hope Falcons

+    private void setBox(MatOfPoint3f mat) {
        boxCornerMat.release();
-        boxCornerMat = new MatOfPoint3f(
-                new Point3(-targetWidth/2d, -targetHeight/2d, 0),
-                new Point3(-targetWidth/2d, targetHeight/2d, 0),
-                new Point3(targetWidth/2d, targetHeight/2d, 0),
-                new Point3(targetWidth/2d, -targetHeight/2d, 0),
-                new Point3(-targetWidth/2d, -targetHeight/2d, -targetDepth),
-                new Point3(-targetWidth/2d, targetHeight/2d, -targetDepth),
-                new Point3(targetWidth/2d, targetHeight/2d, -targetDepth),
-                new Point3(targetWidth/2d, -targetHeight/2d, -targetDepth)
-        );
+        var list = mat.toList();
+        var auxList = list.stream().map(it -> new Point3(it.x, it.y, it.z - 6)).collect(Collectors.toList());
+        var finalList = new ArrayList<>(list);
+        finalList.addAll(auxList);
+        boxCornerMat.fromList(finalList);
    }

-    public void set2020Box() {
-        boxCornerMat.release();
-        boxCornerMat = new MatOfPoint3f(
-                new Point3(-19.625, 0, 0),
-                new Point3(-9.819867, -17, 0),
-                new Point3(9.819867, -17, 0),
-                new Point3(19.625, 0, 0),
-                new Point3(-19.625, 0, -6),
-                new Point3(-9.819867, -17, -6),
-                new Point3(9.819867, -17, -6),
-                new Point3(19.625, 0, -6)
-        );
+
+    public void setConfig(StandardCVPipelineSettings settings) {
+        setBox(settings.targetCornerMat);
    }

    private Mat cameraMatrix = new Mat();
    private MatOfDouble distortionCoefficients = new MatOfDouble();

    public void setConfig(CameraCalibrationConfig config) {
-        if(config == null) {
+        if (config == null) {
            System.err.println("got passed a null config! Returning...");
            return;
        }
@@ -82,17 +68,17 @@ public class DrawSolvePNPPipe implements Pipe<Pair<Mat, List<StandardCVPipeline.
        long processStartNanos = System.nanoTime();

        var image = targets.getLeft();
-        for(var it : targets.getRight()) {
+        for (var it : targets.getRight()) {

            try {
-                Calib3d.projectPoints(boxCornerMat, it.rVector, it.tVector, this.cameraMatrix, this.distortionCoefficients, imagePoints, new Mat() , 0);
+                Calib3d.projectPoints(boxCornerMat, it.rVector, it.tVector, this.cameraMatrix, this.distortionCoefficients, imagePoints, new Mat(), 0);
            } catch (Exception e) {
                e.printStackTrace();
            }
            var pts = imagePoints.toList();

            // draw left and right targets if possible
-            if(it.leftRightDualTargetPair != null) {
+            if (it.leftRightDualTargetPair != null) {
                var left = it.leftRightDualTargetPair.getLeft();
                var right = it.leftRightDualTargetPair.getRight();
                Imgproc.rectangle(image, left.tl(), left.br(), new Scalar(200, 200, 0), 4);
@@ -101,7 +87,7 @@ public class DrawSolvePNPPipe implements Pipe<Pair<Mat, List<StandardCVPipeline.

            // draw poly dp
            var list = it.approxPoly.toList();
-            for(int i = 0; i < list.size(); i++) {
+            for (int i = 0; i < list.size(); i++) {
                var next = (i == list.size() - 1) ? list.get(0) : list.get(i + 1);
                Imgproc.line(image, list.get(i), next, red, 2);
            }
@@ -110,7 +96,7 @@ public class DrawSolvePNPPipe implements Pipe<Pair<Mat, List<StandardCVPipeline.
            Imgproc.circle(image, it.minAreaRect.center, 5, red);

            // draw corners
-            for(int i = 0; i < it.imageCornerPoints.rows(); i++) {
+            for (int i = 0; i < it.imageCornerPoints.rows(); i++) {
                var point = new Point(it.imageCornerPoints.get(i, 0));
                Imgproc.circle(image, point, 4, green, 5);
            }
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/FilterContoursPipe.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/FilterContoursPipe.java
@@ -1,7 +1,7 @@
 package com.chameleonvision.vision.pipeline.pipes;

-import com.chameleonvision.vision.camera.CaptureStaticProperties;
 import com.chameleonvision.util.MathHandler;
+import com.chameleonvision.vision.camera.CaptureStaticProperties;
 import com.chameleonvision.vision.pipeline.Pipe;
 import org.apache.commons.lang3.tuple.Pair;
 import org.opencv.core.MatOfPoint;
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/GroupContoursPipe.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/GroupContoursPipe.java
@@ -7,7 +7,6 @@ import com.chameleonvision.vision.pipeline.Pipe;
 import com.chameleonvision.vision.pipeline.impl.StandardCVPipeline;
 import org.apache.commons.lang3.tuple.Pair;
 import org.opencv.core.*;
-import org.opencv.core.Point;
 import org.opencv.imgproc.Imgproc;
 import org.opencv.imgproc.Moments;

--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SortContoursPipe.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SortContoursPipe.java
@@ -6,7 +6,6 @@ import com.chameleonvision.vision.pipeline.Pipe;
 import com.chameleonvision.vision.pipeline.impl.StandardCVPipeline;
 import org.apache.commons.lang3.tuple.Pair;
 import org.apache.commons.math3.util.FastMath;
-import org.opencv.core.*;

 import java.util.ArrayList;
 import java.util.Comparator;
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SpeckleRejectPipe.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SpeckleRejectPipe.java
@@ -2,9 +2,7 @@ package com.chameleonvision.vision.pipeline.pipes;

 import com.chameleonvision.vision.pipeline.Pipe;
 import org.apache.commons.lang3.tuple.Pair;
-import org.opencv.core.Mat;
 import org.opencv.core.MatOfPoint;
-import org.opencv.core.MatOfPoint2f;
 import org.opencv.imgproc.Imgproc;

 import java.util.ArrayList;
--- a/chameleon-server/src/main/java/com/chameleonvision/web/RequestHandler.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/web/RequestHandler.java
@@ -1,29 +1,31 @@
 package com.chameleonvision.web;

 import com.chameleonvision.Exceptions.DuplicatedKeyException;
+import com.chameleonvision.Main;
 import com.chameleonvision.config.ConfigManager;
 import com.chameleonvision.network.NetworkIPMode;
 import com.chameleonvision.networktables.NetworkTablesManager;
+import com.chameleonvision.util.Helpers;
+import com.chameleonvision.util.Platform;
+import com.chameleonvision.util.ProgramDirectoryUtilities;
 import com.chameleonvision.vision.VisionManager;
 import com.chameleonvision.vision.VisionProcess;
 import com.chameleonvision.vision.camera.USBCameraCapture;
-import com.chameleonvision.vision.pipeline.CVPipelineSettings;
 import com.chameleonvision.vision.pipeline.PipelineManager;
 import com.chameleonvision.vision.pipeline.impl.Calibrate3dPipeline;
-import com.chameleonvision.vision.pipeline.impl.StandardCVPipeline;
 import com.chameleonvision.vision.pipeline.impl.StandardCVPipelineSettings;
 import com.fasterxml.jackson.core.JsonProcessingException;
-import com.fasterxml.jackson.databind.JsonMappingException;
 import com.fasterxml.jackson.databind.ObjectMapper;
-import edu.wpi.cscore.VideoMode;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import io.javalin.http.Context;
-import io.javalin.http.Handler;
-import org.apache.commons.math3.ml.neuralnet.Network;
-import org.opencv.core.Point;
+import io.javalin.http.UploadedFile;
 import org.opencv.core.Point3;

-import java.io.IOException;
+import java.io.File;
+import java.io.FileOutputStream;
+import java.io.OutputStream;
+import java.nio.file.Path;
+import java.nio.file.Paths;
 import java.util.ArrayList;
 import java.util.HashMap;
 import java.util.List;
@@ -174,33 +176,67 @@ public class RequestHandler {
        System.out.println("Finishing Cal");
        if (pipeManager.calib3dPipe.hasEnoughSnapshots()) {
            if (pipeManager.calib3dPipe.tryCalibration()) {
+                HashMap<String, Double> tmp = new HashMap<String, Double>();
+                tmp.put("accuracy", pipeManager.calib3dPipe.getCalibrationAccuracy());
+                ctx.json(tmp);
                ctx.status(200);
            } else {
                System.err.println("CALFAIL");
                ctx.status(500);
            }
+        } else {
+            ctx.status(201);
        }
        pipeManager.setCalibrationMode(false);
-        ctx.status(200);
    }

    public static void onPnpModel(Context ctx) throws JsonProcessingException {
        //noinspection unchecked
        List<List<Number>> points = kObjectMapper.readValue(ctx.body(), List.class);
-
-        // each entry should be an xy pair
-        var pointsList = new ArrayList<Point3>();
-        for (List<Number> point : points) {
-            double x, y;
-            x = point.get(0).doubleValue();
-            y = point.get(1).doubleValue();
-            var pointToAdd = new Point3(x, y, 0.0);
-            pointsList.add(pointToAdd);
+        try {
+            // each entry should be an xy pair
+            var pointsList = new ArrayList<Point3>();
+            for (List<Number> point : points) {
+                double x, y;
+                x = point.get(0).doubleValue();
+                y = point.get(1).doubleValue();
+                var pointToAdd = new Point3(x, y, 0.0);
+                pointsList.add(pointToAdd);
+            }
+            System.out.println(pointsList.toString());
+            if (VisionManager.getCurrentUIVisionProcess().pipelineManager.getCurrentPipeline().settings instanceof StandardCVPipelineSettings) {
+                var settings = (StandardCVPipelineSettings) VisionManager.getCurrentUIVisionProcess().pipelineManager.getCurrentPipeline().settings;
+                settings.targetCornerMat.fromList(pointsList);
+            }
+        } catch (Exception e) {
+            ctx.status(500);
        }
-        System.out.println(pointsList.toString());
-        if (VisionManager.getCurrentUIVisionProcess().pipelineManager.getCurrentPipeline().settings instanceof StandardCVPipelineSettings) {
-            var settings = (StandardCVPipelineSettings) VisionManager.getCurrentUIVisionProcess().pipelineManager.getCurrentPipeline().settings;
-            settings.targetCornerMat.fromList(pointsList);
+    }
+
+    public static void onInstallOrUpdate(Context ctx) {
+        Platform p = Platform.getCurrentPlatform();
+        try {
+            if (p == Platform.LINUX_RASPBIAN || p == Platform.LINUX_64) {
+                UploadedFile file = ctx.uploadedFile("file");
+                Path filePath;
+                if (file != null) {
+                    filePath = Paths.get(ProgramDirectoryUtilities.getProgramDirectory(), file.getFilename());
+                    File target = new File(filePath.toString());
+                    OutputStream stream = new FileOutputStream(target);
+                    file.getContent().transferTo(stream);
+                    stream.close();
+                } else {
+                    filePath = Paths.get(new File(Main.class.getProtectionDomain().getCodeSource().getLocation().toURI()).getPath()); // quirk to get the current file directory
+                }
+                Helpers.setService(filePath);
+                ctx.status(200);
+            } else {
+                ctx.result("Only Linux Platforms Support this feature");
+                ctx.status(500);
+            }
+        } catch (Exception e) {
+            ctx.result(e.toString());
+            ctx.status(500);
        }
    }
 }
--- a/chameleon-server/src/main/java/com/chameleonvision/web/Server.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/web/Server.java
@@ -35,6 +35,7 @@ public class Server {
        app.post("/api/settings/snapshot", RequestHandler::onSnapshot);
        app.post("/api/settings/endCalibration", RequestHandler::onCalibrationEnding);
        app.post("/api/vision/pnpModel", RequestHandler::onPnpModel);
+        app.post("/api/install", RequestHandler::onInstallOrUpdate);
        app.start(port);
    }
 }
--- a/chameleon-server/src/main/java/com/chameleonvision/web/SocketHandler.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/web/SocketHandler.java
@@ -11,7 +11,6 @@ import com.chameleonvision.vision.enums.ImageRotationMode;
 import com.chameleonvision.vision.enums.StreamDivisor;
 import com.chameleonvision.vision.pipeline.CVPipeline;
 import com.chameleonvision.vision.pipeline.impl.StandardCVPipeline;
-import com.chameleonvision.vision.pipeline.CVPipelineSettings;
 import com.fasterxml.jackson.core.JsonProcessingException;
 import com.fasterxml.jackson.core.type.TypeReference;
 import com.fasterxml.jackson.databind.ObjectMapper;
@@ -26,7 +25,6 @@ import org.msgpack.jackson.dataformat.MessagePackFactory;
 import java.lang.reflect.Field;
 import java.nio.ByteBuffer;
 import java.util.*;
-import java.util.List;
 import java.util.stream.Collectors;


@@ -53,8 +51,8 @@ public class SocketHandler {

    @SuppressWarnings("unchecked")
    void onBinaryMessage(WsBinaryMessageContext context) throws Exception {
-        Map<String, Object> deserialized = objectMapper.readValue(ArrayUtils.toPrimitive(context.data()), new TypeReference<>() {
-        });
+        Map<String, Object> deserialized = objectMapper.readValue((byte[]) ArrayUtils.toPrimitive(context.data()),
+                new TypeReference<>(){});
        for (Map.Entry<String, Object> entry : deserialized.entrySet()) {
            try {
                VisionProcess currentProcess = VisionManager.getCurrentUIVisionProcess();
@@ -266,11 +264,11 @@ public class SocketHandler {
        tmp.put("streamDivisor", currentVisionProcess.cameraStreamer.getDivisor().ordinal());
        tmp.put("resolution", currentVisionProcess.getCamera().getProperties().getCurrentVideoModeIndex());
        tmp.put("tilt", currentVisionProcess.getCamera().getProperties().getTilt().getDegrees());
-        
+
        List<CameraCalibrationConfig.UICameraCalibrationConfig> calibrations = currentCamera.getAllCalibrationData().stream()
                .map(CameraCalibrationConfig.UICameraCalibrationConfig::new).collect(Collectors.toList());
        tmp.put("calibration", calibrations);
-        
+
        return tmp;
    }