V2.3.1

2026-06-26 01:51:40 +00:00 · 2020-02-28 00:13:18 +02:00
parent 515faa182f 6d8084ebf5
commit d7d637379e
119 changed files with 628 additions and 449 deletions
--- a/chameleon-client/package-lock.json
+++ b/chameleon-client/package-lock.json
@@ -3915,7 +3915,8 @@
      "version": "4.6.0",
      "resolved": "https://registry.npmjs.org/co/-/co-4.6.0.tgz",
      "integrity": "sha1-bqa989hTrlTMuOR7+gvz+QMfsYQ=",
-      "dev": true
+      "dev": true,
+      "optional": true
    },
    "coa": {
      "version": "2.0.2",
@@ -6308,7 +6309,8 @@
        "ansi-regex": {
          "version": "2.1.1",
          "bundled": true,
-          "dev": true
+          "dev": true,
+          "optional": true
        },
        "aproba": {
          "version": "1.2.0",
@@ -6517,7 +6519,8 @@
        "minimist": {
          "version": "0.0.8",
          "bundled": true,
-          "dev": true
+          "dev": true,
+          "optional": true
        },
        "minipass": {
          "version": "2.9.0",
@@ -6542,6 +6545,7 @@
          "version": "0.5.1",
          "bundled": true,
          "dev": true,
+          "optional": true,
          "requires": {
            "minimist": "0.0.8"
          }
@@ -6730,7 +6734,8 @@
        "safe-buffer": {
          "version": "5.1.2",
          "bundled": true,
-          "dev": true
+          "dev": true,
+          "optional": true
        },
        "safer-buffer": {
          "version": "2.1.2",
@@ -6786,6 +6791,7 @@
          "version": "3.0.1",
          "bundled": true,
          "dev": true,
+          "optional": true,
          "requires": {
            "ansi-regex": "^2.0.0"
          }
@@ -6829,12 +6835,14 @@
        "wrappy": {
          "version": "1.0.2",
          "bundled": true,
-          "dev": true
+          "dev": true,
+          "optional": true
        },
        "yallist": {
          "version": "3.1.1",
          "bundled": true,
-          "dev": true
+          "dev": true,
+          "optional": true
        }
      }
    },
@@ -10639,7 +10647,8 @@
      "version": "4.0.8",
      "resolved": "https://registry.npmjs.org/rx-lite/-/rx-lite-4.0.8.tgz",
      "integrity": "sha1-Cx4Rr4vESDbwSmQH6S2kJGe3lEQ=",
-      "dev": true
+      "dev": true,
+      "optional": true
    },
    "rx-lite-aggregates": {
      "version": "4.0.8",
@@ -14743,7 +14752,8 @@
            },
            "ansi-regex": {
              "version": "2.1.1",
-              "bundled": true
+              "bundled": true,
+              "optional": true
            },
            "aproba": {
              "version": "1.2.0",
@@ -14780,7 +14790,8 @@
            },
            "code-point-at": {
              "version": "1.1.0",
-              "bundled": true
+              "bundled": true,
+              "optional": true
            },
            "concat-map": {
              "version": "0.0.1",
@@ -14789,7 +14800,8 @@
            },
            "console-control-strings": {
              "version": "1.1.0",
-              "bundled": true
+              "bundled": true,
+              "optional": true
            },
            "core-util-is": {
              "version": "1.0.2",
@@ -14892,7 +14904,8 @@
            },
            "inherits": {
              "version": "2.0.3",
-              "bundled": true
+              "bundled": true,
+              "optional": true
            },
            "ini": {
              "version": "1.3.5",
@@ -14902,6 +14915,7 @@
            "is-fullwidth-code-point": {
              "version": "1.0.0",
              "bundled": true,
+              "optional": true,
              "requires": {
                "number-is-nan": "^1.0.0"
              }
@@ -14921,11 +14935,13 @@
            },
            "minimist": {
              "version": "0.0.8",
-              "bundled": true
+              "bundled": true,
+              "optional": true
            },
            "minipass": {
              "version": "2.2.4",
              "bundled": true,
+              "optional": true,
              "requires": {
                "safe-buffer": "^5.1.1",
                "yallist": "^3.0.0"
@@ -14942,6 +14958,7 @@
            "mkdirp": {
              "version": "0.5.1",
              "bundled": true,
+              "optional": true,
              "requires": {
                "minimist": "0.0.8"
              }
@@ -15014,7 +15031,8 @@
            },
            "number-is-nan": {
              "version": "1.0.1",
-              "bundled": true
+              "bundled": true,
+              "optional": true
            },
            "object-assign": {
              "version": "4.1.1",
@@ -15024,6 +15042,7 @@
            "once": {
              "version": "1.4.0",
              "bundled": true,
+              "optional": true,
              "requires": {
                "wrappy": "1"
              }
@@ -15099,7 +15118,8 @@
            },
            "safe-buffer": {
              "version": "5.1.1",
-              "bundled": true
+              "bundled": true,
+              "optional": true
            },
            "safer-buffer": {
              "version": "2.1.2",
@@ -15129,6 +15149,7 @@
            "string-width": {
              "version": "1.0.2",
              "bundled": true,
+              "optional": true,
              "requires": {
                "code-point-at": "^1.0.0",
                "is-fullwidth-code-point": "^1.0.0",
@@ -15146,6 +15167,7 @@
            "strip-ansi": {
              "version": "3.0.1",
              "bundled": true,
+              "optional": true,
              "requires": {
                "ansi-regex": "^2.0.0"
              }
@@ -15184,11 +15206,13 @@
            },
            "wrappy": {
              "version": "1.0.2",
-              "bundled": true
+              "bundled": true,
+              "optional": true
            },
            "yallist": {
              "version": "3.0.2",
-              "bundled": true
+              "bundled": true,
+              "optional": true
            }
          }
        },
--- a/chameleon-client/src/components/3D/MiniMap.vue
+++ b/chameleon-client/src/components/3D/MiniMap.vue
@@ -76,7 +76,7 @@
                // move the rotation point to the center of the rect
                this.ctx.translate(y + this.targetWidth / 2, x + this.targetHeight / 2); // wpi lib makes x forward and back and y left to right
                // rotate the rect
-                this.ctx.rotate(target.rotation.radians);
+                this.ctx.rotate(target.rotation.radians * -1);

                // draw the rect on the transformed context
                // Note: after transforming [0,0] is visually [x,y]
--- a/chameleon-client/src/views/CameraViewes/3D.vue
+++ b/chameleon-client/src/views/CameraViewes/3D.vue
@@ -12,6 +12,7 @@
                </v-btn>
            </v-col>
        </v-row>
+        <CVslider name="Contour simplification" v-model="value.accuracy" :min="0" :max="100" @input="handleData('accuracy')"/>
        <v-row>
            <v-col>
                <mini-map class="miniMapClass" :targets="targets" :horizontal-f-o-v="horizontalFOV"/>
@@ -29,9 +30,10 @@
 </template>

 <script>
+    import Papa from 'papaparse';
    import miniMap from '../../components/3D/MiniMap';
    import CVswitch from '../../components/cv-switch';
-    import Papa from 'papaparse';
+    import CVslider from '../../components/cv-slider'
    import FRCtargetsConfig from '../../assets/FRCtargets'

    export default {
@@ -39,6 +41,7 @@
        props: ['value'],
        components: {
            CVswitch,
+            CVslider,
            miniMap
        },
        data() {
--- a/chameleon-client/src/views/SettingsViewes/Cameras.vue
+++ b/chameleon-client/src/views/SettingsViewes/Cameras.vue
@@ -265,8 +265,10 @@
                    this.$store.commit('cameraSettings', value);
                }
            },
-            pipeline() {
-                return this.$store.state.pipeline
+            pipeline: {
+                get() {
+                    return this.$store.state.pipeline;
+                }
            }
        }
    }
--- a/chameleon-client/src/views/SettingsViewes/General.vue
+++ b/chameleon-client/src/views/SettingsViewes/General.vue
@@ -104,9 +104,9 @@
        computed: {
            fileUploadText() {
                if (this.file !== undefined) {
-                    return "Install and update"
+                    return "Update and run at startup"
                } else {
-                    return "Install current version"
+                    return "Run current version at startup"
                }
            },
            isDisabled() {
--- a/chameleon-server/chameleon-vision.iml
+++ b/chameleon-server/chameleon-vision.iml
@@ -11,6 +11,7 @@
    </content>
    <orderEntry type="inheritedJdk" />
    <orderEntry type="sourceFolder" forTests="false" />
+    <orderEntry type="library" name="Maven: commons-io:commons-io:2.6" 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" />
@@ -36,6 +37,7 @@
    <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" />
+    <orderEntry type="library" name="Maven: commons-io:commons-io:2.6" level="project" />
    <orderEntry type="library" name="Maven: org.msgpack:msgpack-core:0.8.18" level="project" />
    <orderEntry type="library" name="Maven: org.msgpack:jackson-dataformat-msgpack:0.8.18" level="project" />
    <orderEntry type="library" name="Maven: org.apache.commons:commons-lang3:3.9" 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>2.3-RELEASE</version>
+    <version>2.3.1-RELEASE</version>
    <build>
        <plugins>
            <!--setup for java jdk 12-->
@@ -86,6 +86,11 @@
            <artifactId>commons-math3</artifactId>
            <version>3.6.1</version>
        </dependency>
+        <dependency>
+            <groupId>commons-io</groupId>
+            <artifactId>commons-io</artifactId>
+            <version>RELEASE</version>
+        </dependency>
        <dependency>
            <groupId>org.msgpack</groupId>
            <artifactId>msgpack-core</artifactId>
--- a/chameleon-server/src/main/java/com/chameleonvision/config/CameraJsonConfig.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/config/CameraJsonConfig.java
@@ -12,6 +12,7 @@ public class CameraJsonConfig {
    public final String name;
    public final String nickname;
    public final int videomode;
+    public final double tilt;
    public final StreamDivisor streamDivisor;

    @JsonCreator
@@ -21,13 +22,15 @@ public class CameraJsonConfig {
            @JsonProperty("name") String name,
            @JsonProperty("nickname") String nickname,
            @JsonProperty("videomode") int videomode,
-            @JsonProperty("streamDivisor") StreamDivisor streamDivisor) {
+            @JsonProperty("streamDivisor") StreamDivisor streamDivisor,
+            @JsonProperty("tilt") double tilt) {
        this.fov = fov;
        this.path = path;
        this.name = name;
        this.nickname = nickname;
        this.videomode = videomode;
        this.streamDivisor = streamDivisor;
+        this.tilt = tilt;
    }

    public CameraJsonConfig(String path, String name) {
@@ -37,12 +40,14 @@ public class CameraJsonConfig {
        this.nickname = name;
        this.videomode = 0;
        this.streamDivisor = StreamDivisor.NONE;
+        this.tilt = 0;
    }

    public static CameraJsonConfig fromVisionProcess(VisionProcess process) {
        USBCaptureProperties camProps = process.getCamera().getProperties();
        int videomode = camProps.getCurrentVideoModeIndex();
        StreamDivisor streamDivisor = process.cameraStreamer.getDivisor();
-        return new CameraJsonConfig(camProps.getFOV(), camProps.path, camProps.name, camProps.getNickname(), videomode, streamDivisor);
+        double tilt = process.getCamera().getProperties().getTilt().getDegrees();
+        return new CameraJsonConfig(camProps.getFOV(), camProps.path, camProps.name, camProps.getNickname(), videomode, streamDivisor, tilt);
    }
 }
--- a/chameleon-server/src/main/java/com/chameleonvision/config/serializers/StandardCVPipelineSettingsDeserializer.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/config/serializers/StandardCVPipelineSettingsDeserializer.java
@@ -74,6 +74,7 @@ public class StandardCVPipelineSettingsDeserializer extends BaseDeserializer<Sta

        pipeline.is3D = getBoolean("is3D", pipeline.is3D);
        pipeline.targetCornerMat = getMatOfPoint3f("targetCornerMat", pipeline.targetCornerMat);
+        pipeline.accuracy = getDouble("accuracy", pipeline.accuracy.doubleValue());

        return pipeline;
    }
--- a/chameleon-server/src/main/java/com/chameleonvision/config/serializers/StandardCVPipelineSettingsSerializer.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/config/serializers/StandardCVPipelineSettingsSerializer.java
@@ -77,6 +77,7 @@ public class StandardCVPipelineSettingsSerializer extends BaseSerializer<Standar

        gen.writeBooleanField("is3D", pipeline.is3D);
        writeMatOfPoint3f("targetCornerMat", pipeline.targetCornerMat);
+        gen.writeNumberField("accuracy", pipeline.accuracy.doubleValue());
        gen.writeEndObject();
    }
 }
--- a/chameleon-server/src/main/java/com/chameleonvision/network/LinuxNetworking.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/network/LinuxNetworking.java
@@ -1,73 +1,102 @@
 package com.chameleonvision.network;

+import org.apache.commons.io.FileUtils;
+
+import java.io.File;
 import java.io.IOException;
+import java.net.InetAddress;
 import java.net.SocketException;
+import java.nio.charset.StandardCharsets;
 import java.util.ArrayList;
 import java.util.Collections;
 import java.util.List;

 public class LinuxNetworking extends SysNetworking {
+    private static final String PATH = "/etc/dhcpcd.conf";

-	@Override
-	public boolean setDHCP() {
-		String[] clearArgs = { "addr", "flush", "dev", networkInterface.name };
-		try {
-			int clearRetCode = shell.execute("ip", clearArgs);
-			int dhcpRetCode = shell.execute("dhclient", networkInterface.name);
-			return clearRetCode == 0 && dhcpRetCode == 0;
-		} catch (IOException e) {
-			e.printStackTrace();
-			return false;
-		}
-	}
+    @Override
+    public boolean setDHCP() {
+        File dhcpConf = new File(PATH);
+        if (dhcpConf.exists()) {
+            try {
+                List<String> lines = FileUtils.readLines(dhcpConf, StandardCharsets.UTF_8);
+                for (int i = 0; i < lines.size(); i++) {
+                    String line = lines.get(i);
+                    if (line.startsWith("interface " + networkInterface.name)) {
+                        lines.remove(i);
+                        for (int j = i; j < lines.size(); j++) {
+                            String subInterface = lines.get(j);
+                            if (subInterface.contains("static ip_address") || subInterface.contains("static routers")) {
+                                lines.remove(j);
+                                j--;
+                            }
+                            if (subInterface.contains("interface")) {
+                                break;
+                            }
+                        }
+                        FileUtils.writeLines(dhcpConf, lines);
+                        return true;
+                    }
+                }
+            } catch (IOException e) {
+                e.printStackTrace();
+                return false;
+            }

-	@Override
-	public boolean setHostname(String newHostname) {
-		String[] setHostnameArgs = { "set-hostname", newHostname };
-		try {
-			var setHostnameRetCode = shell.execute("hostnamectl", setHostnameArgs);
-			return setHostnameRetCode == 0;
-		} catch(Exception e)  {
-			e.printStackTrace();
-			return false;
-		}
-	}
+        } else {
+            System.err.println("dhcpcd5 is not installed cant set ip");
+            return false;
+        }
+        return true;
+    }

-	@Override
-	public boolean setStatic(String ipAddress, String netmask, String gateway, String broadcast) {
-		try {
-			String[] clearArgs = { "addr", "flush", "dev", networkInterface.name };
-			String[] setIPArgs = { "addr", "add", String.format("%s/%s", ipAddress, netmask), "broadcast", broadcast, "dev", networkInterface.name };
-			String[] setGatewayArgs = { "route", "replace", "default", "via", gateway, "dev", networkInterface.name };
+    @Override
+    public boolean setHostname(String newHostname) {
+        String[] setHostnameArgs = {"set-hostname", newHostname};
+        try {
+            var setHostnameRetCode = shell.execute("hostnamectl", setHostnameArgs);
+            return setHostnameRetCode == 0;
+        } catch (Exception e) {
+            e.printStackTrace();
+            return false;
+        }
+    }

-			int clearRetCode = shell.execute("ip", clearArgs);
-			int setIPRetCode = shell.execute("ip", setIPArgs);
-			int setGatewayRetCode = shell.execute("ip", setGatewayArgs);
+    @Override
+    public boolean setStatic(String ipAddress, String netmask, String gateway) {
+        setDHCP(); // clean up old static interface
+        File dhcpConf = new File(PATH);
+        try {
+            List<String> lines = FileUtils.readLines(dhcpConf, StandardCharsets.UTF_8);
+            lines.add("interface " + networkInterface.name);
+            InetAddress iNetMask = InetAddress.getByName(netmask);
+            int prefix = NetmaskToCIDR.convertNetmaskToCIDR(iNetMask);
+            lines.add("static ip_address " + ipAddress + "/" + prefix);
+            lines.add("static routers " + gateway);
+            FileUtils.writeLines(dhcpConf, lines);
+        } catch (IOException e) {
+            e.printStackTrace();
+        }
+        return false;
+    }

-			return clearRetCode == 0 && setIPRetCode == 0 && setGatewayRetCode == 0;
-		} catch (IOException e) {
-			e.printStackTrace();
-			return false;
-		}
-	}

-	@Override
-	public List<java.net.NetworkInterface> getNetworkInterfaces() throws SocketException {
-		List<java.net.NetworkInterface> netInterfaces;
-		try {
-			netInterfaces = Collections.list(java.net.NetworkInterface.getNetworkInterfaces());
-		} catch (SocketException e) {
-			return null;
-		}
+    @Override
+    public List<java.net.NetworkInterface> getNetworkInterfaces() throws SocketException {
+        List<java.net.NetworkInterface> netInterfaces;
+        try {
+            netInterfaces = Collections.list(java.net.NetworkInterface.getNetworkInterfaces());
+        } catch (SocketException e) {
+            return null;
+        }
+        List<java.net.NetworkInterface> goodInterfaces = new ArrayList<>();

-		List<java.net.NetworkInterface> goodInterfaces = new ArrayList<>();
+        for (var netInterface : netInterfaces) {
+            if (netInterface.getDisplayName().contains("lo")) continue;
+            if (!netInterface.isUp()) continue;
+            goodInterfaces.add(netInterface);
+        }
+        return goodInterfaces;

-		for (var netInterface : netInterfaces) {
-		    if (netInterface.getDisplayName().contains("lo")) continue;
-			if (!netInterface.isUp()) continue;
-			goodInterfaces.add(netInterface);
-		}
-		return goodInterfaces;
-
-	}
+    }
 }
--- a/chameleon-server/src/main/java/com/chameleonvision/network/NetmaskToCIDR.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/network/NetmaskToCIDR.java
@@ -0,0 +1,29 @@
+package com.chameleonvision.network;
+
+import java.net.InetAddress;
+
+public class NetmaskToCIDR {
+    //code belongs to https://stackoverflow.com/questions/19531411/calculate-cidr-from-a-given-netmask-java
+    public static int convertNetmaskToCIDR(InetAddress netmask) {
+
+        byte[] netmaskBytes = netmask.getAddress();
+        int cidr = 0;
+        boolean zero = false;
+        for (byte b : netmaskBytes) {
+            int mask = 0x80;
+
+            for (int i = 0; i < 8; i++) {
+                int result = b & mask;
+                if (result == 0) {
+                    zero = true;
+                } else if (zero) {
+                    throw new IllegalArgumentException("Invalid netmask.");
+                } else {
+                    cidr++;
+                }
+                mask >>>= 1;
+            }
+        }
+        return cidr;
+    }
+}
--- a/chameleon-server/src/main/java/com/chameleonvision/network/NetworkManager.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/network/NetworkManager.java
@@ -9,44 +9,45 @@ import java.util.ArrayList;
 import java.util.List;

 public class NetworkManager {
-	private NetworkManager() {}
+    private NetworkManager() {
+    }

-	private static SysNetworking networking;
-	private static boolean isManaged = false;
+    private static SysNetworking networking;
+    private static boolean isManaged = false;

-	public static void initialize(boolean manage) {
-		isManaged = manage;
-		if (!isManaged) {
-			return;
-		}
+    public static void initialize(boolean manage) {
+        isManaged = manage;
+        if (!isManaged) {
+            return;
+        }

-		Platform platform = Platform.CurrentPlatform;
+        Platform platform = Platform.CurrentPlatform;

-		if (platform.isLinux()) {
-			networking = new LinuxNetworking();
-		} else if (platform.isWindows()) {
+        if (platform.isLinux()) {
+            networking = new LinuxNetworking();
+        } else if (platform.isWindows()) {
 //			networking = new WindowsNetworking();
            System.out.println("Windows networking is not yet supported. Running unmanaged.");
            return;
-		}
+        }

-		if (networking == null) {
-			throw new RuntimeException("Failed to detect platform!");
-		}
+        if (networking == null) {
+            throw new RuntimeException("Failed to detect platform!");
+        }

-		List<java.net.NetworkInterface> interfaces = new ArrayList<>();
-		List<NetworkInterface> goodInterfaces = new ArrayList<>();
+        List<java.net.NetworkInterface> interfaces = new ArrayList<>();
+        List<NetworkInterface> goodInterfaces = new ArrayList<>();

-		try {
-			interfaces = networking.getNetworkInterfaces();
-		} catch (SocketException e) {
-			e.printStackTrace();
-		}
+        try {
+            interfaces = networking.getNetworkInterfaces();
+        } catch (SocketException e) {
+            e.printStackTrace();
+        }

        var teamBytes = NetworkManager.GetTeamNumberIPBytes(ConfigManager.settings.teamNumber);

        if (interfaces.size() > 0) {
-			for (var inetface : interfaces) {
+            for (var inetface : interfaces) {
                for (var inetfaceAddr : inetface.getInterfaceAddresses()) {
                    var rawAddr = inetfaceAddr.getAddress().getAddress();
                    if (rawAddr.length > 4) continue;
@@ -54,74 +55,53 @@ public class NetworkManager {
                        goodInterfaces.add(new NetworkInterface(inetface, inetfaceAddr));
                    }
                }
-			}
+            }

-			if (goodInterfaces.size() == 0) {
-				isManaged = false;
-				System.err.println("No valid network interfaces found! Staying unmanaged.");
-				return;
-			}
+            if (goodInterfaces.size() == 0) {
+                isManaged = false;
+                System.err.println("No valid network interfaces found! Staying unmanaged.");
+                return;
+            }

-	        NetworkInterface botInterface = goodInterfaces.get(0);
-			networking.setNetworkInterface(botInterface);
-		} else {
-        	isManaged = false;
-			System.err.println("No valid network interfaces found! Staying unmanaged.");
-			return;
-		}
-
-		if(!loadFromGeneralSettings()) {
-			isManaged = false;
-			System.err.println("Failed to load network settings. Staying unmanaged!");
-		}
-	}
-
-	private static byte[] GetTeamNumberIPBytes(int teamNumber) {
-		return new byte[]{(byte) (teamNumber / 100), (byte) (teamNumber % 100)};
-	}
-
-	private static boolean loadFromGeneralSettings() {
-		if (!isManaged) {
-			return true;
-		}
-
-		var genSettings = ConfigManager.settings;
-		boolean isStatic = genSettings.connectionType.equals(NetworkIPMode.STATIC);
-
-		if (isStatic) {
-			var splitIPAddr = genSettings.ip.split("\\.");
-			splitIPAddr[3] = "255";
-			var broadcast = String.join(".", splitIPAddr);
-			if (!setStatic(genSettings.ip, genSettings.netmask, genSettings.gateway, broadcast)) {
-				return false;
-			}
-		} else {
-			if (!setDHCP()) {
-				return false;
-			}
-		}
-
-		return setHostname(genSettings.hostname);
-	}
-
-	private static boolean setDHCP() {
-		if (!isManaged) {
-			return true;
-		}
-	    return networking.setDHCP();
+            NetworkInterface botInterface = goodInterfaces.get(0);
+            networking.setNetworkInterface(botInterface);
+        } else {
+            isManaged = false;
+            System.err.println("No valid network interfaces found! Staying unmanaged.");
+        }
    }

-    private static boolean setStatic(String ipAddress, String netmask, String gateway, String broadcast) {
-		if (!isManaged) {
-			return true;
-		}
-	    return networking.setStatic(ipAddress, netmask, gateway, broadcast);
+    private static byte[] GetTeamNumberIPBytes(int teamNumber) {
+        return new byte[]{(byte) (teamNumber / 100), (byte) (teamNumber % 100)};
    }

-    private static boolean setHostname(String hostname) {
-		if (!isManaged) {
-			return true;
-		}
-	    return networking.setHostname(hostname);
+
+    private static boolean setDHCP() {
+        if (!isManaged) {
+            return true;
+        }
+        return networking.setDHCP();
+    }
+
+    private static boolean setStatic(String ipAddress, String netmask, String gateway) {
+        if (!isManaged) {
+            return true;
+        }
+        return networking.setStatic(ipAddress, netmask, gateway);
+    }
+
+    public static boolean setHostname(String hostname) {
+        if (!isManaged) {
+            return true;
+        }
+        return networking.setHostname(hostname);
+    }
+
+    public static boolean setNetwork(boolean isStatic, String ip, String netmask, String gateway) {
+        if (isStatic) {
+            return setStatic(ip, netmask, gateway);
+        } else {
+            return setDHCP();
+        }
    }
 }
--- a/chameleon-server/src/main/java/com/chameleonvision/network/SysNetworking.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/network/SysNetworking.java
@@ -30,7 +30,7 @@ public abstract class SysNetworking {
 	}
 	public abstract boolean setDHCP();
 	public abstract boolean setHostname(String hostname);
-	public abstract boolean setStatic(String ipAddress, String netmask, String gateway, String broadcast);
+	public abstract boolean setStatic(String ipAddress, String netmask, String gateway);
 	public abstract List<java.net.NetworkInterface> getNetworkInterfaces() throws SocketException;

 }
--- a/chameleon-server/src/main/java/com/chameleonvision/network/WindowsNetworking.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/network/WindowsNetworking.java
@@ -32,7 +32,7 @@ public class WindowsNetworking extends SysNetworking {
 	}

 	@Override
-	public boolean setStatic(String ipAddress, String netmask, String gateway, String broadcast) {
+	public boolean setStatic(String ipAddress, String netmask, String gateway) {
 		return false;
 	}

--- a/chameleon-server/src/main/java/com/chameleonvision/util/Helpers.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/util/Helpers.java
@@ -4,6 +4,7 @@ import edu.wpi.cscore.VideoMode;
 import org.opencv.core.Scalar;

 import java.awt.*;
+import java.io.File;
 import java.io.FileWriter;
 import java.io.IOException;
 import java.io.Writer;
@@ -17,8 +18,8 @@ public class Helpers {
            "\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" +
+            "StandardOutput=file:/var/log/chameleon.out.txt\n" +
+            "StandardError=file:/var/log/chameleon.err.txt\n" +
            "Type=simple\n" +
            "WorkingDirectory=/usr/local/bin\n" +
            "\n" +
@@ -44,7 +45,11 @@ public class Helpers {

    public static void setService(Path filePath) throws IOException, InterruptedException {
        String newService = String.format(kServiceString, filePath.toString());
-        Writer writer = new FileWriter(kServicePath, false);
+        File file = new File(kServicePath);
+        if (file.exists()) {
+            file.delete();
+        }
+        Writer writer = new FileWriter(file, false);
        writer.write(newService);
        writer.close();
        Process p = Runtime.getRuntime().exec("systemctl enable chameleonVision.service");
--- a/chameleon-server/src/main/java/com/chameleonvision/util/ProgramDirectoryUtilities.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/util/ProgramDirectoryUtilities.java
@@ -3,10 +3,8 @@ package com.chameleonvision.util;
 import java.io.File;
 import java.net.URISyntaxException;

-public class ProgramDirectoryUtilities
-{
-    private static String getJarName()
-    {
+public class ProgramDirectoryUtilities {
+    private static String getJarName() {
        return new File(ProgramDirectoryUtilities.class.getProtectionDomain()
                .getCodeSource()
                .getLocation()
@@ -14,33 +12,23 @@ public class ProgramDirectoryUtilities
                .getName();
    }

-    private static boolean runningFromJAR()
-    {
+    private static boolean runningFromJAR() {
        String jarName = getJarName();
        return jarName.contains(".jar");
    }

-    public static String getProgramDirectory()
-    {
-        if (runningFromJAR())
-        {
-            if (Platform.isRaspberryPi()) {
-                return "/boot/chameleon-vision";
-            }
+    public static String getProgramDirectory() {
+        if (runningFromJAR()) {
            return getCurrentJARDirectory();
-        } else
-        {
+        } else {
            return System.getProperty("user.dir");
        }
    }

-    private static String getCurrentJARDirectory()
-    {
-        try
-        {
+    private static String getCurrentJARDirectory() {
+        try {
            return new File(ProgramDirectoryUtilities.class.getProtectionDomain().getCodeSource().getLocation().toURI().getPath()).getParent();
-        } catch (URISyntaxException exception)
-        {
+        } catch (URISyntaxException exception) {
            exception.printStackTrace();
        }

--- a/chameleon-server/src/main/java/com/chameleonvision/vision/camera/USBCameraCapture.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/camera/USBCameraCapture.java
@@ -54,6 +54,7 @@ public class USBCameraCapture implements CameraCapture {
    }

    public void addCalibrationData(CameraCalibrationConfig newConfig) {
+        calibrationList.removeIf(c -> newConfig.resolution.height == c.resolution.height && newConfig.resolution.width == c.resolution.width);
        calibrationList.add(newConfig);
    }

@@ -77,6 +78,7 @@ public class USBCameraCapture implements CameraCapture {
        // TODO: Why multiply by 1000 here?
        Mat tempMat = new Mat();
        deltaTime = cvSink.grabFrame(tempMat) * 1000L;
+//        tempMat = Imgcodecs.imread("C:\\Users\\imadu\\Documents\\GitHub\\chameleon-vision\\chameleon-server\\testimages\\2020\\image.png");
        tempMat.copyTo(imageBuffer);
        tempMat.release();
        return Pair.of(imageBuffer, deltaTime);
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/camera/USBCaptureProperties.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/camera/USBCaptureProperties.java
@@ -45,6 +45,7 @@ public class USBCaptureProperties extends CaptureProperties {
        FOV = config.fov;
        name = config.name;
        path = config.path;
+        setTilt(Rotation2d.fromDegrees(config.tilt));
        nickname = config.nickname;
        this.baseCamera = baseCamera;

--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/PipelineManager.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/PipelineManager.java
@@ -3,6 +3,8 @@ package com.chameleonvision.vision.pipeline;
 import com.chameleonvision.Exceptions.DuplicatedKeyException;
 import com.chameleonvision.config.CameraConfig;
 import com.chameleonvision.config.ConfigManager;
+import com.chameleonvision.scripting.ScriptEventType;
+import com.chameleonvision.scripting.ScriptManager;
 import com.chameleonvision.vision.VisionManager;
 import com.chameleonvision.vision.VisionProcess;
 import com.chameleonvision.vision.pipeline.impl.Calibrate3dPipeline;
@@ -124,6 +126,7 @@ public class PipelineManager {
        CVPipeline newPipeline = null;

        if (index == DRIVERMODE_INDEX) {
+            ScriptManager.queueEvent(ScriptEventType.kLEDOff);
            newPipeline = driverModePipeline;

            // if we're changing into driver mode, try to set the nt entry to true
@@ -138,6 +141,7 @@ public class PipelineManager {

                // if we're switching out of driver mode, try to set the nt entry to false
                parentProcess.setDriverModeEntry(false);
+                ScriptManager.queueEvent(ScriptEventType.kLEDOn);
            }
            else
                {
--- 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
@@ -144,8 +144,8 @@ public class Calibrate3dPipeline extends CVPipeline<DriverVisionPipeline.DriverP
        VisionManager.getCurrentUIVisionProcess().addCalibration(cal);

        try {
-            System.out.printf("CALIBRATION SUCCESS! camMatrix: \n%s\ndistortionCoeffs:\n%s\n",
-                    new ObjectMapper().writeValueAsString(cal.cameraMatrix), new ObjectMapper().writeValueAsString(cal.distortionCoeffs));
+            System.out.printf("CALIBRATION SUCCESS (with accuracy %s)! camMatrix: \n%s\ndistortionCoeffs:\n%s\n",
+                    calibrationAccuracy, new ObjectMapper().writeValueAsString(cal.cameraMatrix), new ObjectMapper().writeValueAsString(cal.distortionCoeffs));
        } catch (JsonProcessingException e) {
            e.printStackTrace();
        }
--- 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
@@ -200,7 +200,7 @@ public class StandardCVPipeline extends CVPipeline<StandardCVPipelineResult, Sta

        if (settings.is3D) {
            // once we've sorted our targets, perform solvePNP. The number of "best targets" is limited by the above pipe
-            Pair<List<TrackedTarget>, Long> solvePNPResult = solvePNPPipe.run(Pair.of(collect2dTargetsResult.getLeft(), hsvResult.getLeft()));
+            Pair<List<TrackedTarget>, Long> solvePNPResult = solvePNPPipe.run(Pair.of(collect2dTargetsResult.getLeft(), rotateFlipResult.getLeft()));
            totalPipelineTimeNanos += solvePNPResult.getRight();

            Pair<Mat, Long> draw3dContoursResult = drawSolvePNPPipe.run(Pair.of(outputMatResult.getLeft(), solvePNPResult.getLeft()));
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/StandardCVPipelineSettings.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/StandardCVPipelineSettings.java
@@ -33,6 +33,7 @@ public class StandardCVPipelineSettings extends CVPipelineSettings {

    // 3d stuff
    public MatOfPoint3f targetCornerMat = new MatOfPoint3f();
+    public Number accuracy = 5;
    private static MatOfPoint3f hexTargetMat = new MatOfPoint3f();

    static {
--- 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
@@ -34,7 +34,7 @@ public class DrawSolvePNPPipe implements Pipe<Pair<Mat, List<StandardCVPipeline.
    private void setBox(MatOfPoint3f mat) {
        boxCornerMat.release();
        var list = mat.toList();
-        var auxList = list.stream().map(it -> new Point3(it.x, it.y, it.z - 6)).collect(Collectors.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);
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java
@@ -4,6 +4,8 @@ import com.chameleonvision.config.CameraCalibrationConfig;
 import com.chameleonvision.vision.pipeline.Pipe;
 import com.chameleonvision.vision.pipeline.impl.StandardCVPipeline;
 import com.chameleonvision.vision.pipeline.impl.StandardCVPipelineSettings;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.geometry.Translation2d;
@@ -33,6 +35,10 @@ public class SolvePNPPipe implements Pipe<Pair<List<StandardCVPipeline.TrackedTa
    Comparator<Point> verticalComparator = Comparator.comparingDouble(point -> point.y);
    private double distanceDivisor = 1.0;
    Mat scaledTvec = new Mat();
+    MatOfPoint2f boundingBoxResultMat = new MatOfPoint2f();
+    MatOfPoint2f polyOutput = new MatOfPoint2f();
+    private Mat greyImg = new Mat();
+    private double accuracyPercentage = 0.2;

    public SolvePNPPipe(StandardCVPipelineSettings settings, CameraCalibrationConfig calibration, Rotation2d tilt) {
        super();
@@ -83,6 +89,7 @@ public class SolvePNPPipe implements Pipe<Pair<List<StandardCVPipeline.TrackedTa
        // TODO add proper year differentiation
        tilt_angle = tilt.getRadians();
        this.objPointsMat = settings.targetCornerMat;
+        this.accuracyPercentage = settings.accuracy.doubleValue();
    }

    private void setCameraCoeffs(CameraCalibrationConfig settings) {
@@ -105,10 +112,25 @@ public class SolvePNPPipe implements Pipe<Pair<List<StandardCVPipeline.TrackedTa
    public Pair<List<StandardCVPipeline.TrackedTarget>, Long> run(Pair<List<StandardCVPipeline.TrackedTarget>, Mat> imageTargetPair) {
        long processStartNanos = System.nanoTime();
        var targets = imageTargetPair.getLeft();
+        var image = imageTargetPair.getRight();
+        Imgproc.cvtColor(image, greyImg, Imgproc.COLOR_BGR2GRAY);
        poseList.clear();
        for(var target: targets) {
-            var corners = find2020VisionTarget(target);//, imageTargetPair.getRight()); //find2020VisionTarget(target);// (target.leftRightDualTargetPair != null) ? findCorner2019(target) : findBoundingBoxCorners(target);
+            MatOfPoint2f corners;
+            if(target.leftRightRotatedRect == null) {
+                corners = find2020VisionTarget(target, accuracyPercentage);//, imageTargetPair.getRight()); //find2020VisionTarget(target);// (target.leftRightDualTargetPair != null) ? findCorner2019(target) : findBoundingBoxCorners(target);
+            } else {
+                corners = findCorner2019(target);
+            }
+//            var corners = findCorner2019(target);
            if(corners == null) continue;
+
+//            // use best features to track
+//            corners = refineCornersByBestTrack(corners, greyImg, target);
+
+            // refine the estimate
+//            corners = refineCornerEstimateSubPix(corners, greyImg);
+
            var pose = calculatePose(corners, target);
            if(pose != null) poseList.add(pose);
        }
@@ -145,38 +167,34 @@ public class SolvePNPPipe implements Pipe<Pair<List<StandardCVPipeline.TrackedTa
        return FastMath.sqrt(FastMath.pow(a.x - b.x, 2) + FastMath.pow(a.y - b.y, 2));
    }

-    MatOfInt tempInt = new MatOfInt();
-    MatOfPoint2f tempMat2f = new MatOfPoint2f();
-    MatOfPoint tempMatOfPoint = new MatOfPoint();
-
    /**
     * Find the target using the outermost tape corners and a 2020 target.
     * @param target the target.
     * @return The four outermost tape corners.
     */
-    private MatOfPoint2f find2020VisionTarget(StandardCVPipeline.TrackedTarget target) {
+    private MatOfPoint2f find2020VisionTarget(StandardCVPipeline.TrackedTarget target, double accuracyPercentage) {
        if(target.rawContour.cols() < 1) return null;

        var centroid = target.minAreaRect.center;
        Comparator<Point> distanceProvider = Comparator.comparingDouble((Point point) -> FastMath.sqrt(FastMath.pow(centroid.x - point.x, 2) + FastMath.pow(centroid.y - point.y, 2)));

-        var contour = target.rawContour;
-        var convex = tempInt;
-        tempMatOfPoint.fromList(contour.toList());
-        Imgproc.convexHull(tempMatOfPoint, convex);
-        var combinedList = contour.toList();
+        // algorithm from team 4915

-        // approx poly dp time
+        // Contour perimeter
+        var peri = Imgproc.arcLength(target.rawContour, true);
+        // approximating a shape around the contours
+        // Can be tuned to allow/disallow hulls
+        // Approx is the number of vertices
+        // Ramer–Douglas–Peucker algorithm
+        // we want a number between 0 and 0.16 out of a percentage from 0 to 100
+        // so take accuracy and divide by 600
+        Imgproc.approxPolyDP(target.rawContour, polyOutput, accuracyPercentage / 600.0 * peri, true);

-        Point[] contourArray = contour.toArray();
-        Point[] hullPoints = new Point[convex.rows()];
-        List<Integer> hullContourIdxList = convex.toList();
-        for (int i = 0; i < hullContourIdxList.size(); i++) {
-            hullPoints[i] = contourArray[hullContourIdxList.get(i)];
-        }
-        tempMat2f.fromArray(hullPoints);
+        var area = Imgproc.moments(polyOutput);

-        Imgproc.approxPolyDP(tempMat2f, polyOutput, 5, true);
+//        if (area.get_m00() < 200) {
+//            return null;
+//        }

        var polyList = polyOutput.toList();

@@ -188,17 +206,23 @@ public class SolvePNPPipe implements Pipe<Pair<List<StandardCVPipeline.TrackedTa
        try {

            // top left and top right are the poly corners closest to the bouding box tl and tr
-            Point tl = polyList.stream().min(Comparator.comparingDouble((Point p) -> distanceBetween(p, boundingBoxCorners.get(0)))).get();
-            Point tr = polyList.stream().min(Comparator.comparingDouble((Point p) -> distanceBetween(p, boundingBoxCorners.get(3)))).get();
+            var tl = polyList.stream().min(Comparator.comparingDouble((Point p) -> distanceBetween(p, boundingBoxCorners.get(0)))).get();
+            var tr = polyList.stream().min(Comparator.comparingDouble((Point p) -> distanceBetween(p, boundingBoxCorners.get(3)))).get();

-
-//            var tl = polyList.stream().filter(point -> point.x < centroid.x && point.y < centroid.y).max(distanceProvider).get();
-//            var tr = polyList.stream().filter(point -> point.x > centroid.x && point.y < centroid.y).max(distanceProvider).get();
            var bl = polyList.stream().filter(point -> point.x < centroid.x && point.y > centroid.y).max(distanceProvider).get();
            var br = polyList.stream().filter(point -> point.x > centroid.x && point.y > centroid.y).max(distanceProvider).get();

+//            polyList = new ArrayList<>(polyList);
+//            polyList.removeAll(List.of(tl, tr, bl, br));
+//
+//            var tl2 = polyList.stream().min(Comparator.comparingDouble((Point p) -> distanceBetween(p, boundingBoxCorners.get(0)))).get();
+//            var tr2 = polyList.stream().min(Comparator.comparingDouble((Point p) -> distanceBetween(p, boundingBoxCorners.get(3)))).get();
+//
+//            var bl2 = polyList.stream().filter(point -> point.x < centroid.x && point.y > centroid.y).max(distanceProvider).get();
+//            var br2 = polyList.stream().filter(point -> point.x > centroid.x && point.y > centroid.y).max(distanceProvider).get();
+
            target2020ResultMat.release();
-            target2020ResultMat.fromList(List.of(tl, bl, br, tr));
+            target2020ResultMat.fromList(List.of(tl, bl, br, tr));//, tr2, br2, bl2, tl2));

            return target2020ResultMat;
        } catch (NoSuchElementException e) {
@@ -206,8 +230,6 @@ public class SolvePNPPipe implements Pipe<Pair<List<StandardCVPipeline.TrackedTa
        }
    }

-    MatOfPoint2f polyOutput = new MatOfPoint2f();
-
    /**
     * Find the target using the outermost tape corners and a dual target.
     * @param target the target.
@@ -286,118 +308,69 @@ public class SolvePNPPipe implements Pipe<Pair<List<StandardCVPipeline.TrackedTa
        return boundingBoxResultMat;
    }

-    MatOfPoint2f boundingBoxResultMat = new MatOfPoint2f();
-    MatOfPoint2f goodFeaturesResultMat = new MatOfPoint2f();
+    MatOfPoint2f goodFeatureToTrackRetval = new MatOfPoint2f();

-    private Mat dstNorm = new Mat();
-    private Mat dstNormScaled = new Mat();
-    List<Point> tempCornerList = new ArrayList<>();
+    private MatOfPoint2f refineCornersByBestTrack(MatOfPoint2f corners, Mat greyImg, StandardCVPipeline.TrackedTarget target) {

-    /**
-     * Find the corners in an image.
-     * @param targetImage the image to find corners in.
-     * @return the corners found in the image.
-     */
-    @Deprecated
-    private List<Point> findCornerHarris(Mat targetImage) {
+        MatOfPoint approxf1 = new MatOfPoint();
+        var origCornerList = new ArrayList<>(corners.toList());
+        approxf1.fromList(origCornerList.stream()
+                .map(it -> new Point(it.x - target.boundingRect.x, it.y - target.boundingRect.y))
+                .collect(Collectors.toList())
+        );
+        var croppedImage = greyImg.submat(target.boundingRect);

-        // convert the image to greyscale
-        var gray = new Mat();
-        Imgproc.cvtColor(targetImage, gray, Imgproc.COLOR_BGR2GRAY);
-        Mat dst = Mat.zeros(targetImage.size(), CvType.CV_8U);
+        Imgproc.goodFeaturesToTrack(croppedImage, approxf1, 0, 0.1, 5);

-        // constants
-        final int blockSize = 2;
-        final int apertureSize = 3;
-        final double k = 0.04;
-        final int threshold = 200;
+        // at this point corners is still unmodified so let's map it
+        List<Point> tempList = new ArrayList<>();

-        /// Detecting corners
-        Imgproc.cornerHarris(gray, dst, blockSize, apertureSize, k);
-
-        /// Normalizing
-        Core.normalize(dst, dstNorm, 0, 255, Core.NORM_MINMAX);
-        Core.convertScaleAbs(dstNorm, dstNormScaled);
-
-        /// Drawing a circle around corners
-        float[] dstNormData = new float[(int) (dstNorm.total() * dstNorm.channels())];
-        dstNorm.get(0, 0, dstNormData);
-
-        tempCornerList.clear();
-        for (int i = 0; i < dstNorm.rows(); i++) {
-            for (int j = 0; j < dstNorm.cols(); j++) {
-                if ((int) dstNormData[i * dstNorm.cols() + j] > threshold) {
-                    tempCornerList.add(new Point(j, i));
-                }
+        // shift all points back into global pose
+        var reshiftedList = approxf1.toList().stream().map(it -> new Point(it.x + target.boundingRect.x, it.y + target.boundingRect.y))
+                .collect(Collectors.toList());
+        for(Point p: origCornerList) {
+            // find the goodFeaturesToTrack corner closest to me
+            var closestPoint = reshiftedList.stream().min(Comparator.comparingDouble(p_ -> distanceBetween(p_, p)));
+            if(closestPoint.isEmpty()) {
+                tempList.add(p);
+                reshiftedList.remove(p);
+            } else {
+                tempList.add(closestPoint.get());
+                reshiftedList.remove(closestPoint.get());
            }
        }

-        return tempCornerList;
+        goodFeatureToTrackRetval.fromList(tempList);
+        return goodFeatureToTrackRetval;
    }

-    @Deprecated
-    private MatOfPoint2f findGoodFeaturesToTrack2019(StandardCVPipeline.TrackedTarget target, Mat srcImage) {
+    // Set the needed parameters to find the refined corners
+    Size winSize = new Size(4, 4);
+    Size zeroZone = new Size(-1, -1); // we don't need a zero zone
+    TermCriteria criteria = new TermCriteria(TermCriteria.EPS + TermCriteria.COUNT, 90, 0.001);

-        // start by looking for corners
-        var points__ = findBoundingBoxCorners(target).toList();
-        var xList = points__.stream().map(it -> it.x).sorted(Double::compare).collect(Collectors.toList());
-        var yList = points__.stream().map(it -> it.y).sorted(Double::compare).collect(Collectors.toList());
+    private boolean shouldRefineCorners = true;

-        var boundingTl = new Point(
-            xList.get(0), yList.get(0)
-        );
-        var boundingBr = new Point (
-            xList.get(2), yList.get(2)
-        );
-        System.out.println("tl/br:\n" + boundingTl.toString() + "\n" + boundingBr.toString());
+    /**
+     * Refine an estimated corner position using the cornerSubPixel algorithm.
+     *
+     * TODO should this be here or before the points are chosen?
+     *
+     * @param corners the corners detected -- this mat is modified!
+     * @param greyImg the image taken by the camera as color
+     * @return the updated mat, same as the corner mat passed in.
+     */
+    private MatOfPoint2f refineCornerEstimateSubPix(MatOfPoint2f corners, Mat greyImg) {
+        if(!shouldRefineCorners) return corners; // just return
+        Imgproc.cornerSubPix(greyImg, corners, winSize, zeroZone, criteria);

-        var slightlyBiggerTl = new Point(
-            Math.max(0, boundingTl.x - 5),
-            Math.max(0, boundingTl.y - 5)
-        );
-
-        var slightlyBiggerBr = new Point(
-            Math.min(srcImage.rows(), boundingBr.x + 5),
-            Math.min(srcImage.cols(), boundingBr.y + 5)
-        );
-        var rect = new Rect(slightlyBiggerTl, slightlyBiggerBr);
-
-        var croppedImage = srcImage.submat(rect);
-        var corners = new MatOfPoint();
-        Imgproc.goodFeaturesToTrack(croppedImage, corners, 0,0.01,5);
-
-        List<Point> cornerList = new ArrayList<>(corners.toList());
-//        if(cornerList.size() != 8 && cornerList.size() != 4) return null;
-        cornerList.sort(leftRightComparator);
-
-        cornerList = cornerList.stream().map(point ->
-            new Point(point.x + slightlyBiggerTl.x, point.y + slightlyBiggerTl.y))
-            .collect(Collectors.toList());
-
-        // of these, we want the two leftmost and two rightmost points
-        var left1 = cornerList.get(0);
-        var left2 = cornerList.get(1);
-        var right1 = cornerList.get(0);
-        var right2 = cornerList.get(1);
-
-        // TODO maximize distance from the center rather than naively assume the leftmost and rightmost
-        // will have to do per quadrant
-
-        var leftOrder = left1.y < left2.y;
-        var rightOrder = right1.y < right2.y;
-
-        var tl = leftOrder ? left1 : left2;
-        var bl = !leftOrder ? left1 : left2;
-        var tr = rightOrder ? right1 : right2;
-        var br = !rightOrder ? right1 : right2;
-
-        goodFeaturesResultMat.release();
-        goodFeaturesResultMat.fromList(List.of(tl, bl, br, tr));
-
-        return goodFeaturesResultMat;
+        return corners;
    }

-    private StandardCVPipeline.TrackedTarget calculatePose(MatOfPoint2f imageCornerPoints, StandardCVPipeline.TrackedTarget target) {
+//    NetworkTableEntry tvecE = NetworkTableInstance.getDefault().getTable("SmartDashboard").getEntry("tvec");
+//    NetworkTableEntry rvecE = NetworkTableInstance.getDefault().getTable("SmartDashboard").getEntry("rvec");
+
+    public StandardCVPipeline.TrackedTarget calculatePose(MatOfPoint2f imageCornerPoints, StandardCVPipeline.TrackedTarget target) {
        if(objPointsMat.rows() != imageCornerPoints.rows() || cameraMatrix.rows() < 2 || distortionCoefficients.cols() < 4) {
            System.err.println("can't do solvePNP with invalid params!");
            return null;
@@ -412,35 +385,43 @@ public class SolvePNPPipe implements Pipe<Pair<List<StandardCVPipeline.TrackedTa
            return null;
        }

+//        tvecE.setString(tVec.dump());
+//        rvecE.setString(rVec.dump());
+
        // Algorithm from team 5190 Green Hope Falcons

 //        var tilt_angle = 0.0; // TODO add to settings

+        // the left/right distance to the target, unchanged by tilt
        var x = tVec.get(0, 0)[0];
-        var z = FastMath.sin(tilt_angle) * tVec.get(1, 0)[0] + tVec.get(2, 0)[0] *  FastMath.cos(tilt_angle);

-        // distance in the horizontal plane between camera and target
-        var distance = FastMath.sqrt(x * x + z  * z);
+        // Z distance in the flat plane is given by
+        // Z_field = z cos theta + y sin theta
+        var z = tVec.get(2, 0)[0] *  FastMath.cos(tilt_angle) + tVec.get(1, 0)[0] * FastMath.sin(tilt_angle);

-        // horizontal angle between center camera and target
-        @SuppressWarnings("SuspiciousNameCombination")
-        var angle1 = FastMath.atan2(x, z);
+        // find skew of the target relative to the camera
+        // from ligerbots:
+        // rot, _ = cv2.Rodrigues(rvec)
+        // rot_inv = rot.transpose()
+        // pzero_world = numpy.matmul(rot_inv, -tvec)
+        // angle2 = math.atan2(pzero_world[0][0], pzero_world[2][0]

        Calib3d.Rodrigues(rVec, rodriguez);
-        Core.transpose(rodriguez, rot_inv);
+        Core.transpose(rodriguez, rot_inv); // rodrigurz.t()

-        // This should be pzero_world = numpy.matmul(rot_inv, -tvec)
-//        pzero_world  = rot_inv.mul(matScale(tVec, -1));
        scaledTvec = matScale(tVec, -1);
        Core.gemm(rot_inv, scaledTvec, 1, kMat, 0, pzero_world);

        var angle2 = FastMath.atan2(pzero_world.get(0, 0)[0], pzero_world.get(2, 0)[0]);

-        var targetAngle = -angle1; // radians
        var targetRotation = -angle2; // radians
-        var targetDistance = distance * 25.4 / 1000d / distanceDivisor; // This should be meters

-        var targetLocation = new Translation2d(targetDistance * FastMath.cos(targetAngle), targetDistance * FastMath.sin(targetAngle));
+        // We want a vector that is X forward and Y left.
+        // We have a Z_field (out of the camera projected onto the field), and an X left/right.
+        // so Z_field becomes X, and X becomes Y
+
+        //noinspection SuspiciousNameCombination
+        var targetLocation = new Translation2d(z, -x).times(25.4 / 1000d / distanceDivisor);
        target.cameraRelativePose = new Pose2d(targetLocation, new Rotation2d(targetRotation));
        target.rVector = rVec;
        target.tVector = tVec;
--- a/chameleon-server/src/main/java/com/chameleonvision/web/RequestHandler.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/web/RequestHandler.java
@@ -4,6 +4,7 @@ import com.chameleonvision.Exceptions.DuplicatedKeyException;
 import com.chameleonvision.Main;
 import com.chameleonvision.config.ConfigManager;
 import com.chameleonvision.network.NetworkIPMode;
+import com.chameleonvision.network.NetworkManager;
 import com.chameleonvision.networktables.NetworkTablesManager;
 import com.chameleonvision.util.Helpers;
 import com.chameleonvision.util.Platform;
@@ -53,8 +54,17 @@ public class RequestHandler {
            ConfigManager.settings.gateway = (String) map.get("gateway");
            ConfigManager.settings.hostname = (String) map.get("hostname");
            ConfigManager.saveGeneralSettings();
+            // setting up network config after saving
+            boolean isStatic = ConfigManager.settings.connectionType.equals(NetworkIPMode.STATIC);
+
+            if (NetworkManager.setHostname(ConfigManager.settings.hostname) &&
+                    NetworkManager.setNetwork(isStatic, ConfigManager.settings.ip, ConfigManager.settings.netmask, ConfigManager.settings.gateway)) {
+                ctx.status(200);
+            } else {
+                ctx.result("Something went wrong while setting network configuration");
+                ctx.status(501);
+            }
            SocketHandler.sendFullSettings();
-            ctx.status(200);
        } catch (JsonProcessingException e) {
            ctx.status(500);
        }
--- a/chameleon-server/src/main/java/com/chameleonvision/web/SocketHandler.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/web/SocketHandler.java
@@ -52,7 +52,8 @@ public class SocketHandler {
    @SuppressWarnings("unchecked")
    void onBinaryMessage(WsBinaryMessageContext context) throws Exception {
        Map<String, Object> deserialized = objectMapper.readValue((byte[]) ArrayUtils.toPrimitive(context.data()),
-                new TypeReference<>(){});
+                new TypeReference<>() {
+                });
        for (Map.Entry<String, Object> entry : deserialized.entrySet()) {
            try {
                VisionProcess currentProcess = VisionManager.getCurrentUIVisionProcess();
@@ -168,6 +169,10 @@ public class SocketHandler {
                                currentCamera.setBrightness((Integer) entry.getValue());
                                break;
                            }
+                            case "gain": {
+                                currentCamera.setGain((Integer) entry.getValue());
+                                break;
+                            }
                            case "videoModeIndex": {
                                if (currentPipeline instanceof StandardCVPipeline)
                                    ((StandardCVPipeline) currentPipeline).settings.point = new ArrayList<>();//This will reset the calibration
--- a/chameleon-server/src/main/resources/web/css/chunk-01759076.2eb9f3d3.css
+++ b/chameleon-server/src/main/resources/web/css/chunk-01759076.2eb9f3d3.css
--- a/chameleon-server/src/main/resources/web/css/chunk-20681be8.5ac7b59c.css
+++ b/chameleon-server/src/main/resources/web/css/chunk-20681be8.5ac7b59c.css
@@ -0,0 +1 @@
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--- a/chameleon-server/src/main/resources/web/css/chunk-218b16fc.84e78a37.css
+++ b/chameleon-server/src/main/resources/web/css/chunk-218b16fc.84e78a37.css
@@ -1 +0,0 @@
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--- a/chameleon-server/src/main/resources/web/css/chunk-234aed0c.5856ebfe.css
+++ b/chameleon-server/src/main/resources/web/css/chunk-234aed0c.5856ebfe.css
--- a/chameleon-server/src/main/resources/web/css/chunk-30cf0ee8.437bbfd3.css
+++ b/chameleon-server/src/main/resources/web/css/chunk-30cf0ee8.437bbfd3.css
--- a/chameleon-server/src/main/resources/web/css/chunk-33f18466.5da4dc56.css
+++ b/chameleon-server/src/main/resources/web/css/chunk-33f18466.5da4dc56.css
--- a/chameleon-server/src/main/resources/web/css/chunk-369f5d2c.eaa0163e.css
+++ b/chameleon-server/src/main/resources/web/css/chunk-369f5d2c.eaa0163e.css
--- a/chameleon-server/src/main/resources/web/css/chunk-402ab08c.d47fe89d.css
+++ b/chameleon-server/src/main/resources/web/css/chunk-402ab08c.d47fe89d.css
--- a/chameleon-server/src/main/resources/web/css/chunk-423191c4.0a21637d.css
+++ b/chameleon-server/src/main/resources/web/css/chunk-423191c4.0a21637d.css
--- a/chameleon-server/src/main/resources/web/css/chunk-586d85e4.873c9690.css
+++ b/chameleon-server/src/main/resources/web/css/chunk-586d85e4.873c9690.css
--- a/chameleon-server/src/main/resources/web/css/chunk-5af10b37.5b8e5b27.css
+++ b/chameleon-server/src/main/resources/web/css/chunk-5af10b37.5b8e5b27.css
--- a/chameleon-server/src/main/resources/web/css/chunk-6516d830.e951ae66.css
+++ b/chameleon-server/src/main/resources/web/css/chunk-6516d830.e951ae66.css
--- a/chameleon-server/src/main/resources/web/css/chunk-65ac8106.108b4a7c.css
+++ b/chameleon-server/src/main/resources/web/css/chunk-65ac8106.108b4a7c.css
--- a/chameleon-server/src/main/resources/web/css/chunk-6911ca5e.61379667.css
+++ b/chameleon-server/src/main/resources/web/css/chunk-6911ca5e.61379667.css
@@ -0,0 +1 @@
+.v-input--checkbox.v-input--indeterminate.v-input--is-disabled{opacity:.6}.videoClass[data-v-7880bdc2]{text-align:center}.videoClass img[data-v-7880bdc2]{padding-top:10px;height:auto!important;width:75%;vertical-align:middle}.colsClass[data-v-7880bdc2]{padding:0!important}
--- a/chameleon-server/src/main/resources/web/css/chunk-6e69a154.38f70fef.css
+++ b/chameleon-server/src/main/resources/web/css/chunk-6e69a154.38f70fef.css
--- a/chameleon-server/src/main/resources/web/css/chunk-6f8eef3f.09316a61.css
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				`@@ -1 +0,0 @@`
				.hover[data-v-912b6e62]:hover{color:#fff!important}.v-tooltip{display:inline}.v-tooltip__content{background:rgba(97,97,97,.9);color:#fff;border-radius:4px;font-size:14px;line-height:22px;display:inline-block;padding:5px 16px;position:absolute;text-transform:none;width:auto;opacity:1;pointer-events:none}.v-tooltip__content--fixed{position:fixed}.v-tooltip__content[class=-active]{-webkit-transition-timing-function:cubic-bezier(0,0,.2,1);transition-timing-function:cubic-bezier(0,0,.2,1)}.v-tooltip__content[class=enter-active]{-webkit-transition-duration:.15s;transition-duration:.15s}.v-tooltip__content[class=leave-active]{-webkit-transition-duration:75ms;transition-duration:75ms}.colsClass[data-v-3b74cf0c]{padding:0!important}.videoClass[data-v-3b74cf0c]{text-align:center}.tableClass[data-v-3b74cf0c]{padding-top:5px;width:70%;text-align:center}th[data-v-3b74cf0c]{width:80px;text-align:center}.v-input--checkbox.v-input--indeterminate.v-input--is-disabled{opacity:.6}.v-dialog{border-radius:4px;margin:24px;overflow-y:auto;pointer-events:auto;-webkit-transition:.3s cubic-bezier(.25,.8,.25,1);transition:.3s cubic-bezier(.25,.8,.25,1);width:100%;z-index:inherit;-webkit-box-shadow:0 11px 15px -7px rgba(0,0,0,.2),0 24px 38px 3px rgba(0,0,0,.14),0 9px 46px 8px rgba(0,0,0,.12);box-shadow:0 11px 15px -7px rgba(0,0,0,.2),0 24px 38px 3px rgba(0,0,0,.14),0 9px 46px 8px rgba(0,0,0,.12)}.v-dialog:not(.v-dialog--fullscreen){max-height:90%}.v-dialog>{width:100%}.v-dialog>.v-card>.v-card__title{font-size:1.25rem;font-weight:500;letter-spacing:.0125em;padding:16px 24px 10px}.v-dialog>.v-card>.v-card__text{padding:0 24px 20px}.v-dialog__content{-webkit-box-align:center;-ms-flex-align:center;align-items:center;display:-webkit-box;display:-ms-flexbox;display:flex;height:100%;-webkit-box-pack:center;-ms-flex-pack:center;justify-content:center;left:0;pointer-events:none;position:fixed;top:0;-webkit-transition:.2s cubic-bezier(.25,.8,.25,1),z-index 1ms;transition:.2s cubic-bezier(.25,.8,.25,1),z-index 1ms;width:100%;z-index:6;outline:none}.v-dialog__activator,.v-dialog__activator *{cursor:pointer}.v-dialog__container{display:inline}.v-dialog--animated{-webkit-animation-duration:.15s;animation-duration:.15s;-webkit-animation-name:animate-dialog;animation-name:animate-dialog;-webkit-animation-timing-function:cubic-bezier(.25,.8,.25,1);animation-timing-function:cubic-bezier(.25,.8,.25,1)}.v-dialog--fullscreen{border-radius:0;margin:0;height:100%;position:fixed;overflow-y:auto;top:0;left:0}.v-dialog--fullscreen>.v-card{min-height:100%;min-width:100%;margin:0!important;padding:0!important}.v-dialog--scrollable,.v-dialog--scrollable>form{display:-webkit-box;display:-ms-flexbox;display:flex}.v-dialog--scrollable>.v-card,.v-dialog--scrollable>form>.v-card{display:-webkit-box;display:-ms-flexbox;display:flex;-webkit-box-flex:1;-ms-flex:1 1 100%;flex:1 1 100%;-webkit-box-orient:vertical;-webkit-box-direction:normal;-ms-flex-direction:column;flex-direction:column;max-height:100%;max-width:100%}.v-dialog--scrollable>.v-card>.v-card__actions,.v-dialog--scrollable>.v-card>.v-card__title,.v-dialog--scrollable>form>.v-card>.v-card__actions,.v-dialog--scrollable>form>.v-card>.v-card__title{-webkit-box-flex:0;-ms-flex:0 0 auto;flex:0 0 auto}.v-dialog--scrollable>.v-card>.v-card__text,.v-dialog--scrollable>form>.v-card>.v-card__text{-webkit-backface-visibility:hidden;backface-visibility:hidden;-webkit-box-flex:1;-ms-flex:1 1 auto;flex:1 1 auto;overflow-y:auto}@-webkit-keyframes animate-dialog{0%{-webkit-transform:scale(1);transform:scale(1)}50%{-webkit-transform:scale(1.03);transform:scale(1.03)}to{-webkit-transform:scale(1);transform:scale(1)}}@keyframes animate-dialog{0%{-webkit-transform:scale(1);transform:scale(1)}50%{-webkit-transform:scale(1.03);transform:scale(1.03)}to{-webkit-transform:scale(1);transform:scale(1)}}.theme--light.v-overlay{color:rgba(0,0,0,.87)}.theme--dark.v-overlay{color:#fff}.v-overlay{-webkit-box-align:center;-ms-flex-align:center;align-items:center;border-radius:inherit;display:-webkit-box;display:-ms-flexbox;display:flex;-webkit-box-pack:center;-ms-flex-pack:center;justify-content:center;position:fixed;top:0;left:0;right:0;bottom:0;pointer-events:none;-webkit-transition:.3s cubic-bezier(.25,.8,.5,1),z-index 1ms;transition:.3s cubic-bezier(.25,.8,.5,1),z-index 1ms}.v-overlay__content{position:relative}.v-overlay__scrim{border-radius:inherit;bottom:0;height:100%;left:0;position:absolute;right:0;top:0;-webkit-transition:inherit;transition:inherit;width:100%;will-change:opacity}.v-overlay--absolute{position:absolute}.v-overlay--active{pointer-events:auto;-ms-touch-action:none;touch-action:none}
				`@@ -0,0 +1 @@`
				`.v-input--checkbox.v-input--indeterminate.v-input--is-disabled{opacity:.6}.videoClass[data-v-7880bdc2]{text-align:center}.videoClass img[data-v-7880bdc2]{padding-top:10px;height:auto!important;width:75%;vertical-align:middle}.colsClass[data-v-7880bdc2]{padding:0!important}`
				`@@ -0,0 +1 @@`
				`.theme--light.v-input--range-slider.v-input--slider.v-input--is-disabled .v-slider.v-slider .v-slider__thumb{background:#fafafa}.theme--dark.v-input--range-slider.v-input--slider.v-input--is-disabled .v-slider.v-slider .v-slider__thumb{background:#424242}.v-input--range-slider.v-input--is-disabled .v-slider__track-fill{display:none}.v-input--range-slider.v-input--is-disabled.v-input--slider .v-slider.v-slider .v-slider__thumb{border-color:transparent}`
				`@@ -1 +0,0 @@`
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				`@@ -0,0 +1 @@`
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