## Description
WPILib switched from FasterXML Jackson to Avaje Jsonb for speed reasons
in https://github.com/wpilibsuite/allwpilib/pull/8721. This does the
same for PhotonVision. Some temporary Jackson adapters are present to
allow compatibility with alpha-4 ahead of updating Photon's WPILib
version. A few old backwards compatibility migrations were also dropped
if they were difficult to port to Avaje Jsonb or otherwise complicated
the code.
## Meta
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---------
Co-authored-by: samfreund <samf.236@proton.me>
Co-authored-by: Matt Morley <matthew.morley.ca@gmail.com>
This PR updates everything for 2027. This includes removing GradleRIO, simplifying our wpilib version defintion, updating APIs, updating to Java 21, and more.
Note that photonlibpy is failing because robotpy has not been fully updated yet. Examples are omitted because they need to be updated for our new PhotonPoseEstimator API and still need some changes from WPILIB. photonlib windows build is failing because we're waiting for some upstream changes. Finally, images are failing since they don't have Java 21 yet.
## Description
Added systemcore to a couple of build files in order for `./gradlew
publishToMavenLocal` to generate systemcore-compatible dependencies.
Needed to support deploying photonlib to systemcore.
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---------
Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com>
## Description
compute confidence level based on target area in total image size and
populate classId and confidence level in Java (while building the
PhotonTrackedTarget)
## Changes
- Add new VisionTargetSim constructor for object detection
- If class ID specified but confidence = -1, estimate based on total
area
---------
Co-authored-by: Matt Morley <matthew.morley.ca@gmail.com>
Given that WPILib is nuking their Java tooling, it becomes necessary to
pull said tooling into PV itself. This migrates the
CombinedRuntimeLoader into PV, which should finalize all of the tooling
migration.
## Description
<!-- What changed? Why? (the code + comments should speak for itself on
the "how") -->
<!-- Fun screenshots or a cool video or something are super helpful as
well. If this touches platform-specific behavior, this is where test
evidence should be collected. -->
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closes#2318closes#2319
For the 2027 game, teams might want to detect more than 10 results.
Therefore, we're increasing the limit.
We also ran into an issue with our sim, where a user can create too many
objects and cause an overflow. We implement that same limit of 50
targets here.
## Meta
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## Description
Clarifies when estimate methods return an empty optional. This also
fixes some parity issues with Constrained SolvePnP not checking the
optional returned by the heading buffer.
Resolves#2322.
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## Description
Find-and-replace 2026.1.1 -> 2026.2.1. This gets us 2026 field layouts
[among other
things](https://github.com/wpilibsuite/allwpilib/releases/tag/v2026.2.1)
<!-- What changed? Why? (the code + comments should speak for itself on
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## Meta
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Persuant to #1093, I added as many docstrings as I could, at least for
things I knew about. Some of the classes I just suppressed the Javadoc
warnings in because they aren't particularly useful to document. This
gets us down to less than 100 Javadoc warnings in total. Docs for core
classes on the C++ side were also added for parity.
## Description
Update to use our fork of the WPILib tool plugin. WPILib has indicated
that it won't be maintained past 2026, so we're forking it under our
org. We also fixed a bug that results in native libraries for multiple
platforms being included in a jar when only the native libraries for the
platform being built should be included.
## Meta
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---------
Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com>
Co-authored-by: samfreund <samf.236@proton.me>
## Description
This updates RobotPy and our Python examples to the 2026 beta.
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## Description
This allows photon-targeting to be loaded using the same mechanism as
the rest of the WPILib libraries, fixing issues with libraries not being
able to find and load their dependent libraries.
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This adds the two missing pose strategies from the java version of
photonlib (Constrained PNP and the Trig solve), to C++ photonlib
---------
Co-authored-by: Matthew Morley <matthew.morley.ca@gmail.com>
If there are more than 10 queued results,
PhotonCamera.getAllUnreadResults() would resize two arrays at least once
each.
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Fix numerous places where using AutoCloseable objects without closing
them.
Changes:
- Upgrade JUnit from 5.10.0 to 5.11.4 (so `@AutoClose` can be used)
- Use `Files.copy()` to copy files
- Use try-with-resources when calling `Files.list()` or `Files.walk()`
- Use try-with-resources or `@AutoClose` to close `PhotonCamera` and
`PhotonCameraSim` objects created by tests
- Update `SQLConfigTest` to use `@TempDir`
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This adds support for PNP_DISTANCE_TRIG_SOLVE in the the python
PhotonPoseEstimator, mirroring the implementation in the Java
PhotonPoseEstimator.
Changes:
- Add PoseStrategy.PNP_DISTANCE_TRIG_SOLVE
- Add addHeadingData() and resetHeadingData() to PhotonPoseEstimator
- Fix PhotonCameraSim.process() to set ntReceiveTimestampMicros in the
result
- Minor readability improvements to PhotonPipelineResult
- Minor test improvements to PhotonPoseEstimatorTest
- Add .vscode/settings.json (to make running python tests in VSCode
easier)
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---------
Co-authored-by: Sam948-byte <samf.236@proton.me>
## Description
Fixed the error in the OpenCV/WPILib version checking crash and
clarified it, since it's not PhotonVision that needs updating, but
rather WPILib.
Reported on chief
https://www.chiefdelphi.com/t/opencv-is-version-4-6-0-and-needs-to-be-4-10-0/501751/7
## Meta
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---------
Signed-off-by: Jade Turner <spacey-sooty@proton.me>
Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com>
## Description
Fixes the amount of cameras and pose estimators reported by usage reporting.
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---------
Signed-off-by: Jade Turner <spacey-sooty@proton.me>
## Description
Disable the Alerts test in PhotonCameraTest because it's consistently
failing on Linux.
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## Description
Fixes#1239
Tag image corners used in `VideoSimUtil` did not match the expected
corner order returned by the detection pipeline of [BL, BR, TR, TL],
causing the tag image to appear flipped.
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