fix: docs updates for the different apriltag field layouts (#1787)

Signed-off-by: Jade Turner <spacey-sooty@proton.me>
Co-authored-by: Jade Turner <spacey-sooty@proton.me>

.clang-format

@@ -0,0 +1,167 @@
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+BasedOnStyle:  Google
+AccessModifierOffset: -1
+AlignAfterOpenBracket: Align
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+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: true
+AlwaysBreakTemplateDeclarations: Yes
+BinPackArguments: true
+BinPackParameters: true
+BraceWrapping:
+  AfterCaseLabel:  false
+  AfterClass:      false
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+  AfterEnum:       false
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+  AfterStruct:     false
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+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
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+BreakBeforeBraces: Attach
+BreakBeforeInheritanceComma: false
+BreakInheritanceList: BeforeColon
+BreakBeforeTernaryOperators: true
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+BreakConstructorInitializers: BeforeColon
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
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+CommentPragmas:  '^ IWYU pragma:'
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+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DeriveLineEnding: false
+DerivePointerAlignment: false
+DisableFormat:   false
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: true
+ForEachMacros:
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IncludeBlocks:   Regroup
+IncludeCategories:
+  - Regex:           '^<ext/.*\.h>'
+    Priority:        2
+    SortPriority:    0
+  - Regex:           '^<.*\.h>'
+    Priority:        1
+    SortPriority:    0
+  - Regex:           '^<.*'
+    Priority:        2
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+IndentCaseLabels: true
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+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
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+MacroBlockBegin: ''
+MacroBlockEnd:   ''
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+ObjCBinPackProtocolList: Never
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+ObjCSpaceBeforeProtocolList: true
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+PenaltyBreakString: 1000
+PenaltyBreakTemplateDeclaration: 10
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 200
+PointerAlignment: Left
+RawStringFormats:
+  - Language:        Cpp
+    Delimiters:
+      - cc
+      - CC
+      - cpp
+      - Cpp
+      - CPP
+      - 'c++'
+      - 'C++'
+    CanonicalDelimiter: ''
+    BasedOnStyle:    google
+  - Language:        TextProto
+    Delimiters:
+      - pb
+      - PB
+      - proto
+      - PROTO
+    EnclosingFunctions:
+      - EqualsProto
+      - EquivToProto
+      - PARSE_PARTIAL_TEXT_PROTO
+      - PARSE_TEST_PROTO
+      - PARSE_TEXT_PROTO
+      - ParseTextOrDie
+      - ParseTextProtoOrDie
+    CanonicalDelimiter: ''
+    BasedOnStyle:    google
+ReflowComments:  true
+SortIncludes:    false
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: false
+SpaceAfterLogicalNot: false
+SpaceAfterTemplateKeyword: true
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+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+SpaceBeforeSquareBrackets: false
+Standard:        Auto
+StatementMacros:
+  - Q_UNUSED
+  - QT_REQUIRE_VERSION
+TabWidth:        8
+UseCRLF:         false
+UseTab:          Never
+...

.gitattributes

@@ -0,0 +1,40 @@
+# Set default behavior to automatically normalize line endings (LF on check-in).
+* text=auto
+
+# Force batch scripts to always use CRLF line endings so that if a repo is accessed
+# in Windows via a file share from Linux, the scripts will work.
+*.{cmd,[cC][mM][dD]} text eol=crlf
+*.{bat,[bB][aA][tT]} text eol=crlf
+*.{ics,[iI][cC][sS]} text eol=crlf
+
+# Force bash scripts to always use LF line endings so that if a repo is accessed
+# in Unix via a file share from Windows, the scripts will work.
+*.sh text eol=lf
+
+# Ensure Spotless does not try to use CRLF line endings on Windows in the local repo.
+*.gradle text eol=lf
+*.java text eol=lf
+*.json text eol=lf
+*.md text eol=lf
+*.xml text eol=lf
+*.h text eol=lf
+*.hpp text eol=lf
+*.inc text eol=lf
+*.inl text eol=lf
+*.cpp text eol=lf
+
+# Frontend Files
+*.js text eol=lf
+*.vue text eol=lf
+
+# Denote all files that are truly binary and should not be modified.
+*.png binary
+*.jpg binary
+*.jpeg binary
+*.gif binary
+*.so binary
+*.dll binary
+*.webp binary
+
+# autogenerated constrained solve pnp code
+photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/generate/**/* linguist-generated

.github/CODEOWNERS

@@ -1,3 +1,6 @@
 # These owners will be the default owners for everything in the repo.
 *	@PhotonVision/program-devs
-
+docs/* @PhotonVision/doc-maintainers
+photonlib-java-examples/* @PhotonVision/doc-maintainers
+photonlib-cpp-examples/* @PhotonVision/doc-maintainers
+photonlib-python-examples/* @PhotonVision/doc-maintainers

.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,31 @@
+---
+name: Bug report
+about: Create a report to help us improve
+title: ''
+labels: bug
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is and what the expected behavior should have been.
+
+**To Reproduce**
+Steps to reproduce the behavior:
+1. Go to '...'
+2. Click on '....'
+3. Scroll down to '....'
+4. See error
+
+**Screenshots / Videos**
+If applicable, add screenshots to help explain your problem. Additionally, provide journalctl logs and settings zip export. If your issue is regarding the web dashboard, please provide screenshots and the output of the browser console.
+
+**Platform:**
+ - Hardware Platform (ex. Raspberry Pi 4, Windows x64):
+ - Network Configuration (Connection between the Radio and any devices in between, such as a Network Switch):
+ - PhotonVision Version:
+ - Browser (with Version) (Chrome, Edge, Firefox, etc.):
+ - Camera(s) Used:
+
+**Additional context**
+Add any other context about the problem here.

.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,20 @@
+---
+name: Feature request
+about: Suggest an idea for this project
+title: ''
+labels: enhancement
+assignees: ''
+
+---
+
+**Is your feature request related to a problem? Please describe.**
+A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
+
+**Describe the solution you'd like**
+A clear and concise description of what you want to happen.
+
+**Describe alternatives you've considered**
+A clear and concise description of any alternative solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots about the feature request here.

.github/pull_request_template.md

@@ -0,0 +1,17 @@
+## 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. -->
+
+<!-- Any issues this pull request closes or pull requests this supersedes should be linked with `Closes #issuenumber`. -->
+
+## Meta
+
+Merge checklist:
+- [ ] Pull Request title is [short, imperative summary](https://cbea.ms/git-commit/) of proposed changes
+- [ ] The description documents the _what_ and _why_
+- [ ] If this PR changes behavior or adds a feature, user documentation is updated
+- [ ] If this PR touches photon-serde, all messages have been regenerated and hashes have not changed unexpectedly
+- [ ] If this PR touches configuration, this is backwards compatible with settings back to v2024.3.1
+- [ ] If this PR addresses a bug, a regression test for it is added

.github/workflows/build.yml

@@ -0,0 +1,598 @@
+name: Build
+
+on:
+  # Run on pushes to main and pushed tags, and on pull requests against main, but ignore the docs folder
+  push:
+    branches: [ main ]
+    tags:
+      - 'v*'
+  pull_request:
+    branches: [ main ]
+  merge_group:
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  build-client:
+    name: "PhotonClient Build"
+    defaults:
+      run:
+        working-directory: photon-client
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+      - name: Setup Node.js
+        uses: actions/setup-node@v4
+        with:
+          node-version: 18
+      - name: Install Dependencies
+        run: npm ci
+      - name: Build Production Client
+        run: npm run build
+      - uses: actions/upload-artifact@v4
+        with:
+          name: built-client
+          path: photon-client/dist/
+  build-examples:
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: windows-2022
+            architecture: x64
+          - os: macos-14
+            architecture: aarch64
+          - os: ubuntu-22.04
+
+    name: "Photonlib - Build Examples - ${{ matrix.os }}"
+    runs-on: ${{ matrix.os }}
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - name: Fetch tags
+        run: git fetch --tags --force
+      - name: Install Java 17
+        uses: actions/setup-java@v4
+        with:
+          java-version: 17
+          distribution: temurin
+      - name: Install RoboRIO Toolchain
+        run: ./gradlew installRoboRioToolchain
+      # Need to publish to maven local first, so that C++ sim can pick it up
+      - name: Publish photonlib to maven local
+        run: ./gradlew photon-targeting:publishtomavenlocal photon-lib:publishtomavenlocal -x check
+      - name: Build Java examples
+        working-directory: photonlib-java-examples
+        run: ./gradlew build
+      - name: Build C++ examples
+        working-directory: photonlib-cpp-examples
+        run: ./gradlew build
+  build-gradle:
+    name: "Gradle Build"
+    runs-on: ubuntu-22.04
+    steps:
+      # Checkout code.
+      - name: Checkout code
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - name: Fetch tags
+        run: git fetch --tags --force
+      - name: Install Java 17
+        uses: actions/setup-java@v4
+        with:
+          java-version: 17
+          distribution: temurin
+      - name: Install mrcal deps
+        run: sudo apt-get update && sudo apt-get install -y libcholmod3 liblapack3 libsuitesparseconfig5
+      - name: Gradle Build
+        run: ./gradlew photon-targeting:build photon-core:build photon-server:build -x check
+      - name: Gradle Tests
+        run: ./gradlew testHeadless -i --stacktrace
+      - name: Gradle Coverage
+        run: ./gradlew jacocoTestReport
+      - name: Publish Coverage Report
+        uses: codecov/codecov-action@v4
+        with:
+          file: ./photon-server/build/reports/jacoco/test/jacocoTestReport.xml
+      - name: Publish Core Coverage Report
+        uses: codecov/codecov-action@v4
+        with:
+          file: ./photon-core/build/reports/jacoco/test/jacocoTestReport.xml
+  build-offline-docs:
+    name: "Build Offline Docs"
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          python-version: '3.11'
+      - name: Install graphviz
+        run: |
+          sudo apt-get update
+          sudo apt-get -y install graphviz
+      - name: Install dependencies
+        working-directory: docs
+        run: |
+          python -m pip install --upgrade pip
+          pip install sphinx sphinx_rtd_theme sphinx-tabs sphinxext-opengraph doc8
+          pip install -r requirements.txt
+      - name: Build the docs
+        working-directory: docs
+        run: |
+          make html
+      - uses: actions/upload-artifact@v4
+        with:
+          name: built-docs
+          path: docs/build/html
+
+  build-photonlib-vendorjson:
+    name: "Build Vendor JSON"
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Install Java 17
+        uses: actions/setup-java@v4
+        with:
+          java-version: 17
+          distribution: temurin
+
+      # grab all tags
+      - run: git fetch --tags --force
+
+      # Generate the JSON and give it the ""standard""" name maven gives it
+      - run: |
+          ./gradlew photon-lib:generateVendorJson
+          export VERSION=$(git describe --tags --match=v*)
+          mv photon-lib/build/generated/vendordeps/photonlib.json photon-lib/build/generated/vendordeps/photonlib-$(git describe --tags --match=v*).json
+
+      # Upload it here so it shows up in releases
+      - uses: actions/upload-artifact@v4
+        with:
+          name: photonlib-vendor-json
+          path: photon-lib/build/generated/vendordeps/photonlib-*.json
+
+  build-photonlib-host:
+    env:
+      MACOSX_DEPLOYMENT_TARGET: 13
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: windows-2022
+            artifact-name: Win64
+            architecture: x64
+          - os: macos-14
+            artifact-name: macOS
+            architecture: aarch64
+          - os: ubuntu-22.04
+            artifact-name: Linux
+
+    name: "Photonlib - Build Host - ${{ matrix.artifact-name }}"
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - name: Install Java 17
+        uses: actions/setup-java@v4
+        with:
+          java-version: 17
+          distribution: temurin
+          architecture: ${{ matrix.architecture }}
+      - run: git fetch --tags --force
+      - run: ./gradlew photon-targeting:build photon-lib:build -i
+        name: Build with Gradle
+      - run: ./gradlew photon-lib:publish photon-targeting:publish
+        name: Publish
+        env:
+          ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
+        if: github.event_name == 'push' && github.repository_owner == 'photonvision'
+      # Copy artifacts to build/outputs/maven
+      - run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts
+      - uses: actions/upload-artifact@v4
+        with:
+          name: maven-${{ matrix.artifact-name }}
+          path: build/outputs
+
+  build-photonlib-docker:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - container: wpilib/roborio-cross-ubuntu:2025-24.04
+            artifact-name: Athena
+            build-options: "-Ponlylinuxathena"
+          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
+            artifact-name: Raspbian
+            build-options: "-Ponlylinuxarm32"
+          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
+            artifact-name: Aarch64
+            build-options: "-Ponlylinuxarm64"
+
+    runs-on: ubuntu-22.04
+    container: ${{ matrix.container }}
+    name: "Photonlib - Build Docker - ${{ matrix.artifact-name }}"
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - name: Config Git
+        run: |
+          git config --global --add safe.directory /__w/photonvision/photonvision
+      - name: Build PhotonLib
+        # We don't need to run tests, since we specify only non-native platforms
+        run: ./gradlew photon-targeting:build photon-lib:build ${{ matrix.build-options }} -i -x test
+      - name: Publish
+        run: ./gradlew photon-lib:publish photon-targeting:publish ${{ matrix.build-options }}
+        env:
+          ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
+        if: github.event_name == 'push' && github.repository_owner == 'photonvision'
+      # Copy artifacts to build/outputs/maven
+      - run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts ${{ matrix.build-options }}
+      - uses: actions/upload-artifact@v4
+        with:
+          name: maven-${{ matrix.artifact-name }}
+          path: build/outputs
+
+  combine:
+    name: Combine
+    needs: [build-photonlib-docker, build-photonlib-host]
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - run: git fetch --tags --force
+      # download all maven-* artifacts to outputs/
+      - uses: actions/download-artifact@v4
+        with:
+          merge-multiple: true
+          path: output
+          pattern: maven-*
+      - run: find .
+      - run: zip -r photonlib-$(git describe --tags --match=v*).zip .
+        name: ZIP stuff up
+        working-directory: output
+      - run: ls output
+      - uses: actions/upload-artifact@v4
+        with:
+          name: photonlib-offline
+          path: output/*.zip
+
+  build-package:
+    needs: [build-client, build-gradle, build-offline-docs]
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: windows-latest
+            artifact-name: Win64
+            architecture: x64
+            arch-override: winx64
+          - os: macos-latest
+            artifact-name: macOS
+            architecture: x64
+            arch-override: macx64
+          - os: macos-latest
+            artifact-name: macOSArm
+            architecture: x64
+            arch-override: macarm64
+          - os: ubuntu-22.04
+            artifact-name: Linux
+            architecture: x64
+            arch-override: linuxx64
+          - os: ubuntu-22.04
+            artifact-name: LinuxArm64
+            architecture: x64
+            arch-override: linuxarm64
+
+    runs-on: ${{ matrix.os }}
+    name: "Build fat JAR - ${{ matrix.artifact-name }}"
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - name: Install Java 17
+        uses: actions/setup-java@v4
+        with:
+          java-version: 17
+          distribution: temurin
+          architecture: ${{ matrix.architecture }}
+      - name: Install Arm64 Toolchain
+        run: ./gradlew installArm64Toolchain
+        if: ${{ (matrix.artifact-name) == 'LinuxArm64' }}
+      - run: |
+          rm -rf photon-server/src/main/resources/web/*
+          mkdir -p photon-server/src/main/resources/web/docs
+        if: ${{ (matrix.os) != 'windows-latest' }}
+      - run: |
+          del photon-server\src\main\resources\web\*.*
+          mkdir photon-server\src\main\resources\web\docs
+        if: ${{ (matrix.os) == 'windows-latest' }}
+      - uses: actions/download-artifact@v4
+        with:
+          name: built-client
+          path: photon-server/src/main/resources/web/
+      - uses: actions/download-artifact@v4
+        with:
+          name: built-docs
+          path: photon-server/src/main/resources/web/docs
+      - run: ./gradlew photon-targeting:jar photon-server:shadowJar -PArchOverride=${{ matrix.arch-override }}
+        if: ${{ (matrix.arch-override != 'none') }}
+      - run: ./gradlew photon-server:shadowJar
+        if: ${{ (matrix.arch-override == 'none') }}
+      - uses: actions/upload-artifact@v4
+        with:
+          name: jar-${{ matrix.artifact-name }}
+          path: photon-server/build/libs
+      - uses: actions/upload-artifact@v4
+        with:
+          name: photon-targeting_jar-${{ matrix.artifact-name }}
+          path: photon-targeting/build/libs
+
+  run-smoketest-native:
+    needs: [build-package]
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: ubuntu-22.04
+            artifact-name: jar-Linux
+            extraOpts: -Djdk.lang.Process.launchMechanism=vfork
+          - os: windows-latest
+            artifact-name: jar-Win64
+            extraOpts: ""
+          - os: macos-latest
+            artifact-name: jar-macOS
+            architecture: x64
+
+    runs-on: ${{ matrix.os }}
+
+    steps:
+      - name: Install Java 17
+        uses: actions/setup-java@v4
+        with:
+          java-version: 17
+          distribution: temurin
+      - uses: actions/download-artifact@v4
+        with:
+          name: ${{ matrix.artifact-name }}
+      # On linux, install mrcal packages
+      - run: |
+          sudo apt-get update
+          sudo apt-get install --yes libcholmod3 liblapack3 libsuitesparseconfig5
+        if: ${{ (matrix.os) == 'ubuntu-22.04' }}
+      # and actually run the jar
+      - run: java -jar ${{ matrix.extraOpts }} *.jar --smoketest
+        if: ${{ (matrix.os) != 'windows-latest' }}
+      - run: ls *.jar | %{ Write-Host "Running $($_.Name)"; Start-Process "java" -ArgumentList "-jar `"$($_.FullName)`" --smoketest" -NoNewWindow -Wait; break }
+        if: ${{ (matrix.os) == 'windows-latest' }}
+
+  run-smoketest-chroot:
+    needs: [build-package]
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: ubuntu-22.04
+            artifact-name: LinuxArm64
+            image_suffix: RaspberryPi
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.3/photonvision_raspi.img.xz
+            cpu: cortex-a7
+            image_additional_mb: 0
+            extraOpts: -Djdk.lang.Process.launchMechanism=vfork
+
+    runs-on: ${{ matrix.os }}
+    name: smoketest-${{ matrix.image_suffix }}
+
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          name: jar-${{ matrix.artifact-name }}
+
+      - uses: pguyot/arm-runner-action@v2
+        name: Run photon smoketest
+        id: generate_image
+        with:
+          base_image: ${{ matrix.image_url }}
+          image_additional_mb: ${{ matrix.image_additional_mb }}
+          optimize_image: yes
+          cpu: ${{ matrix.cpu }}
+          # We do _not_ wanna copy photon into the image. Bind mount instead
+          bind_mount_repository: true
+          # our image better have java installed already
+          commands: |
+            java -jar ${{ matrix.extraOpts }} *.jar --smoketest
+
+  build-image:
+    needs: [build-package]
+
+    if: ${{ github.event_name != 'pull_request' }}
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: ubuntu-22.04
+            artifact-name: LinuxArm64
+            image_suffix: RaspberryPi
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.3/photonvision_raspi.img.xz
+            cpu: cortex-a7
+            image_additional_mb: 0
+          - os: ubuntu-22.04
+            artifact-name: LinuxArm64
+            image_suffix: limelight2
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.3/photonvision_limelight.img.xz
+            cpu: cortex-a7
+            image_additional_mb: 0
+          - os: ubuntu-22.04
+            artifact-name: LinuxArm64
+            image_suffix: limelight3
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.3/photonvision_limelight3.img.xz
+            cpu: cortex-a7
+            image_additional_mb: 0
+          - os: ubuntu-22.04
+            artifact-name: LinuxArm64
+            image_suffix: limelight3G
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.3/photonvision_limelight3g.img.xz
+            cpu: cortex-a7
+            image_additional_mb: 0
+          - os: ubuntu-22.04
+            artifact-name: LinuxArm64
+            image_suffix: orangepi5
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.3/photonvision_opi5.img.xz
+            cpu: cortex-a8
+            image_additional_mb: 1024
+          - os: ubuntu-22.04
+            artifact-name: LinuxArm64
+            image_suffix: orangepi5b
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.3/photonvision_opi5b.img.xz
+            cpu: cortex-a8
+            image_additional_mb: 1024
+          - os: ubuntu-22.04
+            artifact-name: LinuxArm64
+            image_suffix: orangepi5plus
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.3/photonvision_opi5plus.img.xz
+            cpu: cortex-a8
+            image_additional_mb: 1024
+          - os: ubuntu-22.04
+            artifact-name: LinuxArm64
+            image_suffix: orangepi5pro
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.3/photonvision_opi5pro.img.xz
+            cpu: cortex-a8
+            image_additional_mb: 1024
+          - os: ubuntu-22.04
+            artifact-name: LinuxArm64
+            image_suffix: orangepi5max
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.3/photonvision_opi5max.img.xz
+            cpu: cortex-a8
+            image_additional_mb: 1024
+          - os: ubuntu-22.04
+            artifact-name: LinuxArm64
+            image_suffix: rock5c
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.3/photonvision_rock5c.img.xz
+            cpu: cortex-a8
+            image_additional_mb: 1024
+
+    runs-on: ${{ matrix.os }}
+    name: "Build image - ${{ matrix.image_url }}"
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - uses: actions/download-artifact@v4
+        with:
+          name: jar-${{ matrix.artifact-name }}
+      - uses: pguyot/arm-runner-action@HEAD
+        name: Generate image
+        id: generate_image
+        with:
+          base_image: ${{ matrix.image_url }}
+          image_additional_mb: ${{ matrix.image_additional_mb }}
+          optimize_image: yes
+          cpu: ${{ matrix.cpu }}
+          # We do _not_ wanna copy photon into the image. Bind mount instead
+          bind_mount_repository: true
+          commands: |
+            chmod +x scripts/armrunner.sh
+            ./scripts/armrunner.sh
+      - name: Compress image
+        run: |
+          new_jar=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
+          new_image_name=$(basename "${new_jar/.jar/_${{ matrix.image_suffix }}.img}")
+          mv ${{ steps.generate_image.outputs.image }} $new_image_name
+          sudo xz -T 0 -v $new_image_name
+      - uses: actions/upload-artifact@v4
+        name: Upload image
+        with:
+          name: image-${{ matrix.image_suffix }}
+          path: photonvision*.xz
+  release:
+    needs: [build-package, build-image, combine]
+    runs-on: ubuntu-22.04
+    steps:
+      # Download all fat JARs
+      - uses: actions/download-artifact@v4
+        with:
+          merge-multiple: true
+          pattern: jar-*
+      # Download offline photonlib
+      - uses: actions/download-artifact@v4
+        with:
+          merge-multiple: true
+          pattern: photonlib-offline
+      # Download vendor json
+      - uses: actions/download-artifact@v4
+        with:
+          merge-multiple: true
+          pattern: photonlib-vendor-json
+      # Download all images
+      - uses: actions/download-artifact@v4
+        with:
+          merge-multiple: true
+          pattern: image-*
+
+      - run: find
+      # Push to dev release
+      - uses: pyTooling/Actions/releaser@r0
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+          tag: 'Dev'
+          rm: true
+          files: |
+            **/*.xz
+            **/*.jar
+            **/photonlib*.json
+            **/photonlib*.zip
+        if: github.event_name == 'push'
+      # Upload all jars and xz archives
+      # Split into two uploads to work around max size limits in action-gh-releases
+      # https://github.com/softprops/action-gh-release/issues/353
+      - uses: softprops/action-gh-release@v2.0.9
+        with:
+          files: |
+            **/@(*orangepi5*|*rock5*).xz
+        if: startsWith(github.ref, 'refs/tags/v')
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      - uses: softprops/action-gh-release@v2.0.9
+        with:
+          files: |
+            **/!(*orangepi5*|*rock5*).xz
+            **/*.jar
+            **/photonlib*.json
+            **/photonlib*.zip
+        if: startsWith(github.ref, 'refs/tags/v')
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+  dispatch:
+    name: dispatch
+    needs: [build-photonlib-vendorjson, release]
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: peter-evans/repository-dispatch@v3
+        if: |
+          github.repository == 'PhotonVision/photonvision' &&
+          startsWith(github.ref, 'refs/tags/v')
+        with:
+          token: ${{ secrets.VENDOR_JSON_REPO_PUSH_TOKEN }}
+          repository: PhotonVision/vendor-json-repo
+          event-type: tag
+          client-payload: '{"run_id": "${{ github.run_id }}", "package_version": "${{ github.ref_name }}"}'

.github/workflows/cut-new-tag.yml

@@ -0,0 +1,17 @@
+name: Cut a new tag
+
+on:
+  workflow_dispatch:
+    inputs:
+      tag_name:
+        type: string
+        description: The full name of the new tag to push to the latest commit to main
+
+jobs:
+  push_tag:
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: actions/checkout@v4
+      - run: git tag ${{ github.event.inputs.tag_name }}
+      - run: git push origin ${{ github.event.inputs.tag_name }}

.github/workflows/lint-format.yml

@@ -0,0 +1,89 @@
+name: Lint and Format
+
+on:
+  # Run on pushes to main and pushed tags, and on pull requests against main, but ignore the docs folder
+  push:
+    branches: [ main ]
+    tags:
+      - 'v*'
+  pull_request:
+    branches: [ main ]
+  merge_group:
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  wpiformat:
+    name: "wpiformat"
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+      - name: Fetch all history and metadata
+        run: |
+          git fetch --prune --unshallow
+          git checkout -b pr
+          git branch -f main origin/main
+      - name: Set up Python 3.8
+        uses: actions/setup-python@v4
+        with:
+          python-version: 3.11
+      - name: Install wpiformat
+        run: pip3 install wpiformat==2024.45
+      - name: Run
+        run: wpiformat
+      - name: Check output
+        run: git --no-pager diff --exit-code HEAD
+      - name: Generate diff
+        run: git diff HEAD > wpiformat-fixes.patch
+        if: ${{ failure() }}
+      - uses: actions/upload-artifact@v4
+        with:
+          name: wpiformat fixes
+          path: wpiformat-fixes.patch
+        if: ${{ failure() }}
+  javaformat:
+    name: "Java Formatting"
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - uses: actions/setup-java@v4
+        with:
+          java-version: 17
+          distribution: temurin
+      - run: ./gradlew spotlessCheck
+        name: Run spotless
+
+  client-lint-format:
+    name: "PhotonClient Lint and Formatting"
+    defaults:
+      run:
+        working-directory: photon-client
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+      - name: Setup Node.js
+        uses: actions/setup-node@v4
+        with:
+          node-version: 18
+      - name: Install Dependencies
+        run: npm ci
+      - name: Check Linting
+        run: npm run lint-ci
+      - name: Check Formatting
+        run: npm run format-ci
+  server-index:
+    name: "Check server index.html not changed"
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+      - name: Fetch all history and metadata
+        run: |
+          git fetch --prune --unshallow
+          git checkout -b pr
+          git branch -f main origin/main
+      - name: Check index.html not changed
+        run: git --no-pager diff --exit-code origin/main photon-server/src/main/resources/web/index.html

.github/workflows/main.yml

@@ -1,211 +0,0 @@
-# This workflow builds the client (UI), the server, builds the JAR.
-
-name: CI
-
-# Controls when the action will run. Triggers the workflow on push or pull request
-# events but only for the master branch
-on:
-  push:
-    branches: [ master ]
-  pull_request:
-    branches: [ master ]
-
-jobs:
-  # This job builds the client (web view).
-  build-client:
-
-    # Let all steps run within the photon-client dir.
-    defaults:
-      run:
-        working-directory: photon-client
-
-    # The type of runner that the job will run on.
-    runs-on: ubuntu-latest
-
-    # Grab the docker container.
-    container:
-      image: docker://node:10
-
-    steps:
-    # Checkout code.
-    - uses: actions/checkout@v1
-    
-    # Setup Node.js
-    - name: Setup Node.js
-      uses: actions/setup-node@v1
-      with:
-        node-version: 10
-
-    # Run npm
-    - run: |
-        npm ci
-        npm run build --if-present
-
-    # Upload client artifact.
-    - uses: actions/upload-artifact@master
-      with:
-        name: built-client
-        path: photon-client/dist/
-
-  build-server:
-    # Let all steps run within the photon-server dir.
-    defaults:
-      run:
-        working-directory: photon-server
-
-    # The type of runner that the job will run on.
-    runs-on: ubuntu-latest
-
-    steps:
-      # Checkout code.
-      - name: Checkout code
-        uses: actions/checkout@v1
-        
-      # Install Java 11.
-      - name: Install Java 11
-        uses: actions/setup-java@v1
-        with:
-          java-version: 11
-
-      # Run Gradle build.
-      - name: Gradle Build
-        run: |
-          chmod +x gradlew
-          ./gradlew build -x check
-
-      # Run Tests Generate Coverage Report.
-      - name: Gradle Test and Coverage
-        run: ./gradlew jacocoTestReport
-      
-      # Publish Coverage Report.
-      - name: Publish Coverage Report
-        uses: codecov/codecov-action@v1
-        with:
-          file: ./photon-server/build/reports/jacoco/test/jacocoTestReport.xml
-
-  build-offline-docs:
-    runs-on: ubuntu-latest
-
-    steps:
-      # Checkout docs.
-      - uses: actions/checkout@v2
-        with:
-          repository: 'PhotonVision/photonvision-docs.git'
-          ref: master
-
-      # Install Python.
-      - uses: actions/setup-python@v2
-        with:
-          python-version: '3.6'
-        
-      - name: Install dependencies
-        run: |
-          python -m pip install --upgrade pip
-          pip install sphinx sphinx_rtd_theme sphinx-tabs sphinxext-opengraph doc8
-          pip install -r requirements.txt
-          
-      - name: Install LaTeX and other system dependencies
-        run: sudo apt install -y texlive-latex-recommended texlive-fonts-recommended texlive-latex-extra latexmk texlive-lang-greek texlive-luatex texlive-xetex texlive-fonts-extra dvipng graphviz
-          
-      - name: Check the docs
-        run: |
-          make linkcheck
-          make lint
-          
-      - name: Build the docs
-        run: |
-          make html
-
-      # Upload docs artifact.
-      - uses: actions/upload-artifact@master
-        with:
-          name: built-docs
-          path: build/html
-      
-
-  build-package:
-    needs: [build-client, build-server, build-offline-docs]
-
-    # Let all steps run within the photon-server dir.
-    defaults:
-      run:
-        working-directory: photon-server
-
-    # The type of runner that the job will run on.
-    runs-on: ubuntu-latest
-
-    steps:
-      # Checkout code.
-      - uses: actions/checkout@v1
-      
-      # Install Java 11.
-      - uses: actions/setup-java@v1
-        with:
-          java-version: 11
-
-      # Clear any existing web resources.
-      - run: |
-          rm -rf src/main/resources/web/*
-          mkdir -p src/main/resources/web/docs
-
-      # Download client artifact to resources folder.
-      - uses: actions/download-artifact@v2
-        with:
-          name: built-client
-          path: photon-server/src/main/resources/web/
-
-      # Download docs artifact to resources folder.
-      - uses: actions/download-artifact@v2
-        with:
-          name: built-docs
-          path: photon-server/src/main/resources/web/docs     
-
-
-      # Print folder contents.
-      - run: ls
-        working-directory: photon-server/src/main/resources/web/
-
-      # Build fat jar.
-      - run: |
-          chmod +x gradlew
-          ./gradlew shadowJar
-        working-directory: photon-server
-
-      # Upload final fat jar as artifact.
-      - uses: actions/upload-artifact@master
-        with:
-          name: jar
-          path: photon-server/build/libs
-    
-      - uses: eine/tip@master
-        with:
-          token: ${{ secrets.GITHUB_TOKEN }}
-          tag: 'Dev'
-          rm: true
-          files: |
-            photon-server/build/libs/*.jar
-        if: github.event_name == 'push'
-
-  check-lint:
-    # Let all steps run within the photon-server dir.
-    defaults:
-      run:
-        working-directory: photon-server
-
-    # The type of runner that the job will run on.
-    runs-on: ubuntu-latest
-    
-    steps:
-      # Checkout code.
-      - uses: actions/checkout@v1
-
-      # Install Java 11.
-      - uses: actions/setup-java@v1
-        with:
-          java-version: 11
-      
-      # Check server code with Spotless.
-      - run: |
-          chmod +x gradlew
-          ./gradlew spotlessCheck
-            

.github/workflows/photon-code-docs.yml

@@ -0,0 +1,89 @@
+name: Photon Code Documentation
+
+on:
+  # Run on pushes to main and pushed tags, and on pull requests against main, but ignore the docs folder
+  push:
+    branches: [ main ]
+    tags:
+      - 'v*'
+  pull_request:
+    branches: [ main ]
+  merge_group:
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+# Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
+permissions:
+  contents: read
+  pages: write
+  id-token: write
+
+jobs:
+  build-client:
+    name: "PhotonClient Build"
+    defaults:
+      run:
+        working-directory: photon-client
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+      - name: Setup Node.js
+        uses: actions/setup-node@v4
+        with:
+          node-version: 18
+      - name: Install Dependencies
+        run: npm ci
+      - name: Build Production Client
+        run: npm run build-demo
+      - uses: actions/upload-artifact@v4
+        with:
+          name: built-client
+          path: photon-client/dist/
+
+  run_docs:
+    runs-on: "ubuntu-22.04"
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
+    - name: Fetch tags
+      run: git fetch --tags --force
+    - name: Install Java 17
+      uses: actions/setup-java@v4
+      with:
+        java-version: 17
+        distribution: temurin
+
+    - name: Build javadocs/doxygen
+      run: |
+        chmod +x gradlew
+        ./gradlew photon-docs:generateJavaDocs photon-docs:doxygen
+
+    - uses: actions/upload-artifact@v4
+      with:
+        name: built-docs
+        path: photon-docs/build/docs
+
+  release:
+    needs: [build-client, run_docs]
+
+    runs-on: ubuntu-22.04
+    steps:
+
+      # Download literally every single artifact.
+      - uses: actions/download-artifact@v4
+
+      - run: find .
+      - name: copy file via ssh password
+        if: github.ref == 'refs/heads/main'
+        uses: appleboy/scp-action@v0.1.7
+        with:
+          host: ${{ secrets.WEBMASTER_SSH_HOST }}
+          username: ${{ secrets.WEBMASTER_SSH_USERNAME }}
+          password: ${{ secrets.WEBMASTER_SSH_KEY }}
+          port: ${{ secrets.WEBMASTER_SSH_PORT }}
+          source: "*"
+          target: /var/www/html/photonvision-docs/

.github/workflows/photonvision-docs.yml

@@ -0,0 +1,53 @@
+name: PhotonVision Sphinx Documentation Checks
+
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+  merge_group:
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+env:
+  GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+jobs:
+  build:
+    runs-on: ubuntu-22.04
+
+    steps:
+    - uses: actions/checkout@v4
+
+    - uses: actions/setup-python@v4
+      with:
+        python-version: '3.11'
+
+    - name: Install and upgrade pip
+      run: python -m pip install --upgrade pip
+
+    - name: Install graphviz
+      run: |
+        sudo apt-get update
+        sudo apt-get -y install graphviz
+
+    - name: Install Python dependencies
+      working-directory: docs
+      run: |
+        pip install sphinx sphinx_rtd_theme sphinx-tabs sphinxext-opengraph doc8
+        pip install -r requirements.txt
+
+    - name: Check links
+      working-directory: docs
+      run: make linkcheck
+      continue-on-error: true
+
+    - name: Check lint
+      working-directory: docs
+      run: make lint
+
+    - name: Compile HTML
+      working-directory: docs
+      run: make html

.github/workflows/python.yml

@@ -0,0 +1,72 @@
+name: Build and Distribute PhotonLibPy
+
+permissions:
+  id-token: write  # IMPORTANT: this permission is mandatory for trusted publishing
+
+on:
+  push:
+    branches: [ main ]
+    tags:
+      - 'v*'
+  pull_request:
+    branches: [ main ]
+  merge_group:
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  buildAndDeploy:
+    runs-on: ubuntu-22.04
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: 3.11
+
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install setuptools wheel pytest mypy
+
+      - name: Build wheel
+        working-directory: ./photon-lib/py
+        run: |
+          python setup.py sdist bdist_wheel
+
+      - name: Run Unit Tests
+        working-directory: ./photon-lib/py
+        run: |
+            pip install --no-cache-dir dist/*.whl
+            pytest
+
+      - name: Run mypy type checking
+        uses: liskin/gh-problem-matcher-wrap@v3
+        with:
+          linters: mypy
+          run: |
+            mypy --show-column-numbers --config-file photon-lib/py/pyproject.toml photon-lib
+
+
+      - name: Upload artifacts
+        uses: actions/upload-artifact@master
+        with:
+          name: dist
+          path: ./photon-lib/py/dist/
+
+      - name: Publish package distributions to TestPyPI
+        # Only upload on tags
+        if: startsWith(github.ref, 'refs/tags/v')
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          packages_dir: ./photon-lib/py/dist/
+
+    permissions:
+      id-token: write  # IMPORTANT: this permission is mandatory for trusted publishing

.gitignore

@@ -10,6 +10,8 @@ Python/app/handlers/__pycache__/
 
 \.vscode/
 
+/.vs
+
 backend/settings/
 /.vscode/
 # Compiled class file
@@ -30,6 +32,7 @@ backend/settings/
 *.nar
 *.ear
 *.zip
+*.xz
 *.tar.gz
 *.rar
 
@@ -104,24 +107,46 @@ fabric.properties
 # Android studio 3.1+ serialized cache file
 .idea/caches/build_file_checksums.ser
 
-
-photon-server/.gradle
-photon-server/target
-photon-server/src/main/java/META-INF
-photon-server/.settings
-photon-server/.classpath
-photon-server/.project
-photon-server/settings
-photon-server/dependency-reduced-pom.xml
+# Temporary build files
+**/.gradle
+**/target
+**/src/main/java/META-INF
+**/.settings
+**/.classpath
+**/.project
+**/dependency-reduced-pom.xml
 # photon-server/photon-vision.iml
 
+# compile_commands
+compile_commands.json
+
+# clang configuration and clangd cache
+.clang
+.clangd/
+.cache/
+
 New client/photon-client/*
 
 *.prefs
 *.jfr
 .DS_Store
 # *.iml
-photon-server/build
-photon-server/photon-vision
-photon-server/src/main/resources/web
-photon-server/src/main/java/org/photonvision/PhotonVersion.java
+*.bin
+.gradle
+.gradle/*
+photonvision_config
+bin*/
+build*/
+
+photonlib-java-examples/*/vendordeps/*
+photonlib-cpp-examples/*/vendordeps/*
+
+*/networktables.json
+*/networktables.json.bck
+photonlib-cpp-examples/*/networktables.json.bck
+photonlib-java-examples/*/networktables.json.bck
+*.sqlite
+photon-server/src/main/resources/web/*
+venv
+.venv/*
+.venv

.readthedocs.yaml

@@ -0,0 +1,30 @@
+version: 2
+
+sphinx:
+  builder: html
+  configuration: docs/source/conf.py
+  fail_on_warning: true
+
+build:
+  os: ubuntu-22.04
+  tools:
+    python: "3.11"
+  apt_packages:
+    - graphviz
+  jobs:
+    post_checkout:
+      # Cancel building pull requests when there aren't changed in the docs directory or YAML file.
+      # You can add any other files or directories that you'd like here as well,
+      # like your docs requirements file, or other files that will change your docs build.
+      #
+      # If there are no changes (git diff exits with 0) we force the command to return with 183.
+      # This is a special exit code on Read the Docs that will cancel the build immediately.
+      - |
+        if [ "$READTHEDOCS_VERSION_TYPE" = "external" ] && git diff --quiet origin/master -- docs/ .readthedocs.yaml;
+        then
+          exit 183;
+        fi
+
+python:
+  install:
+    - requirements: docs/requirements.txt

.styleguide

@@ -0,0 +1,37 @@
+cppHeaderFileInclude {
+  \.h$
+  \.hpp$
+  \.inc$
+  \.inl$
+}
+
+cppSrcFileInclude {
+  \.cpp$
+}
+
+modifiableFileExclude {
+  \.jpg$
+  \.jpeg$
+  \.png$
+  \.gif$
+  \.so$
+  \.dll$
+  \.webp$
+  \.ico$
+  \.rknn$
+  gradlew
+  photon-lib/py/photonlibpy/generated/
+  photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/generate/
+  photon-targeting/src/generated/
+}
+
+includeProject {
+  ^photonLib/
+}
+
+includeOtherLibs {
+  ^frc/
+  ^networktables/
+  ^units/
+  ^wpi/
+}

.styleguide-license

@@ -1,5 +1,5 @@
 /*
- * Copyright (C) $YEAR Photon Vision.
+ * Copyright (C) Photon Vision.
  *
  * This program is free software: you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
@@ -14,4 +14,3 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
-

README.md

@@ -1,25 +1,73 @@
-# Photon Vision
+# PhotonVision
 
-[![CI](https://github.com/PhotonVision/photonvision/workflows/CI/badge.svg)](https://github.com/PhotonVision/photonvision/actions?query=workflow%3ACI) [![codecov](https://codecov.io/gh/PhotonVision/photonvision/branch/master/graph/badge.svg)](https://codecov.io/gh/PhotonVision/photonvision)
+[![Discord](https://img.shields.io/discord/725836368059826228?color=%23738ADB&label=Join%20our%20Discord&logo=discord&logoColor=white)](https://discord.gg/wYxTwym)
 
-A copy of the latest development release is available [here](https://github.com/PhotonVision/photonvision/releases/tag/Dev).
+PhotonVision is the free, fast, and easy-to-use computer vision solution for the *FIRST* Robotics Competition. You can read an overview of our features [on our website](https://photonvision.org). You can find our comprehensive documentation [here](https://docs.photonvision.org).
 
-PhotonVision is a fork of [Chameleon Vision](https://github.com/Chameleon-Vision/chameleon-vision/), a free open-source software for FRC teams to use for vision processing on their robots. Thank you to everyone who worked on the original project.
+The latest release of platform-specific jars and images is found [here](https://github.com/PhotonVision/photonvision/releases).
 
-For information on contributing or running PhotonVision, please read our documentation on ReadTheDocs.
-
-# Roadmap
-
-Our roadmap is publicly available on [Trello](https://trello.com/photonvision).
+If you are interested in contributing code or documentation to the project, please [read our getting started page for contributors](https://docs.photonvision.org/en/latest/docs/contributing/index.html) and **[join the Discord](https://discord.gg/wYxTwym) to introduce yourself!** We hope to provide a welcoming community to anyone who is interested in helping.
 
 ## Authors
 
-A list of contributors is available in our documentation on ReadTheDocs.
+<a href="https://github.com/PhotonVision/photonvision/graphs/contributors">
+  <img src="https://contrib.rocks/image?repo=PhotonVision/photonvision" />
+</a>
 
+## Documentation
+
+- Our main documentation page: [docs.photonvision.org](https://docs.photonvision.org)
+- Photon UI demo: [http://photonvision.global/](http://photonvision.global/) (or [manual link](https://photonvision.github.io/photonvision/built-client/))
+- Javadocs: [javadocs.photonvision.org](https://javadocs.photonvision.org) (or [manual link](https://photonvision.github.io/photonvision/built-docs/javadoc/))
+- C++ Doxygen  [cppdocs.photonvision.org](https://cppdocs.photonvision.org) (or [manual link](https://photonvision.github.io/photonvision/built-docs/doxygen/html/))
+
+## Building
+
+Gradle is used for all C++ and Java code, and NPM is used for the web UI. Instructions to compile PhotonVision yourself can be found [in our docs](https://docs.photonvision.org/en/latest/docs/contributing/building-photon.html#compiling-instructions).
+
+You can run one of the many built in examples straight from the command line, too! They contain a fully featured robot project, and some include simulation support. The projects can be found inside the [`photonlib-java-examples`](photonlib-java-examples) and [`photonlib-cpp-examples`](photonlib-cpp-examples) subdirectories, respectively. Instructions for running these examples directly from the repo are found [in the docs](https://docs.photonvision.org/en/latest/docs/contributing/building-photon.html#running-examples).
+
+## Gradle Arguments
+
+Note that these are case sensitive!
+
+* `-PArchOverride=foobar`: builds for a target system other than your current architecture. [Valid overrides](https://github.com/wpilibsuite/wpilib-tool-plugin/blob/main/src/main/java/edu/wpi/first/tools/NativePlatforms.java) are:
+    * winx32
+    * winx64
+    * winarm64
+    * macx64
+    * macarm64
+    * linuxx64
+    * linuxarm64
+    * linuxathena
+- `-PtgtIP`: Specifies where `./gradlew deploy` should try to copy the fat JAR to
+- `-Pprofile`: enables JVM profiling
+
+If you're cross-compiling, you'll need the wpilib toolchain installed. This can be done via Gradle: for example `./gradlew installArm64Toolchain` or `./gradlew installRoboRioToolchain`
+
+## Out-of-Source Dependencies
+
+PhotonVision uses the following additional out-of-source repositories for building code.
+
+- Base system images for Raspberry Pi & Orange Pi: https://github.com/PhotonVision/photon-image-modifier
+- C++ driver for Raspberry Pi CSI cameras: https://github.com/PhotonVision/photon-libcamera-gl-driver
+- JNI code for [mrcal](https://mrcal.secretsauce.net/): https://github.com/PhotonVision/mrcal-java
+- Custom build of OpenCV with GStreamer/Protobuf/other custom flags: https://github.com/PhotonVision/thirdparty-opencv
+- JNI code for aruco-nano: https://github.com/PhotonVision/aruconano-jni
+
+## Additional packages
+
+For now, using mrcal requires installing these additional packages on Linux systems:
+
+```
+sudo apt install libcholmod3 liblapack3 libsuitesparseconfig5
+```
 
 ## Acknowledgments
 
-* [WPILib](https://github.com/wpilibsuite) - Specifically [cscore](https://github.com/wpilibsuite/allwpilib/tree/master/cscore), [CameraServer](https://github.com/wpilibsuite/allwpilib/tree/master/cameraserver), [NTCore](https://github.com/wpilibsuite/allwpilib/tree/master/ntcore), and [OpenCV](https://github.com/wpilibsuite/thirdparty-opencv). 
+PhotonVision was forked from [Chameleon Vision](https://github.com/Chameleon-Vision/chameleon-vision/). Thank you to everyone who worked on the original project.
+
+* [WPILib](https://github.com/wpilibsuite) - Specifically [cscore](https://github.com/wpilibsuite/allwpilib/tree/main/cscore), [CameraServer](https://github.com/wpilibsuite/allwpilib/tree/main/cameraserver), [NTCore](https://github.com/wpilibsuite/allwpilib/tree/main/ntcore), and [OpenCV](https://github.com/wpilibsuite/thirdparty-opencv).
 
 * [Apache Commons](https://commons.apache.org/) - Specifically [Commons Math](https://commons.apache.org/proper/commons-math/), and [Commons Lang](https://commons.apache.org/proper/commons-lang/)
 
@@ -29,5 +77,10 @@ A list of contributors is available in our documentation on ReadTheDocs.
 
 * [FasterXML](https://github.com/FasterXML) - Specifically [jackson](https://github.com/FasterXML/jackson)
 
-## License  
-Usage of PhotonVision must fall under all terms of [GNU General Public License](https://www.gnu.org/licenses/gpl-3.0.html)
+## License
+
+PhotonVision is licensed under the [GNU General Public License](https://www.gnu.org/licenses/gpl-3.0.html).
+
+## Meeting Notes
+
+Our [meeting notes](https://github.com/PhotonVision/photonvision/wiki/PhotonVision-Meeting-Notes) can be found in the wiki section of this repository.

build.gradle

@@ -0,0 +1,124 @@
+import edu.wpi.first.toolchain.*
+
+plugins {
+    id "cpp"
+    id "com.diffplug.spotless" version "6.24.0"
+    id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
+    id "edu.wpi.first.GradleRIO" version "2025.3.1"
+    id 'edu.wpi.first.WpilibTools' version '1.3.0'
+    id 'com.google.protobuf' version '0.9.3' apply false
+    id 'edu.wpi.first.GradleJni' version '1.1.0'
+    id "org.ysb33r.doxygen" version "1.0.4" apply false
+    id 'com.gradleup.shadow' version '8.3.4' apply false
+    id "com.github.node-gradle.node" version "7.0.1" apply false
+    id "org.hidetake.ssh" version "2.11.2" apply false
+}
+
+allprojects {
+    repositories {
+        mavenCentral()
+        mavenLocal()
+        maven { url = "https://maven.photonvision.org/releases" }
+        maven { url = "https://maven.photonvision.org/snapshots" }
+        maven { url = "https://jogamp.org/deployment/maven/" }
+    }
+    wpilibRepositories.addAllReleaseRepositories(it)
+    wpilibRepositories.addAllDevelopmentRepositories(it)
+}
+
+ext.localMavenURL = file("$project.buildDir/outputs/maven")
+ext.allOutputsFolder = file("$project.buildDir/outputs")
+
+// Configure the version number.
+apply from: "versioningHelper.gradle"
+
+ext {
+    wpilibVersion = "2025.3.1"
+    wpimathVersion = wpilibVersion
+    openCVYear = "2025"
+    openCVversion = "4.10.0-3"
+    joglVersion = "2.4.0"
+    javalinVersion = "5.6.2"
+    libcameraDriverVersion = "v2025.0.3"
+    rknnVersion = "dev-v2025.0.0-1-g33b6263"
+    frcYear = "2025"
+    mrcalVersion = "v2025.0.0";
+
+
+    pubVersion = versionString
+    isDev = pubVersion.startsWith("dev")
+
+    // A list, for legacy reasons, with only the current platform contained
+    wpilibNativeName = wpilibTools.platformMapper.currentPlatform.platformName;
+    def nativeName = wpilibNativeName
+    if (wpilibNativeName == "linuxx64") nativeName = "linuxx86-64";
+    if (wpilibNativeName == "winx64") nativeName = "windowsx86-64";
+    if (wpilibNativeName == "macx64") nativeName = "osxx86-64";
+    if (wpilibNativeName == "macarm64") nativeName = "osxarm64";
+    jniPlatform = nativeName
+
+    println("Building for platform " + jniPlatform + " wpilib: " + wpilibNativeName)
+    println("Using Wpilib: " + wpilibVersion)
+    println("Using OpenCV: " + openCVversion)
+
+
+    photonMavenURL = 'https://maven.photonvision.org/' + (isDev ? 'snapshots' : 'releases');
+    println("Publishing Photonlib to " + photonMavenURL)
+}
+
+spotless {
+    java {
+        target fileTree('.') {
+            include '**/*.java'
+            exclude '**/build/**', '**/build-*/**', '**/src/generated/**'
+        }
+        toggleOffOn()
+        googleJavaFormat()
+        indentWithTabs(2)
+        indentWithSpaces(4)
+        removeUnusedImports()
+        trimTrailingWhitespace()
+        endWithNewline()
+    }
+    groovyGradle {
+        target fileTree('.') {
+            include '**/*.gradle'
+            exclude '**/build/**', '**/build-*/**'
+        }
+        greclipse()
+        indentWithSpaces(4)
+        trimTrailingWhitespace()
+        endWithNewline()
+    }
+    format 'misc', {
+        target fileTree('.') {
+            include '**/*.md', '**/.gitignore'
+            exclude '**/build/**', '**/build-*/**'
+        }
+        trimTrailingWhitespace()
+        indentWithSpaces(2)
+        endWithNewline()
+    }
+}
+
+wrapper {
+    gradleVersion '8.11'
+}
+
+ext.getCurrentArch = {
+    return NativePlatforms.desktop
+}
+
+subprojects {
+    tasks.withType(JavaCompile) {
+        options.compilerArgs.add '-XDstringConcat=inline'
+        options.encoding = 'UTF-8'
+    }
+
+    // Enables UTF-8 support in Javadoc
+    tasks.withType(Javadoc) {
+        options.addStringOption("charset", "utf-8")
+        options.addStringOption("docencoding", "utf-8")
+        options.addStringOption("encoding", "utf-8")
+    }
+}

codecov.yml

@@ -2,4 +2,4 @@ coverage:
   # Turning off commit status to prevent failed checks if coverage decreases
   status:
     project: no
-    patch: no 
+    patch: no

devTools/calibrationUtils.py

@@ -0,0 +1,255 @@
+import argparse
+import base64
+import json
+import os
+from dataclasses import dataclass
+
+import cv2
+import mrcal
+import numpy as np
+from wpimath.geometry import Quaternion as _Quat
+
+
+@dataclass
+class Size:
+    width: int
+    height: int
+
+
+@dataclass
+class JsonMatOfDoubles:
+    rows: int
+    cols: int
+    type: int
+    data: list[float]
+
+
+@dataclass
+class JsonMat:
+    rows: int
+    cols: int
+    type: int
+    data: str  # Base64-encoded PNG data
+
+
+@dataclass
+class Point2:
+    x: float
+    y: float
+
+
+@dataclass
+class Translation3d:
+    x: float
+    y: float
+    z: float
+
+
+@dataclass
+class Quaternion:
+    X: float
+    Y: float
+    Z: float
+    W: float
+
+
+@dataclass
+class Rotation3d:
+    quaternion: Quaternion
+
+
+@dataclass
+class Pose3d:
+    translation: Translation3d
+    rotation: Rotation3d
+
+
+@dataclass
+class Point3:
+    x: float
+    y: float
+    z: float
+
+
+@dataclass
+class Observation:
+    # Expected feature 3d location in the camera frame
+    locationInObjectSpace: list[Point3]
+    # Observed location in pixel space
+    locationInImageSpace: list[Point2]
+    # (measured location in pixels) - (expected from FK)
+    reprojectionErrors: list[Point2]
+    # Solver optimized board poses
+    optimisedCameraToObject: Pose3d
+    # If we should use this observation when re-calculating camera calibration
+    includeObservationInCalibration: bool
+    snapshotName: str
+    # The actual image the snapshot is from
+    snapshotData: JsonMat
+
+
+@dataclass
+class CameraCalibration:
+    resolution: Size
+    cameraIntrinsics: JsonMatOfDoubles
+    distCoeffs: JsonMatOfDoubles
+    observations: list[Observation]
+    calobjectWarp: list[float]
+    calobjectSize: Size
+    calobjectSpacing: float
+
+
+def __convert_cal_to_mrcal_cameramodel(
+    cal: CameraCalibration,
+) -> mrcal.cameramodel | None:
+    if len(cal.distCoeffs.data) == 5:
+        model = "LENSMODEL_OPENCV5"
+    elif len(cal.distCoeffs.data) == 8:
+        model = "LENSMODEL_OPENCV8"
+    else:
+        print("Unknown camera model? giving up")
+        return None
+
+    def opencv_to_mrcal_intrinsics(ocv):
+        return [ocv[0], ocv[4], ocv[2], ocv[5]]
+
+    def pose_to_rt(pose: Pose3d):
+        r = _Quat(
+            w=pose.rotation.quaternion.W,
+            x=pose.rotation.quaternion.X,
+            y=pose.rotation.quaternion.Y,
+            z=pose.rotation.quaternion.Z,
+        ).toRotationVector()
+        t = [
+            pose.translation.x,
+            pose.translation.y,
+            pose.translation.z,
+        ]
+        return np.concatenate((r, t))
+
+    imagersize = (cal.resolution.width, cal.resolution.height)
+
+    # Always weight=1 for Photon data
+    WEIGHT = 1
+    observations_board = np.array(
+        [
+            # note that we expect row-major observations here. I think this holds
+            np.array(
+                list(map(lambda it: [it.x, it.y, WEIGHT], o.locationInImageSpace))
+            ).reshape((cal.calobjectSize.width, cal.calobjectSize.height, 3))
+            for o in cal.observations
+        ]
+    )
+
+    optimization_inputs = {
+        "intrinsics": np.array(
+            [
+                opencv_to_mrcal_intrinsics(cal.cameraIntrinsics.data)
+                + cal.distCoeffs.data
+            ],
+            dtype=np.float64,
+        ),
+        "extrinsics_rt_fromref": np.zeros((0, 6), dtype=np.float64),
+        "frames_rt_toref": np.array(
+            [pose_to_rt(o.optimisedCameraToObject) for o in cal.observations]
+        ),
+        "points": None,
+        "observations_board": observations_board,
+        "indices_frame_camintrinsics_camextrinsics": np.array(
+            [[i, 0, -1] for i in range(len(cal.observations))], dtype=np.int32
+        ),
+        "observations_point": None,
+        "indices_point_camintrinsics_camextrinsics": None,
+        "lensmodel": model,
+        "imagersizes": np.array([imagersize], dtype=np.int32),
+        "calobject_warp": (
+            np.array(cal.calobjectWarp) if len(cal.calobjectWarp) > 0 else None
+        ),
+        # We always do all the things
+        "do_optimize_intrinsics_core": True,
+        "do_optimize_intrinsics_distortions": True,
+        "do_optimize_extrinsics": True,
+        "do_optimize_frames": True,
+        "do_optimize_calobject_warp": len(cal.calobjectWarp) > 0,
+        "do_apply_outlier_rejection": True,
+        "do_apply_regularization": True,
+        "verbose": False,
+        "calibration_object_spacing": cal.calobjectSpacing,
+        "imagepaths": np.array([it.snapshotName for it in cal.observations]),
+    }
+
+    return mrcal.cameramodel(
+        optimization_inputs=optimization_inputs,
+        icam_intrinsics=0,
+    )
+
+
+def convert_photon_to_mrcal(photon_cal_json_path: str, output_folder: str):
+    """
+    Unpack a Photon calibration JSON (eg, photon_calibration_Microsoft_LifeCam_HD-3000_800x600.json) into
+    the output_folder directory with images and corners.vnl file for use with mrcal.
+    """
+    with open(photon_cal_json_path, "r") as cal_json:
+        # Convert to nested objects instead of nameddicts on json-loads
+        class Generic:
+            @classmethod
+            def from_dict(cls, dict):
+                obj = cls()
+                obj.__dict__.update(dict)
+                return obj
+
+        camera_cal_data: CameraCalibration = json.loads(
+            cal_json.read(), object_hook=Generic.from_dict
+        )
+
+        # Create output_folder if not exists
+        if not os.path.exists(output_folder):
+            os.makedirs(output_folder)
+
+        # Decode each image and save it as a png
+        for obs in camera_cal_data.observations:
+            image = obs.snapshotData.data
+            decoded_data = base64.b64decode(image)
+            np_data = np.frombuffer(decoded_data, np.uint8)
+            img = cv2.imdecode(np_data, cv2.IMREAD_UNCHANGED)
+            cv2.imwrite(f"{output_folder}/{obs.snapshotName}", img)
+
+        # And create a VNL file for use with mrcal
+        with open(f"{output_folder}/corners.vnl", "w+") as vnl_file:
+            vnl_file.write("# filename x y level\n")
+
+            for obs in camera_cal_data.observations:
+                for corner in obs.locationInImageSpace:
+                    # Always level zero
+                    vnl_file.write(f"{obs.snapshotName} {corner.x} {corner.y} 0\n")
+
+            vnl_file.flush()
+
+        mrcal_model = __convert_cal_to_mrcal_cameramodel(camera_cal_data)
+
+        with open(f"{output_folder}/camera-0.cameramodel", "w+") as mrcal_file:
+            mrcal_model.write(
+                mrcal_file,
+                note="Generated from PhotonVision calibration file: "
+                + photon_cal_json_path
+                + "\nCalobject_warp (m): "
+                + str(camera_cal_data.calobjectWarp),
+            )
+
+
+def main():
+    parser = argparse.ArgumentParser(
+        description="Convert Photon calibration JSON for use with mrcal"
+    )
+    parser.add_argument("input", type=str, help="Path to Photon calibration JSON file")
+    parser.add_argument(
+        "output_folder", type=str, help="Output folder for mrcal VNL file + images"
+    )
+
+    args = parser.parse_args()
+
+    convert_photon_to_mrcal(args.input, args.output_folder)
+
+
+if __name__ == "__main__":
+    main()

docs/.gitignore

@@ -0,0 +1,9 @@
+build/*
+.DS_Store
+.vscode/*
+.idea/*
+source/_build
+source/docs/_build
+
+venv/*
+.venv/*

docs/.styleguide

@@ -0,0 +1,17 @@
+
+modifiableFileExclude {
+  \.jpg$
+  \.jpeg$
+  \.png$
+  \.gif$
+  \.so$
+  \.pdf$
+  \.mp4$
+  \.dll$
+  \.webp$
+  \.ico$
+  \.rknn$
+  \.svg$
+  \.woff2$
+  gradlew
+}

docs/LICENSE

@@ -0,0 +1,395 @@
+Attribution 4.0 International
+
+=======================================================================
+
+Creative Commons Corporation ("Creative Commons") is not a law firm and
+does not provide legal services or legal advice. Distribution of
+Creative Commons public licenses does not create a lawyer-client or
+other relationship. Creative Commons makes its licenses and related
+information available on an "as-is" basis. Creative Commons gives no
+warranties regarding its licenses, any material licensed under their
+terms and conditions, or any related information. Creative Commons
+disclaims all liability for damages resulting from their use to the
+fullest extent possible.
+
+Using Creative Commons Public Licenses
+
+Creative Commons public licenses provide a standard set of terms and
+conditions that creators and other rights holders may use to share
+original works of authorship and other material subject to copyright
+and certain other rights specified in the public license below. The
+following considerations are for informational purposes only, are not
+exhaustive, and do not form part of our licenses.
+
+     Considerations for licensors: Our public licenses are
+     intended for use by those authorized to give the public
+     permission to use material in ways otherwise restricted by
+     copyright and certain other rights. Our licenses are
+     irrevocable. Licensors should read and understand the terms
+     and conditions of the license they choose before applying it.
+     Licensors should also secure all rights necessary before
+     applying our licenses so that the public can reuse the
+     material as expected. Licensors should clearly mark any
+     material not subject to the license. This includes other CC-
+     licensed material, or material used under an exception or
+     limitation to copyright. More considerations for licensors:
+	wiki.creativecommons.org/Considerations_for_licensors
+
+     Considerations for the public: By using one of our public
+     licenses, a licensor grants the public permission to use the
+     licensed material under specified terms and conditions. If
+     the licensor's permission is not necessary for any reason--for
+     example, because of any applicable exception or limitation to
+     copyright--then that use is not regulated by the license. Our
+     licenses grant only permissions under copyright and certain
+     other rights that a licensor has authority to grant. Use of
+     the licensed material may still be restricted for other
+     reasons, including because others have copyright or other
+     rights in the material. A licensor may make special requests,
+     such as asking that all changes be marked or described.
+     Although not required by our licenses, you are encouraged to
+     respect those requests where reasonable. More_considerations
+     for the public:
+	wiki.creativecommons.org/Considerations_for_licensees
+
+=======================================================================
+
+Creative Commons Attribution 4.0 International Public License
+
+By exercising the Licensed Rights (defined below), You accept and agree
+to be bound by the terms and conditions of this Creative Commons
+Attribution 4.0 International Public License ("Public License"). To the
+extent this Public License may be interpreted as a contract, You are
+granted the Licensed Rights in consideration of Your acceptance of
+these terms and conditions, and the Licensor grants You such rights in
+consideration of benefits the Licensor receives from making the
+Licensed Material available under these terms and conditions.
+
+
+Section 1 -- Definitions.
+
+  a. Adapted Material means material subject to Copyright and Similar
+     Rights that is derived from or based upon the Licensed Material
+     and in which the Licensed Material is translated, altered,
+     arranged, transformed, or otherwise modified in a manner requiring
+     permission under the Copyright and Similar Rights held by the
+     Licensor. For purposes of this Public License, where the Licensed
+     Material is a musical work, performance, or sound recording,
+     Adapted Material is always produced where the Licensed Material is
+     synched in timed relation with a moving image.
+
+  b. Adapter's License means the license You apply to Your Copyright
+     and Similar Rights in Your contributions to Adapted Material in
+     accordance with the terms and conditions of this Public License.
+
+  c. Copyright and Similar Rights means copyright and/or similar rights
+     closely related to copyright including, without limitation,
+     performance, broadcast, sound recording, and Sui Generis Database
+     Rights, without regard to how the rights are labeled or
+     categorized. For purposes of this Public License, the rights
+     specified in Section 2(b)(1)-(2) are not Copyright and Similar
+     Rights.
+
+  d. Effective Technological Measures means those measures that, in the
+     absence of proper authority, may not be circumvented under laws
+     fulfilling obligations under Article 11 of the WIPO Copyright
+     Treaty adopted on December 20, 1996, and/or similar international
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+
+  e. Exceptions and Limitations means fair use, fair dealing, and/or
+     any other exception or limitation to Copyright and Similar Rights
+     that applies to Your use of the Licensed Material.
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+  f. Licensed Material means the artistic or literary work, database,
+     or other material to which the Licensor applied this Public
+     License.
+
+  g. Licensed Rights means the rights granted to You subject to the
+     terms and conditions of this Public License, which are limited to
+     all Copyright and Similar Rights that apply to Your use of the
+     Licensed Material and that the Licensor has authority to license.
+
+  h. Licensor means the individual(s) or entity(ies) granting rights
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+  i. Share means to provide material to the public by any means or
+     process that requires permission under the Licensed Rights, such
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+     public may access the material from a place and at a time
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+  j. Sui Generis Database Rights means rights other than copyright
+     resulting from Directive 96/9/EC of the European Parliament and of
+     the Council of 11 March 1996 on the legal protection of databases,
+     as amended and/or succeeded, as well as other essentially
+     equivalent rights anywhere in the world.
+
+  k. You means the individual or entity exercising the Licensed Rights
+     under this Public License. Your has a corresponding meaning.
+
+
+Section 2 -- Scope.
+
+  a. License grant.
+
+       1. Subject to the terms and conditions of this Public License,
+          the Licensor hereby grants You a worldwide, royalty-free,
+          non-sublicensable, non-exclusive, irrevocable license to
+          exercise the Licensed Rights in the Licensed Material to:
+
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+               in part; and
+
+            b. produce, reproduce, and Share Adapted Material.
+
+       2. Exceptions and Limitations. For the avoidance of doubt, where
+          Exceptions and Limitations apply to Your use, this Public
+          License does not apply, and You do not need to comply with
+          its terms and conditions.
+
+       3. Term. The term of this Public License is specified in Section
+          6(a).
+
+       4. Media and formats; technical modifications allowed. The
+          Licensor authorizes You to exercise the Licensed Rights in
+          all media and formats whether now known or hereafter created,
+          and to make technical modifications necessary to do so. The
+          Licensor waives and/or agrees not to assert any right or
+          authority to forbid You from making technical modifications
+          necessary to exercise the Licensed Rights, including
+          technical modifications necessary to circumvent Effective
+          Technological Measures. For purposes of this Public License,
+          simply making modifications authorized by this Section 2(a)
+          (4) never produces Adapted Material.
+
+       5. Downstream recipients.
+
+            a. Offer from the Licensor -- Licensed Material. Every
+               recipient of the Licensed Material automatically
+               receives an offer from the Licensor to exercise the
+               Licensed Rights under the terms and conditions of this
+               Public License.
+
+            b. No downstream restrictions. You may not offer or impose
+               any additional or different terms or conditions on, or
+               apply any Effective Technological Measures to, the
+               Licensed Material if doing so restricts exercise of the
+               Licensed Rights by any recipient of the Licensed
+               Material.
+
+       6. No endorsement. Nothing in this Public License constitutes or
+          may be construed as permission to assert or imply that You
+          are, or that Your use of the Licensed Material is, connected
+          with, or sponsored, endorsed, or granted official status by,
+          the Licensor or others designated to receive attribution as
+          provided in Section 3(a)(1)(A)(i).
+
+  b. Other rights.
+
+       1. Moral rights, such as the right of integrity, are not
+          licensed under this Public License, nor are publicity,
+          privacy, and/or other similar personality rights; however, to
+          the extent possible, the Licensor waives and/or agrees not to
+          assert any such rights held by the Licensor to the limited
+          extent necessary to allow You to exercise the Licensed
+          Rights, but not otherwise.
+
+       2. Patent and trademark rights are not licensed under this
+          Public License.
+
+       3. To the extent possible, the Licensor waives any right to
+          collect royalties from You for the exercise of the Licensed
+          Rights, whether directly or through a collecting society
+          under any voluntary or waivable statutory or compulsory
+          licensing scheme. In all other cases the Licensor expressly
+          reserves any right to collect such royalties.
+
+
+Section 3 -- License Conditions.
+
+Your exercise of the Licensed Rights is expressly made subject to the
+following conditions.
+
+  a. Attribution.
+
+       1. If You Share the Licensed Material (including in modified
+          form), You must:
+
+            a. retain the following if it is supplied by the Licensor
+               with the Licensed Material:
+
+                 i. identification of the creator(s) of the Licensed
+                    Material and any others designated to receive
+                    attribution, in any reasonable manner requested by
+                    the Licensor (including by pseudonym if
+                    designated);
+
+                ii. a copyright notice;
+
+               iii. a notice that refers to this Public License;
+
+                iv. a notice that refers to the disclaimer of
+                    warranties;
+
+                 v. a URI or hyperlink to the Licensed Material to the
+                    extent reasonably practicable;
+
+            b. indicate if You modified the Licensed Material and
+               retain an indication of any previous modifications; and
+
+            c. indicate the Licensed Material is licensed under this
+               Public License, and include the text of, or the URI or
+               hyperlink to, this Public License.
+
+       2. You may satisfy the conditions in Section 3(a)(1) in any
+          reasonable manner based on the medium, means, and context in
+          which You Share the Licensed Material. For example, it may be
+          reasonable to satisfy the conditions by providing a URI or
+          hyperlink to a resource that includes the required
+          information.
+
+       3. If requested by the Licensor, You must remove any of the
+          information required by Section 3(a)(1)(A) to the extent
+          reasonably practicable.
+
+       4. If You Share Adapted Material You produce, the Adapter's
+          License You apply must not prevent recipients of the Adapted
+          Material from complying with this Public License.
+
+
+Section 4 -- Sui Generis Database Rights.
+
+Where the Licensed Rights include Sui Generis Database Rights that
+apply to Your use of the Licensed Material:
+
+  a. for the avoidance of doubt, Section 2(a)(1) grants You the right
+     to extract, reuse, reproduce, and Share all or a substantial
+     portion of the contents of the database;
+
+  b. if You include all or a substantial portion of the database
+     contents in a database in which You have Sui Generis Database
+     Rights, then the database in which You have Sui Generis Database
+     Rights (but not its individual contents) is Adapted Material; and
+
+  c. You must comply with the conditions in Section 3(a) if You Share
+     all or a substantial portion of the contents of the database.
+
+For the avoidance of doubt, this Section 4 supplements and does not
+replace Your obligations under this Public License where the Licensed
+Rights include other Copyright and Similar Rights.
+
+
+Section 5 -- Disclaimer of Warranties and Limitation of Liability.
+
+  a. UNLESS OTHERWISE SEPARATELY UNDERTAKEN BY THE LICENSOR, TO THE
+     EXTENT POSSIBLE, THE LICENSOR OFFERS THE LICENSED MATERIAL AS-IS
+     AND AS-AVAILABLE, AND MAKES NO REPRESENTATIONS OR WARRANTIES OF
+     ANY KIND CONCERNING THE LICENSED MATERIAL, WHETHER EXPRESS,
+     IMPLIED, STATUTORY, OR OTHER. THIS INCLUDES, WITHOUT LIMITATION,
+     WARRANTIES OF TITLE, MERCHANTABILITY, FITNESS FOR A PARTICULAR
+     PURPOSE, NON-INFRINGEMENT, ABSENCE OF LATENT OR OTHER DEFECTS,
+     ACCURACY, OR THE PRESENCE OR ABSENCE OF ERRORS, WHETHER OR NOT
+     KNOWN OR DISCOVERABLE. WHERE DISCLAIMERS OF WARRANTIES ARE NOT
+     ALLOWED IN FULL OR IN PART, THIS DISCLAIMER MAY NOT APPLY TO YOU.
+
+  b. TO THE EXTENT POSSIBLE, IN NO EVENT WILL THE LICENSOR BE LIABLE
+     TO YOU ON ANY LEGAL THEORY (INCLUDING, WITHOUT LIMITATION,
+     NEGLIGENCE) OR OTHERWISE FOR ANY DIRECT, SPECIAL, INDIRECT,
+     INCIDENTAL, CONSEQUENTIAL, PUNITIVE, EXEMPLARY, OR OTHER LOSSES,
+     COSTS, EXPENSES, OR DAMAGES ARISING OUT OF THIS PUBLIC LICENSE OR
+     USE OF THE LICENSED MATERIAL, EVEN IF THE LICENSOR HAS BEEN
+     ADVISED OF THE POSSIBILITY OF SUCH LOSSES, COSTS, EXPENSES, OR
+     DAMAGES. WHERE A LIMITATION OF LIABILITY IS NOT ALLOWED IN FULL OR
+     IN PART, THIS LIMITATION MAY NOT APPLY TO YOU.
+
+  c. The disclaimer of warranties and limitation of liability provided
+     above shall be interpreted in a manner that, to the extent
+     possible, most closely approximates an absolute disclaimer and
+     waiver of all liability.
+
+
+Section 6 -- Term and Termination.
+
+  a. This Public License applies for the term of the Copyright and
+     Similar Rights licensed here. However, if You fail to comply with
+     this Public License, then Your rights under this Public License
+     terminate automatically.
+
+  b. Where Your right to use the Licensed Material has terminated under
+     Section 6(a), it reinstates:
+
+       1. automatically as of the date the violation is cured, provided
+          it is cured within 30 days of Your discovery of the
+          violation; or
+
+       2. upon express reinstatement by the Licensor.
+
+     For the avoidance of doubt, this Section 6(b) does not affect any
+     right the Licensor may have to seek remedies for Your violations
+     of this Public License.
+
+  c. For the avoidance of doubt, the Licensor may also offer the
+     Licensed Material under separate terms or conditions or stop
+     distributing the Licensed Material at any time; however, doing so
+     will not terminate this Public License.
+
+  d. Sections 1, 5, 6, 7, and 8 survive termination of this Public
+     License.
+
+
+Section 7 -- Other Terms and Conditions.
+
+  a. The Licensor shall not be bound by any additional or different
+     terms or conditions communicated by You unless expressly agreed.
+
+  b. Any arrangements, understandings, or agreements regarding the
+     Licensed Material not stated herein are separate from and
+     independent of the terms and conditions of this Public License.
+
+
+Section 8 -- Interpretation.
+
+  a. For the avoidance of doubt, this Public License does not, and
+     shall not be interpreted to, reduce, limit, restrict, or impose
+     conditions on any use of the Licensed Material that could lawfully
+     be made without permission under this Public License.
+
+  b. To the extent possible, if any provision of this Public License is
+     deemed unenforceable, it shall be automatically reformed to the
+     minimum extent necessary to make it enforceable. If the provision
+     cannot be reformed, it shall be severed from this Public License
+     without affecting the enforceability of the remaining terms and
+     conditions.
+
+  c. No term or condition of this Public License will be waived and no
+     failure to comply consented to unless expressly agreed to by the
+     Licensor.
+
+  d. Nothing in this Public License constitutes or may be interpreted
+     as a limitation upon, or waiver of, any privileges and immunities
+     that apply to the Licensor or You, including from the legal
+     processes of any jurisdiction or authority.
+
+
+=======================================================================
+
+Creative Commons is not a party to its public
+licenses. Notwithstanding, Creative Commons may elect to apply one of
+its public licenses to material it publishes and in those instances
+will be considered the “Licensor.” The text of the Creative Commons
+public licenses is dedicated to the public domain under the CC0 Public
+Domain Dedication. Except for the limited purpose of indicating that
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+understandings, or agreements concerning use of licensed material. For
+the avoidance of doubt, this paragraph does not form part of the
+public licenses.
+
+Creative Commons may be contacted at creativecommons.org.

docs/Makefile

@@ -0,0 +1,24 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line.
+SPHINXOPTS    = -W --keep-going
+SPHINXBUILD   = sphinx-build
+SOURCEDIR     = source
+LINTER        = doc8
+LINTEROPTS    = --ignore D001 # D001 is linelength
+BUILDDIR      = build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+lint:
+	@$(LINTER) $(LINTEROPTS) $(SOURCEDIR)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

docs/README.MD

@@ -0,0 +1,9 @@
+# PhotonVision ReadTheDocs
+
+[![Documentation Status](https://readthedocs.org/projects/photonvision-docs/badge/?version=latest)](https://docs.photonvision.org/en/latest/?badge=latest)
+
+PhotonVision is a free open-source vision processing software for FRC teams.
+
+This repository is the source code for our ReadTheDocs documentation, which can be found [here](https://docs.photonvision.org).
+
+[Contribution and formatting guidelines for this project](https://docs.photonvision.org/en/latest/docs/contributing/index.html)

docs/make.bat

@@ -0,0 +1,36 @@
+@ECHO OFF
+
+pushd %~dp0
+
+REM Command file for Sphinx documentation
+
+if "%SPHINXBUILD%" == "" (
+	set SPHINXBUILD=sphinx-build
+)
+set SOURCEDIR=source
+set BUILDDIR=build
+set SPHINXOPTS=-W --keep-going
+
+if "%1" == "" goto help
+
+%SPHINXBUILD% >NUL 2>NUL
+if errorlevel 9009 (
+	echo.
+	echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
+	echo.installed, then set the SPHINXBUILD environment variable to point
+	echo.to the full path of the 'sphinx-build' executable. Alternatively you
+	echo.may add the Sphinx directory to PATH.
+	echo.
+	echo.If you don't have Sphinx installed, grab it from
+	echo.http://sphinx-doc.org/
+	exit /b 1
+)
+
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS%
+goto end
+
+:help
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS%
+
+:end
+popd

docs/requirements.txt

@@ -0,0 +1,44 @@
+alabaster==0.7.13
+Babel==2.13.1
+beautifulsoup4==4.12.2
+certifi==2023.11.17
+charset-normalizer==3.3.2
+colorama==0.4.6
+doc8==0.11.2
+docopt==0.6.2
+docutils==0.18.1
+furo==2023.9.10
+idna==3.4
+imagesize==1.4.1
+Jinja2==3.0.3
+MarkupSafe==2.1.3
+packaging==23.2
+pbr==6.0.0
+pipreqs==0.4.13
+Pygments==2.17.1
+requests==2.31.0
+restructuredtext-lint==1.4.0
+six==1.16.0
+snowballstemmer==2.2.0
+soupsieve==2.5
+Sphinx==7.2.6
+sphinx-basic-ng==1.0.0b2
+sphinx-notfound-page==1.0.0
+sphinx-rtd-theme==1.3.0
+sphinx-tabs==3.4.4
+sphinx_design==0.5.0
+sphinxcontrib-applehelp==1.0.7
+sphinxcontrib-devhelp==1.0.5
+sphinxcontrib-ghcontributors==0.2.3
+sphinxcontrib-htmlhelp==2.0.4
+sphinxcontrib-jquery==4.1
+sphinxcontrib-jsmath==1.0.1
+sphinxcontrib-qthelp==1.0.6
+sphinxcontrib-serializinghtml==1.1.9
+sphinxext-opengraph==0.9.0
+sphinxext-remoteliteralinclude==0.4.0
+stevedore==5.1.0
+urllib3==2.1.0
+yarg==0.1.9
+sphinx-autobuild==2024.4.16
+myst_parser==3.0.1

docs/source/404.md

@@ -0,0 +1,7 @@
+---
+orphan: true
+---
+
+# Requested Page Not Found
+
+This page you were looking for was not found. If you think this is a mistake, [file an issue on our GitHub.](https://github.com/PhotonVision/photonvision-docs/issues)

docs/source/Makefile

@@ -0,0 +1,20 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS    ?=
+SPHINXBUILD   ?= sphinx-build
+SOURCEDIR     = source
+BUILDDIR      = build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

docs/source/_static/css/pv-icons.css

@@ -0,0 +1,4 @@
+.code-block-caption>.headerlink, dl dt>.headerlink, h1>.headerlink, h2>.headerlink, h3>.headerlink, h4>.headerlink, h5>.headerlink, h6>.headerlink, p.caption>.headerlink, table>caption>.headerlink {
+    font-family: FontAwesome;
+    font-size: 0.75em;
+}

docs/source/_static/css/v4-font-face.min.css

@@ -0,0 +1,6 @@
+/*!
+ * Font Awesome Free 6.7.2 by @fontawesome - https://fontawesome.com
+ * License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License)
+ * Copyright 2024 Fonticons, Inc.
+ */
+@font-face{font-family:"FontAwesome";font-display:block;src:url(../webfonts/fa-solid-900.woff2) format("woff2"),url(../webfonts/fa-solid-900.ttf) format("truetype")}@font-face{font-family:"FontAwesome";font-display:block;src:url(../webfonts/fa-brands-400.woff2) format("woff2"),url(../webfonts/fa-brands-400.ttf) format("truetype")}@font-face{font-family:"FontAwesome";font-display:block;src:url(../webfonts/fa-regular-400.woff2) format("woff2"),url(../webfonts/fa-regular-400.ttf) format("truetype");unicode-range:u+f003,u+f006,u+f014,u+f016-f017,u+f01a-f01b,u+f01d,u+f022,u+f03e,u+f044,u+f046,u+f05c-f05d,u+f06e,u+f070,u+f087-f088,u+f08a,u+f094,u+f096-f097,u+f09d,u+f0a0,u+f0a2,u+f0a4-f0a7,u+f0c5,u+f0c7,u+f0e5-f0e6,u+f0eb,u+f0f6-f0f8,u+f10c,u+f114-f115,u+f118-f11a,u+f11c-f11d,u+f133,u+f147,u+f14e,u+f150-f152,u+f185-f186,u+f18e,u+f190-f192,u+f196,u+f1c1-f1c9,u+f1d9,u+f1db,u+f1e3,u+f1ea,u+f1f7,u+f1f9,u+f20a,u+f247-f248,u+f24a,u+f24d,u+f255-f25b,u+f25d,u+f271-f274,u+f278,u+f27b,u+f28c,u+f28e,u+f29c,u+f2b5,u+f2b7,u+f2ba,u+f2bc,u+f2be,u+f2c0-f2c1,u+f2c3,u+f2d0,u+f2d2,u+f2d4,u+f2dc}@font-face{font-family:"FontAwesome";font-display:block;src:url(../webfonts/fa-v4compatibility.woff2) format("woff2"),url(../webfonts/fa-v4compatibility.ttf) format("truetype");unicode-range:u+f041,u+f047,u+f065-f066,u+f07d-f07e,u+f080,u+f08b,u+f08e,u+f090,u+f09a,u+f0ac,u+f0ae,u+f0b2,u+f0d0,u+f0d6,u+f0e4,u+f0ec,u+f10a-f10b,u+f123,u+f13e,u+f148-f149,u+f14c,u+f156,u+f15e,u+f160-f161,u+f163,u+f175-f178,u+f195,u+f1f8,u+f219,u+f27a}

docs/source/_templates/layout.html

@@ -0,0 +1,74 @@
+{# Import the theme's layout. #}
+{% extends '!layout.html' %}
+
+{%- block extrahead %}
+<script>
+    if (localStorage.getItem("colorTheme") === "dark") {
+        document.documentElement.setAttribute('data-theme', 'dark');
+    } else if (localStorage.getItem("colorTheme") === "light") {
+        document.documentElement.setAttribute('data-theme', 'light');
+    } else {
+        var userPrefersDark = window.matchMedia && window.matchMedia('(prefers-color-scheme: dark)').matches;
+        if (userPrefersDark) {
+            document.documentElement.setAttribute('data-theme', 'dark');
+       } else {
+            document.documentElement.setAttribute('data-theme', 'light');
+        }
+    }
+
+</script>
+
+{# Call the parent block #}
+{{ super() }}
+{% endblock %}
+
+{%- block extrafooter %}
+{# Add custom things to the head HTML tag #}
+
+<div class="dark-mode-toggle-container">
+    <strong class="light-label md-icon">&#xE430</strong>
+
+    <div class="dark-mode-toggle">
+        <input type="checkbox" id="switch" name="theme"/><label class="toggle" for="switch">Toggle</label>
+    </div>
+
+    <strong class="dark-label md-icon">&#xE42D</strong>
+</div>
+
+<script>
+    var checkbox = document.querySelector('input[name=theme]');
+
+    var element = document.documentElement.getAttribute('data-theme');
+
+    if (element == 'dark') {
+        // Auto check the checkbox if the set theme is "dark".
+        checkbox.checked = true;
+    }
+
+    checkbox.addEventListener('change', function() {
+        if (this.checked) {
+            document.documentElement.setAttribute('data-theme', 'dark');
+            localStorage.setItem("colorTheme", "dark");
+        } else {
+            document.documentElement.setAttribute('data-theme', 'light');
+            localStorage.setItem("colorTheme", "light");
+        }
+    });
+
+    window.matchMedia('(prefers-color-scheme: dark)')
+      .addEventListener('change', event => {
+        if (event.matches) {
+            document.documentElement.setAttribute('data-theme', 'dark');
+            localStorage.setItem("colorTheme", "dark");
+            checkbox.checked = true;
+        } else {
+            document.documentElement.setAttribute('data-theme', 'light');
+            localStorage.setItem("colorTheme", "light");
+            checkbox.checked = false;
+        }
+    });
+</script>
+
+{# Call the parent block #}
+{{ super() }}
+{%- endblock %}

docs/source/conf.py

@@ -0,0 +1,154 @@
+# Configuration file for the Sphinx documentation builder.
+#
+# This file only contains a selection of the most common options. For a full
+# list see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+import os
+
+# import sys
+# sys.path.insert(0, os.path.abspath('.'))
+
+# -- Project information -----------------------------------------------------
+
+project = "PhotonVision"
+copyright = "2024, PhotonVision"
+author = "Banks Troutman, Matt Morley"
+
+# -- General configuration ---------------------------------------------------
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [
+    "sphinx_rtd_theme",
+    "sphinx.ext.autosectionlabel",
+    "sphinx.ext.todo",
+    "sphinx_tabs.tabs",
+    "notfound.extension",
+    "sphinxext.remoteliteralinclude",
+    "sphinxext.opengraph",
+    "sphinxcontrib.ghcontributors",
+    "sphinx_design",
+    "myst_parser",
+    "sphinx.ext.mathjax",
+    "sphinx.ext.graphviz",
+]
+
+# Configure OpenGraph support
+
+ogp_site_url = "https://docs.photonvision.org/en/latest/"
+ogp_site_name = "PhotonVision Documentation"
+ogp_image = "https://raw.githubusercontent.com/PhotonVision/photonvision-docs/main/source/assets/RectLogo.png"
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ["_templates"]
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = []
+
+# Enable hover content on glossary term
+hoverxref_roles = ["term"]
+
+# Autosection labels prefix document path and filename
+autosectionlabel_prefix_document = True
+
+# -- Options for HTML output -------------------------------------------------
+
+html_title = "PhotonVision Docs"
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+html_theme = "furo"
+html_favicon = "assets/RoundLogo.png"
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = ["_static"]
+
+source_suffix = [".rst", ".md"]
+
+
+def setup(app):
+    app.add_css_file("css/v4-font-face.min.css")
+    app.add_css_file("css/pv-icons.css")
+
+
+pygments_style = "sphinx"
+
+html_theme_options = {
+    "sidebar_hide_name": True,
+    "light_logo": "assets/PhotonVision-Header-onWhite.png",
+    "dark_logo": "assets/PhotonVision-Header-noBG.png",
+    "light_css_variables": {
+        "font-stack": "-apple-system, BlinkMacSystemFont, avenir next, avenir, segoe ui, helvetica neue, helvetica, Ubuntu, roboto, noto, arial, sans-serif;",
+        "admonition-font-size": "1rem",
+        "admonition-title-font-size": "1rem",
+        "color-background-primary": "#ffffff",
+        "color-background-secondary": "#f7f7f7",
+        "color-background-hover": "#efeff400",
+        "color-background-hover--transparent": "#efeff400",
+        "color-brand-primary": "#006492",
+        "color-brand-content": "#006492",
+        "color-foreground-primary": "#2d2d2d",
+        "color-foreground-secondary": "#39a4d5",
+        "color-foreground-muted": "#2d2d2d",
+        "color-foreground-border": "#ffffff",
+        "color-background-border": "ffffff",
+        "color-api-overall": "#101010",
+    },
+    "dark_css_variables": {
+        "color-background-primary": "#242c37",
+        "color-background-secondary": "#006492",
+        "color-background-hover": "#efeff400",
+        "color-background-hover--transparent": "#efeff400",
+        "color-brand-primary": "#ffd843",
+        "color-brand-secondary": "#39a4d5",
+        "color-brand-content": "#ffd843",
+        "color-foreground-primary": "#ffffff",
+        "color-foreground-secondary": "#ffffff",
+        "color-foreground-muted": "#ffffff",
+        "color-foreground-border": "transparent",
+        "color-background-border": "transparent",
+        "color-api-overall": "#101010",
+        "color-inline-code-background": "#0d0d0d",
+    },
+    "footer_icons": [
+        {
+            "name": "GitHub",
+            "url": "https://github.com/photonvision/photonvision",
+            "html": """
+                <svg stroke="currentColor" fill="currentColor" stroke-width="0" viewBox="0 0 16 16">
+                    <path fill-rule="evenodd" d="M8 0C3.58 0 0 3.58 0 8c0 3.54 2.29 6.53 5.47 7.59.4.07.55-.17.55-.38 0-.19-.01-.82-.01-1.49-2.01.37-2.53-.49-2.69-.94-.09-.23-.48-.94-.82-1.13-.28-.15-.68-.52-.01-.53.63-.01 1.08.58 1.23.82.72 1.21 1.87.87 2.33.66.07-.52.28-.87.51-1.07-1.78-.2-3.64-.89-3.64-3.95 0-.87.31-1.59.82-2.15-.08-.2-.36-1.02.08-2.12 0 0 .67-.21 2.2.82.64-.18 1.32-.27 2-.27.68 0 1.36.09 2 .27 1.53-1.04 2.2-.82 2.2-.82.44 1.1.16 1.92.08 2.12.51.56.82 1.27.82 2.15 0 3.07-1.87 3.75-3.65 3.95.29.25.54.73.54 1.48 0 1.07-.01 1.93-.01 2.2 0 .21.15.46.55.38A8.013 8.013 0 0 0 16 8c0-4.42-3.58-8-8-8z"></path>
+                </svg>
+            """,
+            "class": "",
+        },
+    ],
+}
+
+suppress_warnings = ["epub.unknown_project_files"]
+
+sphinx_tabs_valid_builders = ["epub", "linkcheck"]
+
+# -- Options for linkcheck -------------------------------------------------
+
+# Excluded links for linkcheck
+# These should be periodically checked by hand to ensure that they are still functional
+linkcheck_ignore = [R"https://www.raspberrypi.com/software/", R"http://10\..+"]
+
+token = os.environ.get("GITHUB_TOKEN", None)
+if token:
+    linkcheck_auth = [(R"https://github.com/.+", token)]
+
+# MyST configuration (https://myst-parser.readthedocs.io/en/latest/configuration.html)
+myst_enable_extensions = ["colon_fence"]

docs/source/docs/additional-resources/best-practices.md

@@ -0,0 +1,33 @@
+# Best Practices For Competition
+
+## Before Competition
+
+- Ensure you have spares of the relevant electronics if you can afford it (switch, coprocessor, cameras, etc.).
+- Stay on the latest version of PhotonVision until you have tested your full robot system to be functional.
+- Some time before the competition, lock down the version you are using and do not upgrade unless you encounter a critical bug.
+- Have a copy of the installation image for the version you are using on your programming laptop, in case re-imaging (without internet) is needed.
+- Extensively test at your home setup. Practice tuning from scratch under different lighting conditions.
+- Use SmartDashboard / Shuffleboard to view your camera streams during practice.
+- Confirm you have followed all the recommendations under the Networking section in installation (network switch and static IP).
+- Only use high quality ethernet cables that have been rigorously tested.
+- Set up RIO USB port forwarding using the guide in the Networking section in installation.
+
+## During the Competition
+
+- Use the field calibration time given at the start of the event:
+  - Bring your robot to the field at the allotted time.
+  - Make sure the field has match-accurate lighting conditions active.
+  - Turn on your robot and pull up the dashboard on your driver station.
+  - Point your robot at the targets and ensure you get a consistent tracking (you hold one targets consistently, the ceiling lights aren't detected, etc.).
+  - If you have problems with your pipeline, go to the pipeline tuning section and retune the pipeline using the guide there.
+  - Move the robot close, far, angled, and around the field to ensure no extra targets are found.
+  - Monitor camera feeds during a practice match to ensure everything is working correctly.
+- After field calibration, use the "Export Settings" button in the "Settings" page to create a backup.
+  - Do this for each coprocessor on your robot that runs PhotonVision, and name your exports with meaningful names.
+  - This will contain camera information/calibration, pipeline information, network settings, etc.
+  - In the event of software/hardware failures (IE lost SD Card, broken device), you can then use the "Import Settings" button and select "All Settings" to restore your settings.
+  - This effectively works as a snapshot of your PhotonVision data that can be restored at any point.
+- Before every match:
+  - Check the ethernet and USB connectors are seated fully.
+  - Close streaming dashboards when you don't need them to reduce bandwidth.
+- Stream at as low of a resolution as possible while still detecting AprilTags to stay within field bandwidth limits.

docs/source/docs/additional-resources/config.md

@@ -0,0 +1,53 @@
+# Filesystem Directory
+
+PhotonVision stores and loads settings in the {code}`photonvision_config` directory, in the same folder as the PhotonVision JAR is stored. On supported hardware, this is in the {code}`/opt/photonvision` directory. The contents of this directory can be exported as a zip archive from the settings page of the interface, under "export settings". This export will contain everything detailed below. These settings can later be uploaded using "import settings", to restore configurations from previous backups.
+
+## Directory Structure
+
+The directory structure is outlined below.
+
+```{image} images/configDir.png
+:alt: Config directory structure
+:width: 600
+```
+
+- calibImgs
+  - Images saved from the last run of the calibration routine
+- cameras
+  - Contains a subfolder for each camera. This folder contains the following files:
+    - pipelines folder, which contains a {code}`json` file for each user-created pipeline.
+    - config.json, which contains all camera-specific configuration. This includes FOV, pitch, current pipeline index, and calibration data
+    - drivermode.json, which contains settings for the driver mode pipeline
+- imgSaves
+  - Contains images saved with the input/output save commands.
+- logs
+  - Contains timestamped logs in the format {code}`photonvision-YYYY-MM-D_HH-MM-SS.log`. These timestamps will likely be significantly behind the real time. Coprocessors on the robot have no way to get current time.
+- hardwareSettings.json
+  - Contains hardware settings. Currently this includes only the LED brightness.
+- networkSettings.json
+  - Contains network settings, including team number (or remote network tables address), static/dynamic settings, and hostname.
+
+## Importing and Exporting Settings
+
+The entire settings directory can be exported as a ZIP archive from the settings page.
+
+```{raw} html
+<video width="85%" controls>
+    <source src="../../_static/assets/import-export-settings.mp4" type="video/mp4">
+    Your browser does not support the video tag.
+</video>
+```
+
+A variety of files can be imported back into PhotonVision:
+
+- ZIP Archive ({code}`.zip`)
+  - Useful for restoring a full configuration from a different PhotonVision instance.
+- Single Config File
+  - Currently-supported Files
+    - {code}`hardwareConfig.json`
+    - {code}`hardwareSettings.json`
+    - {code}`networkSettings.json`
+  - Useful for simple hardware or network configuration tasks without overwriting all settings.
+
+
+

docs/source/docs/additional-resources/nt-api.md

@@ -0,0 +1,70 @@
+# NetworkTables API
+
+## About
+
+:::{warning}
+PhotonVision interfaces with PhotonLib, our vendor dependency, using NetworkTables. If you are running PhotonVision on a robot (ie. with a RoboRIO), you should **turn the NetworkTables server switch (in the settings tab) off** in order to get PhotonLib to work. Also ensure that you set your team number. The NetworkTables server should only be enabled if you know what you're doing!
+:::
+
+## API
+
+:::{warning}
+NetworkTables is not a supported setup/viable option when using PhotonVision as we only send one target at a time (this is problematic when using AprilTags, which will return data from multiple tags at once). We recommend using PhotonLib.
+:::
+
+The tables below contain the the name of the key for each entry that PhotonVision sends over the network and a short description of the key. The entries should be extracted from a subtable with your camera's nickname (visible in the PhotonVision UI) under the main `photonvision` table.
+
+### Getting Target Information
+
+| Key             | Type       | Description                                                              |
+| --------------- | ---------- | ------------------------------------------------------------------------ |
+| `rawBytes`      | `byte[]`   | A byte-packed string that contains target info from the same timestamp.  |
+| `latencyMillis` | `double`   | The latency of the pipeline in milliseconds.                             |
+| `hasTarget`     | `boolean`  | Whether the pipeline is detecting targets or not.                        |
+| `targetPitch`   | `double`   | The pitch of the target in degrees (positive up).                        |
+| `targetYaw`     | `double`   | The yaw of the target in degrees (positive right).                       |
+| `targetArea`    | `double`   | The area (percent of bounding box in screen) as a percent (0-100).       |
+| `targetSkew`    | `double`   | The skew of the target in degrees (counter-clockwise positive).          |
+| `targetPose`    | `double[]` | The pose of the target relative to the robot (x, y, z, qw, qx, qy, qz)   |
+| `targetPixelsX` | `double`   | The target crosshair location horizontally, in pixels (origin top-right) |
+| `targetPixelsY` | `double`   | The target crosshair location vertically, in pixels (origin top-right)   |
+
+### Changing Settings
+
+| Key             | Type      | Description                 |
+| --------------- | --------- | --------------------------- |
+| `pipelineIndex` | `int`     | Changes the pipeline index. |
+| `driverMode`    | `boolean` | Toggles driver mode.        |
+
+### Saving Images
+
+PhotonVision can save images to file on command. The image is saved when PhotonVision detects the command went from `false` to `true`.
+
+PhotonVision will automatically set these back to `false` after 500ms.
+
+Be careful saving images rapidly - it will slow vision processing performance and take up disk space very quickly.
+
+Images are returned as part of the .zip package from the "Export" operation in the Settings tab.
+
+| Key                | Type      | Description                                       |
+| ------------------ | --------- | ------------------------------------------------- |
+| `inputSaveImgCmd`  | `boolean` | Triggers saving the current input image to file.  |
+| `outputSaveImgCmd` | `boolean` | Triggers saving the current output image to file. |
+
+:::{warning}
+If you manage to make calls to these commands faster than 500ms (between calls), additional photos will not be captured.
+:::
+
+### Global Entries
+
+These entries are global, meaning that they should be called on the main `photonvision` table.
+
+| Key       | Type  | Description                                              |
+| --------- | ----- | -------------------------------------------------------- |
+| `ledMode` | `int` | Sets the LED Mode (-1: default, 0: off, 1: on, 2: blink) |
+
+:::{warning}
+Setting the LED mode to -1 (default) when `multiple` cameras are connected may result in unexpected behavior. {ref}`This is a known limitation of PhotonVision. <docs/troubleshooting/common-errors:LED Control>`
+
+Single camera operation should work without issue.
+:::

docs/source/docs/advanced-installation/index.md

@@ -0,0 +1,18 @@
+# Advanced Installation
+
+This page will help you install PhotonVision on non-supported coprocessor.
+
+## Step 1: Software Install
+
+This section will walk you through how to install PhotonVision on your coprocessor. Your coprocessor is the device that has the camera and you are using to detect targets (ex. if you are using a Limelight / Raspberry Pi, that is your coprocessor and you should follow those instructions).
+
+:::{warning}
+You only need to install PhotonVision on the coprocessor/device that is being used to detect targets, you do NOT need to install it on the device you use to view the webdashboard. All you need to view the webdashboard is for a device to be on the same network as your vision coprocessor and an internet browser.
+:::
+
+```{toctree}
+:maxdepth: 3
+
+sw_install/index
+prerelease-software
+```

docs/source/docs/advanced-installation/prerelease-software.md

@@ -0,0 +1,23 @@
+# Installing Pre-Release Versions
+
+Pre-release/development version of PhotonVision can be tested by installing/downloading artifacts from Github Actions (see below), which are built automatically on commits to open pull requests and to PhotonVision's `main` branch, or by {ref}`compiling PhotonVision locally <docs/contributing/building-photon:Build Instructions>`.
+
+:::{warning}
+If testing a pre-release version of PhotonVision with a robot, PhotonLib must be updated to match the version downloaded! If not, packet schema definitions may not match and unexpected things will occur. To update PhotonLib, refer to {ref}`installing specific version of PhotonLib<docs/programming/photonlib/adding-vendordep:Install Specific Version - Java/C++>`.
+:::
+
+GitHub Actions builds pre-release version of PhotonVision automatically on PRs and on each commit merged to main. To test a particular commit to main, navigate to the [PhotonVision commit list](https://github.com/PhotonVision/photonvision/commits/main/) and click on the check mark (below). Scroll to "Build / Build fat JAR - PLATFORM", click details, and then summary. From here, JAR and image files can be downloaded to be flashed or uploaded using "Offline Update".
+
+```{image} images/gh_actions_1.png
+:alt: Github Actions Badge
+```
+
+```{image} images/gh_actions_2.png
+:alt: Github Actions artifact list
+```
+
+Built JAR files (but not image files) can also be downloaded from PRs before they are merged. Navigate to the PR in GitHub, and select Checks at the top. Click on "Build" to display the same artifact list as above.
+
+```{image} images/gh_actions_3.png
+:alt: Github Actions artifacts from PR
+```

docs/source/docs/advanced-installation/sw_install/advanced-cmd.md

@@ -0,0 +1,56 @@
+# Advanced Command Line Usage
+
+PhotonVision exposes some command line options which may be useful for customizing execution on Debian-based installations.
+
+## Running a JAR File
+
+Assuming `java` has been installed, and the appropriate environment variables have been set upon installation (a package manager like `apt` should automatically set these), you can use `java -jar` to run a JAR file. If you downloaded the latest stable JAR of PhotonVision from the [GitHub releases page](https://github.com/PhotonVision/photonvision/releases), you can run the following to start the program:
+
+```bash
+java -jar /path/to/photonvision/photonvision.jar
+```
+
+## Updating a JAR File
+
+When you need to update your JAR file, run the following:
+
+```bash
+wget https://git.io/JqkQ9 -O update.sh
+sudo chmod +x update.sh
+sudo ./update.sh
+sudo reboot now
+```
+
+## Creating a `systemd` Service
+
+You can also create a systemd service that will automatically run on startup. To do so, first navigate to `/lib/systemd/system`. Create a file called `photonvision.service` (or name it whatever you want) using `touch photonvision.service`. Then open this file in the editor of your choice and paste the following text:
+
+```
+[Unit]
+Description=Service that runs PhotonVision
+
+[Service]
+WorkingDirectory=/path/to/photonvision
+# Optional: run photonvision at "nice" -10, which is higher priority than standard
+# Nice=-10
+ExecStart=/usr/bin/java -jar /path/to/photonvision/photonvision.jar
+
+[Install]
+WantedBy=multi-user.target
+```
+
+Then copy the `.service` file to `/etc/systemd/system/` using `cp photonvision.service /etc/systemd/system/photonvision.service`. Then modify the file to have `644` permissions using `chmod 644 /etc/systemd/system/photonvision.service`.
+
+:::{note}
+Many ARM processors have a big.LITTLE architecture where some of the CPU cores are more powerful than others. On this type of architecture, you may get more consistent performance by limiting which cores PhotonVision can use. To do this, add the parameter `AllowedCPUs` to the systemd service file in the `[Service]` section.
+
+For instance, for an Orange Pi 5, cores 4 through 7 are the fast ones, and you can target those cores with the line `AllowedCPUs=4-7`.
+:::
+
+## Installing the `systemd` Service
+
+To install the service, simply run `systemctl enable photonvision.service`.
+
+:::{note}
+It is recommended to reload configurations by running `systemctl daemon-reload`.
+:::

docs/source/docs/advanced-installation/sw_install/files/Limelight2+/hardwareConfig.json

@@ -0,0 +1,9 @@
+{
+  "deviceName" : "Limelight 2+",
+  "supportURL" : "https://limelightvision.io",
+  "ledPins" : [ 13, 18 ],
+  "ledsCanDim" : true,
+  "ledPWMRange" : [ 0, 100 ],
+  "ledPWMFrequency" : 30000,
+  "vendorFOV" : 75.76079874010732
+}

docs/source/docs/advanced-installation/sw_install/files/Limelight2/hardwareConfig.json

@@ -0,0 +1,7 @@
+{
+  "deviceName" : "Limelight 2",
+  "supportURL" : "https://limelightvision.io",
+  "ledPins" : [ 17, 18 ],
+  "ledsCanDim" : false,
+  "vendorFOV" : 75.76079874010732
+}

docs/source/docs/advanced-installation/sw_install/index.md

@@ -0,0 +1,21 @@
+# Software Installation
+
+## Desktop Environments
+
+```{toctree}
+:maxdepth: 1
+
+windows-pc
+linux-pc
+mac-os
+```
+
+## Other
+
+```{toctree}
+:maxdepth: 1
+
+other-coprocessors
+advanced-cmd
+romi
+```

docs/source/docs/advanced-installation/sw_install/linux-pc.md

@@ -0,0 +1,47 @@
+# Linux PC Installation
+
+PhotonVision may be run on a Debian-based Linux Desktop PC for basic testing and evaluation.
+
+:::{note}
+You do not need to install PhotonVision on a Windows PC in order to access the webdashboard (assuming you are using an external coprocessor like a Raspberry Pi).
+:::
+
+## Installing Java
+
+PhotonVision requires a JDK installed and on the system path. JDK 17 is needed (different versions will not work). If you don't have JDK 17 already, run the following to install it:
+
+```
+$ sudo apt-get install openjdk-17-jdk
+```
+
+:::{warning}
+Using a JDK other than JDK17 will cause issues when running PhotonVision and is not supported.
+:::
+
+## Downloading the Latest Stable Release of PhotonVision
+
+Go to the [GitHub releases page](https://github.com/PhotonVision/photonvision/releases) and download the relevant .jar file for your coprocessor.
+
+:::{note}
+If your coprocessor has a 64 bit ARM based CPU architecture (OrangePi, Raspberry Pi, etc.), download the LinuxArm64.jar file.
+
+If your coprocessor has an 64 bit x86 based CPU architecture (Mini PC, laptop, etc.), download the Linuxx64.jar file.
+:::
+
+:::{warning}
+Be careful to pick the latest stable release. "Draft" or "Pre-Release" versions are not stable and often have bugs.
+:::
+
+## Running PhotonVision
+
+To run PhotonVision, open a terminal window of your choice and run the following command:
+
+```
+$ java -jar /path/to/photonvision/photonvision-xxx.jar
+```
+
+If your computer has a compatible webcam connected, PhotonVision should startup without any error messages. If there are error messages, your webcam isn't supported or another issue has occurred. If it is the latter, please open an issue on the [PhotonVision issues page](https://github.com/PhotonVision/photonvision/issues).
+
+## Accessing the PhotonVision Interface
+
+Once the Java backend is up and running, you can access the main vision interface by navigating to `localhost:5800` inside your browser.

docs/source/docs/advanced-installation/sw_install/mac-os.md

@@ -0,0 +1,53 @@
+# Mac OS Installation
+
+:::{warning}
+Due to current [cscore](https://github.com/wpilibsuite/allwpilib/tree/main/cscore) restrictions, the PhotonVision server backend may have issues running macOS.
+:::
+
+:::{note}
+You do not need to install PhotonVision on a Mac in order to access the webdashboard (assuming you are using an external coprocessor like a Raspberry Pi).
+:::
+
+VERY Limited macOS support is available.
+
+## Installing Java
+
+PhotonVision requires a JDK installed and on the system path. JDK 17 is needed (different versions will not work). You may already have this if you have installed WPILib 2025+. If not, [download and install it from here](https://adoptium.net/temurin/releases?version=17).
+
+:::{warning}
+Using a JDK other than JDK17 will cause issues when running PhotonVision and is not supported.
+:::
+
+## Downloading the Latest Stable Release of PhotonVision
+
+Go to the [GitHub releases page](https://github.com/PhotonVision/photonvision/releases) and download the relevant .jar file for your coprocessor.
+
+:::{note}
+If you have an M1/M2 Mac, download the macarm64.jar file.
+
+If you have an Intel based Mac, download the macx64.jar file.
+:::
+
+:::{warning}
+Be careful to pick the latest stable release. "Draft" or "Pre-Release" versions are not stable and often have bugs.
+:::
+
+## Running PhotonVision
+
+To run PhotonVision, open a terminal window of your choice and run the following command:
+
+```
+$ java -jar /path/to/photonvision/photonvision-xxx.jar
+```
+
+:::{warning}
+Due to current [cscore](https://github.com/wpilibsuite/allwpilib/tree/main/cscore) restrictions, the PhotonVision using test mode is all that is known to work currently.
+:::
+
+## Accessing the PhotonVision Interface
+
+Once the Java backend is up and running, you can access the main vision interface by navigating to `localhost:5800` inside your browser.
+
+:::{warning}
+Due to current [cscore](https://github.com/wpilibsuite/allwpilib/tree/main/cscore) restrictions, it is unlikely any streams will open from real webcams.
+:::

docs/source/docs/advanced-installation/sw_install/other-coprocessors.md

@@ -0,0 +1,39 @@
+# Other Debian-Based Co-Processor Installation
+
+:::{warning}
+Working with unsupported coprocessors requires some level of "know how" of your system. The install script has only been tested on Debian/Raspberry Pi OS Buster and Ubuntu Bionic. If any issues arise with your specific OS, please open an issue on our [issues page](https://github.com/PhotonVision/photonvision/issues).
+:::
+
+:::{note}
+We'd love to have your input! If you get PhotonVision working on another coprocessor, consider documenting your steps and submitting a [docs issue](https://github.com/PhotonVision/photonvision-docs/issues)., [pull request](https://github.com/PhotonVision/photonvision-docs/pulls) , or [ping us on Discord](https://discord.com/invite/wYxTwym). For example, Limelight and Romi install instructions came about because someone spent the time to figure it out, and did a writeup.
+:::
+
+## Installing PhotonVision
+
+We provide an [install script](https://git.io/JJrEP) for other Debian-based systems (with `apt`) that will automatically install PhotonVision and make sure that it runs on startup.
+
+```bash
+$ wget https://git.io/JJrEP -O install.sh
+$ sudo chmod +x install.sh
+$ sudo ./install.sh
+$ sudo reboot now
+```
+
+:::{note}
+Your co-processor will require an Internet connection for this process to work correctly.
+:::
+
+For installation on any other co-processors, we recommend reading the {ref}`advanced command line documentation <docs/advanced-installation/sw_install/advanced-cmd:Advanced Command Line Usage>`.
+
+## Updating PhotonVision
+
+PhotonVision can be updated by downloading the latest jar file, copying it onto the processor, and restarting the service.
+
+For example, from another computer, run the following commands. Substitute the correct username for "\[user\]" ( Provided images use username "pi")
+
+```bash
+$ scp [jar name].jar [user]@photonvision.local:~/
+$ ssh [user]@photonvision.local
+$ sudo mv [jar name].jar /opt/photonvision/photonvision.jar
+$ sudo systemctl restart photonvision.service
+```

docs/source/docs/advanced-installation/sw_install/romi.md

@@ -0,0 +1,43 @@
+# Romi Installation
+
+The [Romi](https://docs.wpilib.org/en/latest/docs/romi-robot/index.html) is a small robot that can be controlled with the WPILib software. The main controller is a Raspberry Pi that must be imaged with [WPILibPi](https://docs.wpilib.org/en/latest/docs/romi-robot/imaging-romi.html) .
+
+## Installation
+
+The WPILibPi image includes FRCVision, which reserves USB cameras; to use PhotonVision, we need to edit the `/home/pi/runCamera` script to disable it. First we will need to make the file system writeable; the easiest way to do this is to go to `10.0.0.2` and choose "Writable" at the top.
+
+SSH into the Raspberry Pi (using Windows command line, or a tool like [Putty](https://www.chiark.greenend.org.uk/~sgtatham/putty/) ) at the Romi's default address `10.0.0.2`. The default user is `pi`, and the password is `raspberry`.
+
+:::.. The following paragraph can be restored when WPILibPi becomes compatible with the current version of PhotonVision.
+:::.. Follow the process for installing PhotonVision on {ref}`"Other Debian-Based Co-Processor Installation" <docs/advanced-installation/sw_install/other-coprocessors:Other Debian-Based Co-Processor Installation>`. As it mentions, this will require an internet connection so connecting the Raspberry Pi to an internet-connected router via an Ethernet cable will be the easiest solution. The pi must remain writable while you are following these steps!
+
+:::..Temporary instructions explaining how to install the older version of PhotonVision on a Romi. Remove when no longer needed.
+:::{attention}
+The version of WPILibPi for the Romi is 2023.2.1, which is not compatible with the current version of PhotonVision. **If you are using WPILibPi 2023.2.1 on your Romi, you must install PhotonVision v2023.4.2 or earlier!**
+
+To install a compatible version of PhotonVision, enter these commands in the SSH terminal connected to the Raspberry Pi. This will download and run the install script, which will install PhotonVision on your Raspberry Pi and configure it to run at startup.
+
+```bash
+$ wget https://git.io/JJrEP -O install.sh
+$ sudo chmod +x install.sh
+$ sudo ./install.sh -v v2023.4.2
+```
+The install script requires an internet connection, so connecting the Raspberry Pi to an internet-connected router via an Ethernet cable will be the easiest solution. The pi must remain writable while you are following these steps!
+:::
+:::..End of temporary instructions.
+
+Next, from the SSH terminal, run `sudo nano /home/pi/runCamera` then arrow down to the start of the exec line and press "Enter" to add a new line. Then add `#` before the exec command to comment it out. Then, arrow up to the new line and type `sleep 10000`. Hit "Ctrl + O" and then "Enter" to save the file. Finally press "Ctrl + X" to exit nano. Now, reboot the Romi by typing `sudo reboot now`.
+
+```{image} images/nano.png
+
+```
+
+After the Romi reboots, you should be able to open the PhotonVision UI at: [`http://10.0.0.2:5800/`](http://10.0.0.2:5800/). From here, you can adjust settings and configure {ref}`Pipelines <docs/pipelines/index:Pipelines>`.
+
+:::{warning}
+In order for settings, logs, etc. to be saved / take effect, ensure that PhotonVision is in writable mode.
+:::
+
+:::{attention}
+When using an older version of PhotonVision, the user interface and features may be different than what appears in the online documentation. The [Documentation](http://10.0.0.2:5800/#/docs) link in the User Interface will open a bundled version of the documentation that matches the PhotonVision version running on your coprocessor.
+:::

docs/source/docs/advanced-installation/sw_install/windows-pc.md

@@ -0,0 +1,45 @@
+# Windows PC Installation
+
+PhotonVision may be run on a Windows Desktop PC for basic testing and evaluation.
+
+:::{note}
+You do not need to install PhotonVision on a Windows PC in order to access the webdashboard (assuming you are using an external coprocessor like a Raspberry Pi).
+:::
+
+## Install Bonjour
+
+Bonjour provides more stable networking when using Windows PCs. Install [Bonjour here](https://support.apple.com/downloads/DL999/en_US/BonjourPSSetup.exe) before continuing to ensure a stable experience while using PhotonVision.
+
+## Installing Java
+
+PhotonVision requires a JDK installed and on the system path. **JDK 17 is needed. Windows Users must use the JDK that ships with WPILib.** [Download and install it from here.](https://github.com/wpilibsuite/allwpilib/releases/tag/v2025.3.1) Either ensure the only Java on your PATH is the WPILIB Java or specify it to gradle with `-Dorg.gradle.java.home=C:\Users\Public\wpilib\2025\jdk`:
+
+```
+> ./gradlew run "-Dorg.gradle.java.home=C:\Users\Public\wpilib\2025\jdk"
+```
+
+:::{warning}
+Using a JDK other than WPILIB's JDK17 will cause issues when running PhotonVision and is not supported.
+:::
+
+## Downloading the Latest Stable Release of PhotonVision
+
+Go to the [GitHub releases page](https://github.com/PhotonVision/photonvision/releases) and download the winx64.jar file.
+
+## Running PhotonVision
+
+To run PhotonVision, open a terminal window of your choice and run the following command:
+
+```
+> java -jar C:\path\to\photonvision\NAME OF JAR FILE GOES HERE.jar
+```
+
+If your computer has a compatible webcam connected, PhotonVision should startup without any error messages. If there are error messages, your webcam isn't supported or another issue has occurred. If it is the latter, please open an issue on the [PhotonVision issues page](https://github.com/PhotonVision/photonvision/issues).
+
+:::{warning}
+Using an integrated laptop camera may cause issues when trying to run PhotonVision. If you are unable to run PhotonVision on a laptop with an integrated camera, try disabling the camera's driver in Windows Device Manager.
+:::
+
+## Accessing the PhotonVision Interface
+
+Once the Java backend is up and running, you can access the main vision interface by navigating to `localhost:5800` inside your browser.

docs/source/docs/apriltag-pipelines/2D-tracking-tuning.md

@@ -0,0 +1,56 @@
+# 2D AprilTag Tuning / Tracking
+
+## Tracking AprilTags
+
+Before you get started tracking AprilTags, ensure that you have followed the previous sections on installation, wiring and networking. Next, open the Web UI, go to the top right card, and switch to the "AprilTag" or "Aruco" type. You should see a screen similar to the one below.
+
+```{image} images/apriltag.png
+:align: center
+```
+
+You are now able to detect and track AprilTags in 2D (yaw, pitch, roll, etc.). In order to get 3D data from your AprilTags, please see {ref}`here. <docs/apriltag-pipelines/3D-tracking:3D Tracking>`
+
+## Tuning AprilTags
+
+AprilTag pipelines come with reasonable defaults to get you up and running with tracking. However, in order to optimize your performance and accuracy, you must tune your AprilTag pipeline using the settings below. Note that the settings below are different between the AprilTag and Aruco detectors but the concepts are the same.
+
+```{image} images/apriltag-tune.png
+:align: center
+:scale: 45 %
+```
+
+### Target Family
+
+Target families are defined by two numbers (before and after the h). The first number is the number of bits the tag is able to encode (which means more tags are available in the respective family) and the second is the hamming distance. Hamming distance describes the ability for error correction while identifying tag ids. A high hamming distance generally means that it will be easier for a tag to be identified even if there are errors. However, as hamming distance increases, the number of available tags decreases.
+
+The 2025 FRC game will be using 36h11 tags, which can be found [here](https://github.com/AprilRobotics/apriltag-imgs/tree/main/tag36h11).
+
+### Decimate
+
+Decimation (also known as down-sampling) is the process of reducing the sampling frequency of a signal (in our case, the image). Increasing decimate will lead to an increased detection rate while decreasing detection distance. We recommend keeping this at the default value.
+
+### Blur
+
+This controls the sigma of Gaussian blur for tag detection. In clearer terms, increasing blur will make the image blurrier, decreasing it will make it closer to the original image. We strongly recommend that you keep blur to a minimum (0) due to it's high performance intensity unless you have an extremely noisy image.
+
+### Threads
+
+Threads refers to the threads within your coprocessor's CPU. The theoretical maximum is device dependent, but we recommend that users to stick to one less than the amount of CPU threads that your coprocessor has. Increasing threads will increase performance at the cost of increased CPU load, temperature increase, etc. It may take some experimentation to find the most optimal value for your system.
+
+### Refine Edges
+
+The edges of the each polygon are adjusted to "snap to" high color differences surrounding it. It is recommended to use this in tandem with decimate as it can increase the quality of the initial estimate.
+
+### Pose Iterations
+
+Pose iterations represents the amount of iterations done in order for the AprilTag algorithm to converge on its pose solution(s). A smaller number between 0-100 is recommended. A smaller amount of iterations cause a more noisy set of poses when looking at the tag straight on, while higher values much more consistently stick to a (potentially wrong) pair of poses. WPILib contains many useful filter classes in order to account for a noisy tag reading.
+
+### Max Error Bits
+
+Max error bits, also known as hamming distance, is the number of positions at which corresponding pieces of data / tag are different. Put more generally, this is the number of bits (think of these as squares in the tag) that need to be changed / corrected in the tag to correctly detect it. A higher value means that more tags will be detected while a lower value cuts out tags that could be "questionable" in terms of detection.
+
+We recommend a value of 0 for the 16h5 and at most 3 for the 36h11 family.
+
+### Decision Margin Cutoff
+
+The decision margin cutoff is how much “margin” the detector has left before it rejects a tag; increasing this rejects poorer tags. We recommend you keep this value around a 30.

docs/source/docs/apriltag-pipelines/3D-tracking.md

@@ -0,0 +1,13 @@
+# 3D Tracking
+
+3D AprilTag tracking will allow you to track the real-world position and rotation of a tag relative to the camera's image sensor. This is useful for robot pose estimation and other applications like autonomous scoring. In order to use 3D tracking, you must first {ref}`calibrate your camera <docs/calibration/calibration:Calibrating Your Camera>`. Once you have, you need to enable 3D mode in the UI and you will now be able to get 3D pose information from the tag! For information on getting and using this information in your code, see {ref}`the programming reference. <docs/programming/index:Programming Reference>`.
+
+## Ambiguity
+
+Translating from 2D to 3D using data from the calibration and the four tag corners can lead to "pose ambiguity", where it appears that the AprilTag pose is flipping between two different poses. You can read more about this issue `here. <https://docs.wpilib.org/en/stable/docs/software/vision-processing/apriltag/apriltag-intro.html#d-to-3d-ambiguity>` Ambiguity is calculated as the ratio of reprojection errors between two pose solutions (if they exist), where reprojection error is the error corresponding to the image distance between where the apriltag's corners are detected vs where we expect to see them based on the tag's estimated camera relative pose.
+
+There are a few steps you can take to resolve/mitigate this issue:
+
+1. Mount cameras at oblique angles so it is less likely that the tag will be seen straight on.
+2. Use the {ref}`MultiTag system <docs/apriltag-pipelines/multitag:MultiTag Localization>` in order to combine the corners from multiple tags to get a more accurate and unambiguous pose.
+3. Reject all tag poses where the ambiguity ratio (available via PhotonLib) is greater than 0.2.

docs/source/docs/apriltag-pipelines/about-apriltags.md

@@ -0,0 +1,14 @@
+# About AprilTags
+
+```{image} images/pv-apriltag.png
+:align: center
+:scale: 20 %
+```
+
+AprilTags are a common type of visual fiducial marker. Visual fiducial markers are artificial landmarks added to a scene to allow "localization" (finding your current position) via images. In simpler terms, tags mark known points of reference that you can use to find your current location. They are similar to QR codes in which they encode information, however, they hold only a single number. By placing AprilTags in known locations around the field and detecting them using PhotonVision, you can easily get full field localization / pose estimation. Alternatively, you can use AprilTags the same way you used retroreflective tape, simply using them to turn to goal without any pose estimation.
+
+A more technical explanation can be found in the [WPILib documentation](https://docs.wpilib.org/en/latest/docs/software/vision-processing/apriltag/apriltag-intro.html).
+
+:::{note}
+You can get FIRST's [official PDF of the targets used in 2025 here](https://firstfrc.blob.core.windows.net/frc2025/FieldAssets/Apriltag_Images_and_User_Guide.pdf).
+:::

docs/source/docs/apriltag-pipelines/coordinate-systems.md

@@ -0,0 +1,40 @@
+# Coordinate Systems
+
+## Field and Robot Coordinate Frame
+
+PhotonVision follows the WPILib conventions for the robot and field coordinate systems, as defined [here](https://docs.wpilib.org/en/stable/docs/software/advanced-controls/geometry/coordinate-systems.html).
+
+You define the camera to robot transform in the robot coordinate frame.
+
+## Camera Coordinate Frame
+
+OpenCV by default uses x-left/y-down/z-out for camera transforms. PhotonVision applies a base rotation to this transformation to make robot to tag transforms more in line with the WPILib coordinate system. The x, y, and z axes are also shown in red, green, and blue in the 3D mini-map and targeting overlay in the UI.
+
+- The origin is the focal point of the camera lens
+- The x-axis points out of the camera
+- The y-axis points to the left
+- The z-axis points upwards
+
+```{image} images/camera-coord.png
+:align: center
+:scale: 45 %
+```
+
+```{image} images/multiple-tags.png
+:align: center
+:scale: 45 %
+```
+
+## AprilTag Coordinate Frame
+
+The AprilTag coordinate system is defined as follows, relative to the center of the AprilTag itself, and when viewing the tag as a robot would. Again, PhotonVision changes this coordinate system to be more in line with WPILib. This means that a robot facing a tag head-on would see a robot-to-tag transform with a translation only in x, and a rotation of 180 degrees about z. The tag coordinate system is also shown with x/y/z in red/green/blue in the UI target overlay and mini-map.
+
+- The origin is the center of the tag
+- The x-axis is normal to the plane the tag is printed on, pointing outward from the visible side of the tag.
+- The y-axis points to the right
+- The z-axis points upwards
+
+```{image} images/apriltag-coords.png
+:align: center
+:scale: 45 %
+```

docs/source/docs/apriltag-pipelines/detector-types.md

@@ -0,0 +1,15 @@
+# AprilTag Pipeline Types
+
+PhotonVision offers two different AprilTag pipeline types based on different implementations of the underlying algorithm. Each one has its advantages / disadvantages, which are detailed below.
+
+:::{note}
+Note that both of these pipeline types detect AprilTag markers and are just two different algorithms for doing so.
+:::
+
+## AprilTag
+
+The AprilTag pipeline type is based on the [AprilTag](https://april.eecs.umich.edu/software/apriltag.html) library from the University of Michigan and we recommend it for most use cases. It is (to our understanding) most accurate pipeline type, but is also ~2x slower than AruCo. This was the pipeline type used by teams in the 2023 season and is well tested.
+
+## AruCo
+
+The AruCo pipeline is based on the [AruCo](https://docs.opencv.org/4.8.0/d9/d6a/group__aruco.html) library implementation from OpenCV. It is ~2x higher fps and ~2x lower latency than the AprilTag pipeline type, but is less accurate. We recommend this pipeline type for teams that need to run at a higher framerate or have a lower powered device. This pipeline type was new for the 2024 season.

docs/source/docs/apriltag-pipelines/index.md

@@ -0,0 +1,10 @@
+# AprilTag Detection
+
+```{toctree}
+about-apriltags
+detector-types
+2D-tracking-tuning
+3D-tracking
+multitag
+coordinate-systems
+```

docs/source/docs/apriltag-pipelines/multitag.md

@@ -0,0 +1,69 @@
+# MultiTag Localization
+
+PhotonVision can combine AprilTag detections from multiple simultaneously observed AprilTags from a particular camera with information about where tags are expected to be located on the field to produce a better estimate of where the camera (and therefore robot) is located on the field. PhotonVision can calculate this multi-target result on your coprocessor, reducing CPU usage on your RoboRio. This result is sent over NetworkTables along with other detected targets as part of the `PhotonPipelineResult` provided by PhotonLib.
+
+:::{warning}
+MultiTag requires an accurate field layout JSON to be uploaded! Differences between this layout and the tags' physical location will drive error in the estimated pose output.
+:::
+
+:::{warning}
+For the 2025 Reefscape Season, there are two different field layouts. The first is the [welded field layout](https://github.com/wpilibsuite/allwpilib/blob/main/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape-welded.json), which photonvision ships with. The second is the [Andymark field layout](https://github.com/wpilibsuite/allwpilib/blob/main/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape-andymark.json). It is very important to ensure that you use the correct field layout, both in the [PhotonPoseEstimator](https://docs.photonvision.org/en/latest/docs/programming/photonlib/robot-pose-estimator.html#apriltags-and-photonposeestimator) and on the [coprocessor](https://docs.photonvision.org/en/latest/docs/apriltag-pipelines/multitag.html#updating-the-field-layout).
+:::
+
+## Enabling MultiTag
+
+Ensure that your camera is calibrated and 3D mode is enabled. Navigate to the Output tab and enable "Do Multi-Target Estimation". This enables MultiTag to use the uploaded field layout JSON to calculate your camera's pose in the field. This 3D transform will be shown as an additional table in the "targets" tab, along with the IDs of AprilTags used to compute this transform.
+
+```{image} images/multitag-ui.png
+:alt: Multitarget enabled and running in the PhotonVision UI
+:width: 600
+```
+
+:::{note}
+By default, enabling multi-target will disable calculating camera-to-target transforms for each observed AprilTag target to increase performance; the X/Y/angle numbers shown in the target table of the UI are instead calculated using the tag's expected location (per the field layout JSON) and the field-to-camera transform calculated using MultiTag. If you additionally want the individual camera-to-target transform calculated using SolvePNP for each target, enable "Always Do Single-Target Estimation".
+:::
+
+This multi-target pose estimate can be accessed using PhotonLib. We suggest using {ref}`the PhotonPoseEstimator class <docs/programming/photonlib/robot-pose-estimator:AprilTags and PhotonPoseEstimator>` with the `MULTI_TAG_PNP_ON_COPROCESSOR` strategy to simplify code, but the transform can be directly accessed using `getMultiTagResult`/`MultiTagResult()` (Java/C++).
+
+```{eval-rst}
+.. tab-set-code::
+
+    .. code-block:: Java
+
+        var result = camera.getLatestResult();
+        if (result.getMultiTagResult().estimatedPose.isPresent) {
+          Transform3d fieldToCamera = result.getMultiTagResult().estimatedPose.best;
+        }
+
+
+    .. code-block:: C++
+
+        auto result = camera.GetLatestResult();
+        if (result.MultiTagResult().result.isPresent) {
+          frc::Transform3d fieldToCamera = result.MultiTagResult().result.best;
+        }
+
+    .. code-block:: Python
+
+        # Coming Soon!
+
+```
+
+:::{note}
+The returned field to camera transform is a transform from the fixed field origin to the camera's coordinate system. This does not change based on alliance color, and by convention is on the BLUE ALLIANCE wall.
+:::
+
+## Updating the Field Layout
+
+PhotonVision ships by default with the [2025 welded field layout JSON](https://github.com/wpilibsuite/allwpilib/blob/main/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape-welded.json). The layout can be inspected by navigating to the settings tab and scrolling down to the "AprilTag Field Layout" card, as shown below.
+
+```{image} images/field-layout.png
+:alt: The currently saved field layout in the Photon UI
+:width: 600
+```
+
+An updated field layout can be uploaded by navigating to the "Device Control" card of the Settings tab and clicking "Import Settings". In the pop-up dialog, select the "AprilTag Layout" type and choose an updated layout JSON (in the same format as the WPILib field layout JSON linked above) using the paperclip icon, and select "Import Settings". The AprilTag layout in the "AprilTag Field Layout" card below should be updated to reflect the new layout.
+
+:::{note}
+Currently, there is no way to update this layout using PhotonLib, although this feature is under consideration.
+:::

docs/source/docs/calibration/calibration.md

@@ -0,0 +1,151 @@
+# Calibrating Your Camera
+
+:::{important}
+In order to detect AprilTags and use 3D mode, your camera must be calibrated at the desired resolution! Inaccurate calibration will lead to poor performance.
+:::
+
+To calibrate a camera, images of a Charuco board (or chessboard) are taken. By comparing where the grid corners should be in object space (for example, a corner once every inch in an 8x6 grid) with where they appear in the camera image, we can find a least-squares estimate for intrinsic camera properties like focal lengths, center point, and distortion coefficients. For more on camera calibration, please review the [OpenCV documentation](https://docs.opencv.org/4.x/dc/dbb/tutorial_py_calibration.html).
+
+:::{warning}
+While any resolution can be calibrated, higher resolutions may be too performance-intensive for some coprocessors to handle. Therefore, we recommend experimenting to see what works best for your coprocessor.
+:::
+
+:::{note}
+The calibration data collected during calibration is specific to each physical camera, as well as each individual resolution.
+:::
+
+## Calibration Tips
+
+Accurate camera calibration is required in order to get accurate pose measurements when using AprilTags and 3D mode. The tips below should help ensure success:
+
+01. Ensure your the images you take have the target in different positions and angles, with as big of a difference between angles as possible. It is important to make sure the target overlay still lines up with the board while doing this. Tilt no more than 45 degrees.
+02. Use as big of a calibration target as your printer can print.
+03. Ensure that your printed pattern has enough white border around it.
+04. Ensure your camera stays in one position during the duration of the calibration.
+05. Make sure you get all 12 images from varying distances and angles.
+06. Take at least one image that covers the total image area, and generally ensure that you get even coverage of the lens with your image set.
+07. Have good lighting, having a diffusely lit target would be best (light specifically shining on the target without shadows).
+08. Ensure the calibration target is completely flat and does not bend or fold in any way. It should be mounted/taped down to something flat and then used for calibration, do not just hold it up.
+09. Avoid having targets that are parallel to the lens of the camera / straight on towards the camera as much as possible. You want angles and variations within your calibration images.
+
+Following the ideas above should help in getting an accurate calibration.
+
+## Calibrating using PhotonVision
+
+### 1. Navigate to the calibration section in the UI.
+
+The Cameras tab of the UI houses PhotonVision's camera calibration tooling. It assists users with calibrating their cameras, as well as allows them to view previously calibrated resolutions. We support both charuco and chessboard calibrations.
+
+### 2. Print out the calibration target.
+
+In the Camera Calibration tab, we'll print out the calibration target using the "Download" button. This should be printed on 8.5x11 printer paper. This page shows using an 8x8 charuco board (or chessboard depending on the selected calibration type).
+
+:::{warning}
+Ensure that there is no scaling applied during printing (it should be at 100%) and that the PDF is printed as is on regular printer paper. Check the square size with calipers or an accurate measuring device after printing to ensure squares are sized properly, and enter the true size of the square in the UI text box. For optimal results, various resources are available online to calibrate your specific printer if needed.
+:::
+
+### 3. Select calibration resolution and fill in appropriate target data.
+
+We'll next select a resolution to calibrate and populate our pattern spacing, marker size, and board size. The provided chessboard and charuco board are an 8x8 grid of 1 inch square. The provided charuco board uses the 4x4 dictionary with a marker size of 0.75 inches (this board does not need the old OpenCV pattern selector selected). Printers are not perfect, and you need to measure your calibration target and enter the correct marker size (size of the aruco marker) and pattern spacing (aka size of the black square) using calipers or similar. Finally, once our entered data is correct, we'll click "start calibration."
+
+:::{warning} Old OpenCV Pattern selector. This should be used in the case that the calibration image is generated from a version of OpenCV before version 4.6.0. This would include targets created by calib.io. If this selector is not set correctly the calibration will be completely invalid. For more info view [this GitHub issue](https://github.com/opencv/opencv_contrib/issues/3291).
+:::
+
+:::{note}
+If you have a [calib.io](https://calib.io/) CharuCo Target you will have to enter the paramaters of your target. For example if your taget says "9x12 | Chceker Size: 30 mm | Marker Size: 22 mm | Dictionary: AruCo DICT 5x5", you would have to set the board type to Dict_5x5_1000, the pattern spacing to 1.1811 in (30 mm converted to inches), the marker size 0.866142 in (22 mm converted to inches), the board width to 12 and the board height to 9. If you chose the wrong tag family the baord wont be detected duting calibration. If you swap the width and height your calibration will have a very high error.
+:::
+
+### 4. Take at calibration images from various angles.
+
+Now, we'll capture images of our board from various angles. It's important to check that the board overlay matches the board in your image. The further the overdrawn points are from the true position of the chessboard corners, the less accurate the final calibration will be. We'll want to capture enough images to cover the whole camera's FOV (with a minimum of 12). Once we've got our images, we'll click "Finish calibration" and wait for the calibration process to complete. If all goes well, the mean error and FOVs will be shown in the table on the right. The FOV should be close to the camera's specified FOV (usually found in a datasheet) usually within + or - 10 degrees. The mean error should also be low, usually less than 1 pixel.
+
+```{raw} html
+<video width="85%" controls>
+    <source src="../../_static/assets/calibration_small.mp4" type="video/mp4">
+    Your browser does not support the video tag.
+</video>
+```
+
+## Accessing Calibration Images
+
+Details about a particular calibration can be viewed by clicking on that resolution in the calibrations tab. This tab allows you to download raw calibration data, upload a previous calibration, and inspect details about calculated camera intrinsic.
+
+```{image} images/cal-details.png
+:alt: Captured calibration images
+:width: 600
+```
+
+:::{note}
+More info on what these parameters mean can be found in [OpenCV's docs](https://docs.opencv.org/4.8.0/d4/d94/tutorial_camera_calibration.html)
+:::
+
+- Fx/Fy: Estimated camera focal length, in mm
+- Fx/Cy: Estimated camera optical center, in pixels. This should be at about the center of the image
+- Distortion: OpenCV camera model distortion coefficients
+- FOV: calculated using estimated focal length and image size. Useful for gut-checking calibration results
+- Mean Err: Mean reprojection error, or distance between expected and observed chessboard cameras for the full calibration dataset
+
+Below these outputs are the snapshots collected for calibration, along with a per-snapshot mean reprojection error. A snapshot with a larger reprojection error might indicate a bad snapshot, due to effects such as motion blur or misidentified chessboard corners.
+
+Calibration images can also be extracted from the downloaded JSON file using [this Python script](https://raw.githubusercontent.com/PhotonVision/photonvision/main/devTools/calibrationUtils.py). This script will unpack calibration images, and also generate a VNL file for use [with mrcal](https://mrcal.secretsauce.net/).
+
+```
+python3 /path/to/calibrationUtils.py path/to/photon_calibration.json /path/to/output/folder
+```
+
+```{image} images/unpacked-json.png
+:alt: Captured calibration images
+:width: 600
+```
+
+## Investigating Calibration Data with mrcal
+
+[mrcal](https://mrcal.secretsauce.net/tour.html) is a command-line tool for camera calibration and visualization. PhotonVision has the option to use the mrcal backend during camera calibration to estimate intrinsics. mrcal can also be used post-calibration to inspect snapshots and provide feedback. These steps will closely follow the [mrcal tour](https://mrcal.secretsauce.net/tour-initial-calibration.html) -- I'm aggregating commands and notes here, but the mrcal documentation is much more thorough.
+
+Start by [Installing mrcal](https://mrcal.secretsauce.net/install.html). Note that while mrcal *calibration* using PhotonVision is supported on all platforms, but investigation right now only works on Linux. Some users have also reported luck using [WSL 2 on Windows](https://learn.microsoft.com/en-us/windows/wsl/tutorials/gui-apps) as well. You may also need to install `feedgnuplot`. On Ubuntu systems, these commands should be run from a standalone terminal and *not* the one [built into vscode](https://github.com/ros2/ros2/issues/1406).
+
+Let's run `calibrationUtils.py` as described above, and then cd into the output folder. From here, you can follow the mrcal tour, just replacing the VNL filename and camera imager size as necessary. My camera calibration was at 1280x720, so I've set the XY limits to that below.
+
+```
+$ cd /path/to/output/folder
+$ ls
+matt@photonvision:~/Documents/Downloads/2024-01-02_lifecam_1280$ ls
+  corners.vnl  img0.png  img10.png  img11.png  img12.png  img13.png  img1.png
+  img2.png  img3.png  img4.png  img5.png  img6.png  img7.png  img8.png
+  img9.png  cameramodel_0.cameramodel
+
+$ < corners.vnl       \
+  vnl-filter -p x,y | \
+  feedgnuplot --domain --square --set 'xrange [0:1280] noextend' --set 'yrange [720:0] noextend'
+```
+
+```{image} images/mrcal-coverage.svg
+:alt: A diagram showing the locations of all detected chessboard corners.
+```
+
+As you can see, we didn't do a fantastic job of covering our whole camera sensor -- there's a big gap across the whole right side, for example. We also only have 14 calibration images. We've also got our "cameramodel" file, which can be used by mrcal to display additional debug info.
+
+Let's inspect our reprojection error residuals. We expect their magnitudes and directions to be random -- if there's patterns in the colors shown, then our calibration probably doesn't fully explain our physical camera sensor.
+
+```
+$ mrcal-show-residuals --magnitudes --set 'cbrange [0:1.5]' ./camera-0.cameramodel
+$ mrcal-show-residuals --directions --unset key ./camera-0.cameramodel
+```
+
+```{image} images/residual-magnitudes.svg
+:alt: A diagram showing residual magnitudes
+```
+
+```{image} images/residual-directions.svg
+:alt: A diagram showing residual directions
+```
+
+Clearly we don't have anywhere near enough data to draw any meaningful conclusions (yet). But for fun, let's dig into [camera uncertainty estimation](https://mrcal.secretsauce.net/tour-uncertainty.html). This diagram shows how expected projection error changes due to noise in calibration inputs. Lower projection error across a larger area of the sensor imply a better calibration that more fully covers the whole sensor. For my calibration data, you can tell the projection error isolines (lines of constant expected projection error) are skewed to the left, following my dataset (which was also skewed left).
+
+```
+$ mrcal-show-projection-uncertainty --unset key ./cameramodel_0.cameramodel
+```
+
+```{image} images/camera-uncertainty.svg
+:alt: A diagram showing camera uncertainty
+```