Restart server on general settings change (#1137)

* Bound check sliders

* Update pv-range-slider.vue

---------

Co-authored-by: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>

.clang-format

@@ -0,0 +1,167 @@
+---
+Language:        Cpp
+BasedOnStyle:  Google
+AccessModifierOffset: -1
+AlignAfterOpenBracket: Align
+AlignConsecutiveMacros: false
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlines: Left
+AlignOperands:   true
+AlignTrailingComments: true
+AllowAllArgumentsOnNextLine: true
+AllowAllConstructorInitializersOnNextLine: true
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: Never
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: All
+AllowShortLambdasOnASingleLine: All
+AllowShortIfStatementsOnASingleLine: WithoutElse
+AllowShortLoopsOnASingleLine: true
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: true
+AlwaysBreakTemplateDeclarations: Yes
+BinPackArguments: true
+BinPackParameters: true
+BraceWrapping:
+  AfterCaseLabel:  false
+  AfterClass:      false
+  AfterControlStatement: false
+  AfterEnum:       false
+  AfterFunction:   false
+  AfterNamespace:  false
+  AfterObjCDeclaration: false
+  AfterStruct:     false
+  AfterUnion:      false
+  AfterExternBlock: false
+  BeforeCatch:     false
+  BeforeElse:      false
+  IndentBraces:    false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Attach
+BreakBeforeInheritanceComma: false
+BreakInheritanceList: BeforeColon
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+BreakConstructorInitializers: BeforeColon
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
+ColumnLimit:     80
+CommentPragmas:  '^ IWYU pragma:'
+CompactNamespaces: false
+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
+    SortPriority:    0
+  - Regex:           '.*'
+    Priority:        3
+    SortPriority:    0
+IncludeIsMainRegex: '([-_](test|unittest))?$'
+IncludeIsMainSourceRegex: ''
+IndentCaseLabels: true
+IndentGotoLabels: true
+IndentPPDirectives: None
+IndentWidth:     2
+IndentWrappedFunctionNames: false
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: false
+MacroBlockBegin: ''
+MacroBlockEnd:   ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBinPackProtocolList: Never
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakAssignment: 2
+PenaltyBreakBeforeFirstCallParameter: 1
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+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
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeCpp11BracedList: false
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: true
+SpaceBeforeParens: ControlStatements
+SpaceBeforeRangeBasedForLoopColon: true
+SpaceInEmptyBlock: false
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles:  false
+SpacesInConditionalStatement: false
+SpacesInContainerLiterals: true
+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 +1,37 @@
+# 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

.github/CODEOWNERS

@@ -1,3 +1,2 @@
 # These owners will be the default owners for everything in the repo.
 *	@PhotonVision/program-devs
-

.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/workflows/build.yml

@@ -0,0 +1,332 @@
+name: Build
+
+on:
+  push:
+    branches: [ master ]
+    tags:
+      - 'v*'
+  pull_request:
+    branches: [ master ]
+
+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:
+    name: "Build Examples"
+    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
+      # Need to publish to maven local first, so that C++ sim can pick it up
+      # Still haven't figured out how to make the vendordep file be copied before trying to build examples
+      - name: Publish photonlib to maven local
+        run: |
+          chmod +x gradlew
+          ./gradlew publishtomavenlocal -x check
+      - name: Build Java examples
+        working-directory: photonlib-java-examples
+        run: |
+          chmod +x gradlew
+          ./gradlew copyPhotonlib -x check
+          ./gradlew build -x check --max-workers 2
+      - name: Build C++ examples
+        working-directory: photonlib-cpp-examples
+        run: |
+          chmod +x gradlew
+          ./gradlew copyPhotonlib -x check
+          ./gradlew build -x check --max-workers 2
+  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@v3
+        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: |
+          chmod +x gradlew
+          ./gradlew build -x check --max-workers 2
+      - name: Gradle Tests
+        run: ./gradlew testHeadless -i --max-workers 1 --stacktrace
+      - name: Gradle Coverage
+        run: ./gradlew jacocoTestReport --max-workers 1
+      - name: Publish Coverage Report
+        uses: codecov/codecov-action@v3
+        with:
+          file: ./photon-server/build/reports/jacoco/test/jacocoTestReport.xml
+      - name: Publish Core Coverage Report
+        uses: codecov/codecov-action@v3
+        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
+        with:
+          repository: 'PhotonVision/photonvision-docs.git'
+          ref: master
+      - uses: actions/setup-python@v5
+        with:
+          python-version: '3.9'
+      - 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: Build the docs
+        run: |
+          make html
+      - uses: actions/upload-artifact@master
+        with:
+          name: built-docs
+          path: build/html
+  build-photonlib-host:
+    env:
+      MACOSX_DEPLOYMENT_TARGET: 12
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: windows-2022
+            artifact-name: Win64
+            architecture: x64
+          - os: macos-12
+            artifact-name: macOS
+            architecture: x64
+          - 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
+      - run: git fetch --tags --force
+      - run: |
+          chmod +x gradlew
+          ./gradlew photon-lib:build --max-workers 1
+      - run: ./gradlew photon-lib:publish photon-targeting:publish
+        name: Publish
+        env:
+          ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
+        if: github.event_name == 'push'
+  build-photonlib-docker:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - container: wpilib/roborio-cross-ubuntu:2024-22.04
+            artifact-name: Athena
+          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
+            artifact-name: Raspbian
+          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
+            artifact-name: Aarch64
+
+    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
+        run: |
+          chmod +x gradlew
+          ./gradlew photon-lib:build --max-workers 1
+      - name: Publish
+        run: |
+          chmod +x gradlew
+          ./gradlew photon-lib:publish
+        env:
+          ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
+        if: github.event_name == 'push'
+  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: none
+          - os: macos-latest
+            artifact-name: macOS
+            architecture: x64
+            arch-override: none
+          - os: ubuntu-latest
+            artifact-name: Linux
+            architecture: x64
+            arch-override: none
+          - os: macos-latest
+            artifact-name: macOSArm
+            architecture: x64
+            arch-override: macarm64
+          - os: ubuntu-latest
+            artifact-name: LinuxArm32
+            architecture: x64
+            arch-override: linuxarm32
+          - os: ubuntu-latest
+            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
+      - 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: ${{ (matrix.os) == 'windows-latest' }}
+      - uses: actions/download-artifact@v4
+        with:
+          name: built-client
+          path: photon-server/src/main/resources/web/
+      - uses: actions/download-artifact@v4
+        with:
+          name: built-docs
+          path: photon-server/src/main/resources/web/docs
+      - run: |
+          chmod +x gradlew
+          ./gradlew photon-server:shadowJar --max-workers 2 -PArchOverride=${{ matrix.arch-override }}
+        if: ${{ (matrix.arch-override != 'none') }}
+      - run: |
+          chmod +x gradlew
+          ./gradlew photon-server:shadowJar --max-workers 2
+        if: ${{ (matrix.arch-override == 'none') }}
+      - uses: actions/upload-artifact@v4
+        with:
+          name: jar-${{ matrix.artifact-name }}
+          path: photon-server/build/libs
+  build-image:
+    needs: [build-package]
+
+    if: ${{ github.event_name != 'pull_request' }}
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: ubuntu-latest
+            artifact-name: LinuxArm64
+            image_suffix: RaspberryPi
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_raspi.img.xz
+          - os: ubuntu-latest
+            artifact-name: LinuxArm64
+            image_suffix: limelight2
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_limelight.img.xz
+          - os: ubuntu-latest
+            artifact-name: LinuxArm64
+            image_suffix: orangepi5
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_opi5.img.xz
+
+    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 }}
+      # TODO- replace with the arm-runner action and run this inside of the chroot. but this works for now.
+      - name: Generate image
+        run: |
+          chmod +x scripts/generatePiImage.sh
+          ./scripts/generatePiImage.sh ${{ matrix.image_url }} ${{ matrix.image_suffix }}
+      - uses: actions/upload-artifact@v4
+        name: Upload image
+        with:
+          name: image-${{ matrix.image_suffix }}
+          path: photonvision*.xz
+  release:
+    needs: [build-package, build-image]
+    runs-on: ubuntu-22.04
+    steps:
+      # Download literally every single artifact. This also downloads client and docs,
+      # but the filtering below won't pick these up (I hope)
+      - uses: actions/download-artifact@v4
+      - run: find
+      # Push to dev release
+      - uses: pyTooling/Actions/releaser@r0
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+          tag: 'Dev'
+          rm: true
+          files: |
+            **/*.xz
+            **/*.jar
+        if: github.event_name == 'push'
+      # Upload all jars and xz archives
+      - uses: softprops/action-gh-release@v1
+        with:
+          files: |
+            **/*.xz
+            **/*.jar
+        if: startsWith(github.ref, 'refs/tags/v')
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/documentation.yml

@@ -0,0 +1,92 @@
+name: Documentation
+
+on:
+  push:
+    # For now, run on all commits to master
+    branches: [ master ]
+    # and also all tags starting with v
+    tags:
+      - 'v*'
+
+# Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
+permissions:
+  contents: read
+  pages: write
+  id-token: write
+
+concurrency:
+  group: ${{ github.workflow }}-${{ 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-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@v3
+      with:
+        java-version: 17
+        distribution: temurin
+
+    - name: Build javadocs/doxygen
+      run: |
+        chmod +x gradlew
+        ./gradlew docs:generateJavaDocs docs:doxygen
+
+    - uses: actions/upload-artifact@v4
+      with:
+        name: built-docs
+        path: docs/build/docs
+
+  release:
+    needs: [build-client, run_docs]
+
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.page_url }}
+
+    runs-on: ubuntu-22.04
+    steps:
+
+      # Download literally every single artifact.
+      - uses: actions/download-artifact@v4
+
+      - run: find .
+
+      - name: Setup Pages
+        uses: actions/configure-pages@v4
+      - name: Upload artifact
+        uses: actions/upload-pages-artifact@v3
+        with:
+          # Upload entire repository
+          path: '.'
+      - name: Deploy to GitHub Pages
+        id: deployment
+        uses: actions/deploy-pages@v4

.github/workflows/lint-format.yml

@@ -0,0 +1,88 @@
+name: Lint and Format
+
+on:
+  push:
+    branches: [ master ]
+    tags:
+      - 'v*'
+  pull_request:
+    branches: [ master ]
+
+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@v3
+      - name: Fetch all history and metadata
+        run: |
+          git fetch --prune --unshallow
+          git checkout -b pr
+          git branch -f master origin/master
+      - name: Set up Python 3.8
+        uses: actions/setup-python@v4
+        with:
+          python-version: 3.8
+      - name: Install wpiformat
+        run: pip3 install wpiformat
+      - 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@v3
+        with:
+          name: wpiformat fixes
+          path: wpiformat-fixes.patch
+        if: ${{ failure() }}
+  javaformat:
+    name: "Java Formatting"
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+      - uses: actions/setup-java@v3
+        with:
+          java-version: 17
+          distribution: temurin
+      - run: |
+          chmod +x gradlew
+          ./gradlew spotlessCheck
+
+  client-lint-format:
+    name: "PhotonClient Lint and Formatting"
+    defaults:
+      run:
+        working-directory: photon-client
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v3
+      - name: Setup Node.js
+        uses: actions/setup-node@v3
+        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@v3
+      - name: Fetch all history and metadata
+        run: |
+          git fetch --prune --unshallow
+          git checkout -b pr
+          git branch -f master origin/master
+      - name: Check index.html not changed
+        run: git --no-pager diff --exit-code origin/master photon-server/src/main/resources/web/index.html

.github/workflows/main.yml

@@ -1,222 +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 ]
-    tags:
-      - 'v*'
-  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: 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
-
-  release:
-    if: startsWith(github.ref, 'refs/tags/v')
-    needs: [build-package]
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/download-artifact@v2
-        with:
-          name: jar
-      - uses: softprops/action-gh-release@v1
-        with:
-          files: '**/*'
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/python.yml

@@ -0,0 +1,60 @@
+name: Build and Distribute PhotonLibPy
+
+permissions:
+  id-token: write  # IMPORTANT: this permission is mandatory for trusted publishing
+
+on:
+  push:
+    branches: [ master ]
+    tags:
+      - 'v*'
+  pull_request:
+    branches: [ master ]
+
+jobs:
+  buildAndDeploy:
+    runs-on: ubuntu-latest
+
+    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
+
+      - 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: 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
 
@@ -104,17 +107,24 @@ 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
@@ -126,3 +136,31 @@ photon-server/photon-vision
 photon-server/src/main/resources/web
 photon-server/src/main/java/org/photonvision/PhotonVersion.java
 photon-server/src/main/generated/native/include/org_photonvision_raspi_PicamJNI.h
+*.bin
+.gradle
+.gradle/*
+photonvision_config
+build/spotlessJava
+build/*
+build
+photon-lib/src/main/java/org/photonvision/PhotonVersion.java
+photon-lib/bin/main/images/*
+/photonlib-java-examples/bin/
+photon-lib/src/generate/native/include/PhotonVersion.h
+.gitattributes
+lib/*
+photon-server/lib/libapriltag.so
+photon-server/bin/main/nativelibraries/apriltag/*
+photon-server/src/main/resources/nativelibraries/apriltag/*
+
+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/index.html
+
+venv

.styleguide

@@ -0,0 +1,33 @@
+cppHeaderFileInclude {
+  \.h$
+  \.hpp$
+  \.inc$
+  \.inl$
+}
+
+cppSrcFileInclude {
+  \.cpp$
+}
+
+modifiableFileExclude {
+  \.jpg$
+  \.jpeg$
+  \.png$
+  \.gif$
+  \.so$
+  \.dll$
+  \.webp$
+  \.ico$
+  gradlew
+}
+
+includeProject {
+  ^photonLib/
+}
+
+includeOtherLibs {
+  ^frc/
+  ^networktables/
+  ^units/
+  ^wpi/
+}

.styleguide-license

@@ -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

@@ -6,18 +6,75 @@ PhotonVision is the free, fast, and easy-to-use computer vision solution for the
 
 A copy of the latest Raspberry Pi image is available [here](https://github.com/PhotonVision/photon-pi-gen/releases). A copy of the latest standalone JAR is available [here](https://github.com/PhotonVision/photonvision/releases). If you are a Gloworm user you can find the latest Gloworm image [here](https://github.com/gloworm-vision/pi-gen/releases).
 
-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/other/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.
+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>
+
+## Gradle Arguments
+
+Note that these are case sensitive!
+
+* `-PArchOverride=foobar`: builds for a target system other than your current architecture. Valid overrides are:
+    * linuxathena
+    * linuxarm32
+    * linuxarm64
+    * arm32
+    * arm64
+    * x86-64
+    * x86
+- `-PtgtIp`: Specifies where `./gradlew deploy` should try to copy the fat JAR to
+- `-Pprofile`: enables JVM profiling
+
+## 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/photonvision/build-instructions.html?highlight=npm%20install#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` and `photonlib-cpp-examples` subdirectories, respectively. The projects currently available include:
+
+- photonlib-java-examples:
+  - aimandrange:simulateJava
+  - aimattarget:simulateJava
+  - getinrange:simulateJava
+  - simaimandrange:simulateJava
+  - simposeest:simulateJava
+- photonlib-cpp-examples:
+  - aimandrange:simulateNative
+  - getinrange:simulateNative
+
+To run them, use the commands listed below. Photonlib must first be published to your local maven repository, then the `copyPhotonlib` task will copy the generated vendordep json file into each example. After that, the simulateJava/simulateNative task can be used like a normal robot project. Robot simulation with attached debugger is technically possible by using simulateExternalJava and modifying the launch script it exports, though unsupported.
+
+```
+~/photonvision$ ./gradlew publishToMavenLocal
+
+~/photonvision$ cd photonlib-java-examples
+~/photonvision/photonlib-java-examples$ ./gradlew copyPhotonlib
+~/photonvision/photonlib-java-examples$ ./gradlew <example-name>:simulateJava
+
+~/photonvision$ cd photonlib-cpp-examples
+~/photonvision/photonlib-cpp-examples$ ./gradlew copyPhotonlib
+~/photonvision/photonlib-cpp-examples$ ./gradlew <example-name>:simulateNative
+```
+
+## Out-of-Source Dependencies
+
+PhotonVision uses the following additonal 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
 
 
 ## Acknowledgments
 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/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). 
+* [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).
 
 * [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/)
 
@@ -27,5 +84,26 @@ PhotonVision was forked from [Chameleon Vision](https://github.com/Chameleon-Vis
 
 * [FasterXML](https://github.com/FasterXML) - Specifically [jackson](https://github.com/FasterXML/jackson)
 
-## License  
+## License
 PhotonVision is licensed under the [GNU General Public License](https://www.gnu.org/licenses/gpl-3.0.html)
+
+## Meeting Notes
+Our meeting notes can be found in the wiki section of this repository.
+
+* [2020 Meeting Notes](https://github.com/PhotonVision/photonvision/wiki/2020-Meeting-Notes)
+* [2021 Meeting Notes](https://github.com/PhotonVision/photonvision/wiki/2021-Meeting-Notes)
+
+## Additional packages
+
+For now, using mrcal requires installing these additional packages on Linux systems:
+
+```
+sudo apt install libcholmod3 liblapack3 libsuitesparseconfig5
+```
+
+## Documentation
+
+- Our main documentation page: [docs.photonvision.org](https://docs.photonvision.org)
+- Photon UI demo: [demo.photonvision.org](https://demo.photonvision.org) (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/))

build.gradle

@@ -0,0 +1,98 @@
+plugins {
+    id "com.diffplug.spotless" version "6.22.0"
+    id "edu.wpi.first.NativeUtils" version "2024.6.1" apply false
+    id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1"
+    id 'edu.wpi.first.WpilibTools' version '1.3.0'
+    id 'com.google.protobuf' version '0.9.4' apply false
+}
+
+allprojects {
+    repositories {
+        mavenCentral()
+        mavenLocal()
+        maven { url = "https://maven.photonvision.org/repository/internal/" }
+        maven { url = "https://maven.photonvision.org/repository/snapshots/" }
+    }
+    wpilibRepositories.addAllReleaseRepositories(it)
+    wpilibRepositories.addAllDevelopmentRepositories(it)
+}
+
+// Configure the version number.
+apply from: "versioningHelper.gradle"
+
+ext {
+    wpilibVersion = "2024.1.1"
+    wpimathVersion = wpilibVersion
+    openCVversion = "4.8.0-2"
+    joglVersion = "2.4.0-rc-20200307"
+    javalinVersion = "5.6.2"
+    photonGlDriverLibVersion = "dev-v2023.1.0-9-g75fc678"
+    frcYear = "2024"
+    mrcalVersion = "dev-v2024.0.0-7-gc976aaa";
+
+    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)
+}
+
+spotless {
+    java {
+        target fileTree('.') {
+            include '**/*.java'
+            exclude '**/build/**', '**/build-*/**', "photon-core\\src\\main\\java\\org\\photonvision\\PhotonVersion.java", "photon-lib\\src\\main\\java\\org\\photonvision\\PhotonVersion.java"
+        }
+        toggleOffOn()
+        googleJavaFormat()
+        indentWithTabs(2)
+        indentWithSpaces(4)
+        removeUnusedImports()
+        trimTrailingWhitespace()
+        endWithNewline()
+    }
+    groovyGradle {
+        target fileTree('.') {
+            include '**/*.gradle'
+            exclude '**/build/**', '**/build-*/**'
+        }
+        greclipse()
+        indentWithSpaces(4)
+        trimTrailingWhitespace()
+        endWithNewline()
+    }
+    format 'xml', {
+        target fileTree('.') {
+            include '**/*.xml'
+            exclude '**/build/**', '**/build-*/**', "**/.idea/**"
+        }
+        eclipseWtp('xml')
+        trimTrailingWhitespace()
+        indentWithSpaces(2)
+        endWithNewline()
+    }
+    format 'misc', {
+        target fileTree('.') {
+            include '**/*.md', '**/.gitignore'
+            exclude '**/build/**', '**/build-*/**'
+        }
+        trimTrailingWhitespace()
+        indentWithSpaces(2)
+        endWithNewline()
+    }
+}
+
+wrapper {
+    gradleVersion '8.4'
+}

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
+from dataclasses import dataclass
+import json
+import os
+from typing import Union
+import cv2
+import numpy as np
+import mrcal
+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/build.gradle

@@ -0,0 +1,287 @@
+// From allwpilib/docs. Licensed under the WPILib BSD License
+
+plugins {
+    id 'java'
+    id "org.ysb33r.doxygen" version "0.7.0"
+}
+
+
+evaluationDependsOn ':photon-targeting'
+evaluationDependsOn ':photon-core'
+evaluationDependsOn ':photon-server'
+evaluationDependsOn ':photon-lib'
+
+
+def baseArtifactIdCpp = 'documentation'
+def artifactGroupIdCpp = 'org.photonvision.wpilibc'
+def zipBaseNameCpp = '_GROUP_org.photonvision_cpp_ID_documentation_CLS'
+
+def baseArtifactIdJava = 'documentation'
+def artifactGroupIdJava = 'org.photonvision.wpilibj'
+def zipBaseNameJava = '_GROUP_org.photonvision_java_ID_documentation_CLS'
+
+def outputsFolder = file("$project.buildDir/outputs")
+
+def cppProjectZips = []
+def cppIncludeRoots = []
+
+cppProjectZips.add(project(':photon-lib').cppHeadersZip)
+cppProjectZips.add(project(':photon-targeting').cppHeadersZip)
+
+doxygen {
+    // Doxygen binaries are only provided for x86_64 platforms
+    // Other platforms will need to provide doxygen via their system
+    // See below maven and https://doxygen.nl/download.html for provided binaries
+
+    String arch = System.getProperty("os.arch");
+    if (arch.equals("x86_64") || arch.equals("amd64")) {
+        executables {
+            doxygen version : '1.9.4',
+            baseURI : 'https://frcmaven.wpi.edu/artifactory/generic-release-mirror/doxygen'
+        }
+    }
+}
+
+doxygen {
+    generate_html true
+    html_extra_stylesheet 'theme.css'
+
+    cppProjectZips.each {
+        dependsOn it
+        source it.source
+        it.ext.includeDirs.each {
+            cppIncludeRoots.add(it.absolutePath)
+        }
+    }
+    cppIncludeRoots << '../ntcore/build/generated/main/native/include/'
+
+    if (project.hasProperty('docWarningsAsErrors')) {
+        // Eigen
+        exclude 'Eigen/**'
+        exclude 'unsupported/**'
+
+        // LLVM
+        exclude 'wpi/AlignOf.h'
+        exclude 'wpi/Casting.h'
+        exclude 'wpi/Chrono.h'
+        exclude 'wpi/Compiler.h'
+        exclude 'wpi/ConvertUTF.h'
+        exclude 'wpi/DenseMap.h'
+        exclude 'wpi/DenseMapInfo.h'
+        exclude 'wpi/Endian.h'
+        exclude 'wpi/EpochTracker.h'
+        exclude 'wpi/Errc.h'
+        exclude 'wpi/Errno.h'
+        exclude 'wpi/ErrorHandling.h'
+        exclude 'wpi/bit.h'
+        exclude 'wpi/fs.h'
+        exclude 'wpi/FunctionExtras.h'
+        exclude 'wpi/function_ref.h'
+        exclude 'wpi/Hashing.h'
+        exclude 'wpi/iterator.h'
+        exclude 'wpi/iterator_range.h'
+        exclude 'wpi/ManagedStatic.h'
+        exclude 'wpi/MapVector.h'
+        exclude 'wpi/MathExtras.h'
+        exclude 'wpi/MemAlloc.h'
+        exclude 'wpi/PointerIntPair.h'
+        exclude 'wpi/PointerLikeTypeTraits.h'
+        exclude 'wpi/PointerUnion.h'
+        exclude 'wpi/raw_os_ostream.h'
+        exclude 'wpi/raw_ostream.h'
+        exclude 'wpi/SmallPtrSet.h'
+        exclude 'wpi/SmallSet.h'
+        exclude 'wpi/SmallString.h'
+        exclude 'wpi/SmallVector.h'
+        exclude 'wpi/StringExtras.h'
+        exclude 'wpi/StringMap.h'
+        exclude 'wpi/SwapByteOrder.h'
+        exclude 'wpi/type_traits.h'
+        exclude 'wpi/VersionTuple.h'
+        exclude 'wpi/WindowsError.h'
+
+        // fmtlib
+        exclude 'fmt/**'
+
+        // libuv
+        exclude 'uv.h'
+        exclude 'uv/**'
+        exclude 'wpinet/uv/**'
+
+        // json
+        exclude 'wpi/adl_serializer.h'
+        exclude 'wpi/byte_container_with_subtype.h'
+        exclude 'wpi/detail/**'
+        exclude 'wpi/json.h'
+        exclude 'wpi/json_fwd.h'
+        exclude 'wpi/ordered_map.h'
+        exclude 'wpi/thirdparty/**'
+
+        // memory
+        exclude 'wpi/memory/**'
+
+        // mpack
+        exclude 'wpi/mpack.h'
+
+        // units
+        exclude 'units/**'
+    }
+
+    //TODO: building memory docs causes search to break
+    exclude 'wpi/memory/**'
+
+    exclude '*.pb.h'
+
+    // Save space by excluding protobuf and eigen
+    exclude 'Eigen/**'
+    exclude 'google/protobuf/**'
+
+    aliases 'effects=\\par <i>Effects:</i>^^',
+            'notes=\\par <i>Notes:</i>^^',
+            'requires=\\par <i>Requires:</i>^^',
+            'requiredbe=\\par <i>Required Behavior:</i>^^',
+            'concept{2}=<a href=\"md_doc_concepts.html#\1\">\2</a>',
+            'defaultbe=\\par <i>Default Behavior:</i>^^'
+    case_sense_names false
+    extension_mapping 'inc=C++', 'no_extension=C++'
+    extract_all true
+    extract_static true
+    file_patterns '*'
+    full_path_names true
+    generate_html true
+    generate_latex false
+    generate_treeview true
+    html_extra_stylesheet 'theme.css'
+    html_timestamp true
+    javadoc_autobrief true
+    project_name 'PhotonVision C++'
+    project_logo '../wpiutil/src/main/native/resources/wpilib-128.png'
+    project_number pubVersion
+    quiet true
+    recursive true
+    strip_code_comments false
+    strip_from_inc_path cppIncludeRoots as String[]
+    strip_from_path cppIncludeRoots as String[]
+    use_mathjax true
+    warnings false
+    warn_if_incomplete_doc true
+    warn_if_undocumented false
+    warn_no_paramdoc true
+
+    //enable doxygen preprocessor expansion of WPI_DEPRECATED to fix MotorController docs
+    enable_preprocessing true
+    macro_expansion true
+    expand_only_predef true
+    predefined "WPI_DEPRECATED(x)=[[deprecated(x)]]\"\\\n" +
+            "\"__cplusplus\"\\\n" +
+            "\"HAL_ENUM(name)=enum name : int32_t"
+
+    if (project.hasProperty('docWarningsAsErrors')) {
+        warn_as_error 'FAIL_ON_WARNINGS'
+    }
+}
+
+tasks.register("zipCppDocs", Zip) {
+    archiveBaseName = zipBaseNameCpp
+    destinationDirectory = outputsFolder
+    dependsOn doxygen
+    from ("$buildDir/docs/doxygen/html")
+    into '/'
+}
+
+// Java
+configurations {
+    javaSource {
+        transitive false
+    }
+}
+
+ext {
+    sharedCvConfigs = [:]
+    staticCvConfigs = [:]
+    useJava = true
+    useCpp = false
+    skipDev = true
+    useDocumentation = true
+}
+
+task generateJavaDocs(type: Javadoc) {
+    def exportedProjects = [
+        ':photon-core',
+        ':photon-server',
+        ':photon-targeting',
+        ':photon-lib'
+    ]
+
+    source exportedProjects.collect { project(it).sourceSets.main.allJava }
+    classpath = files(exportedProjects.collect { project(it).sourceSets.main.compileClasspath })
+    dependsOn project(':photon-core').writeCurrentVersion
+
+    options.links("https://docs.oracle.com/en/java/javase/17/docs/api/")
+    options.addStringOption("tag", "pre:a:Pre-Condition")
+    options.addBooleanOption("Xdoclint:html,missing,reference,syntax", true)
+    options.addBooleanOption('html5', true)
+    failOnError = true
+
+    title = "PhotonVision $pubVersion"
+    ext.entryPoint = "$destinationDir/index.html"
+
+    if (JavaVersion.current().isJava8Compatible() && project.hasProperty('docWarningsAsErrors')) {
+        // Treat javadoc warnings as errors.
+        //
+        // The second argument '-quiet' is a hack. The one parameter
+        // addStringOption() doesn't work, so we add '-quiet', which is added
+        // anyway by gradle. See https://github.com/gradle/gradle/issues/2354.
+        //
+        // See JDK-8200363 (https://bugs.openjdk.java.net/browse/JDK-8200363)
+        // for information about the nonstandard -Xwerror option. JDK 15+ has
+        // -Werror.
+        options.addStringOption('Xwerror', '-quiet')
+    }
+
+    if (JavaVersion.current().isJava11Compatible()) {
+        if (!JavaVersion.current().isJava12Compatible()) {
+            options.addBooleanOption('-no-module-directories', true)
+        }
+        doLast {
+            // This is a work-around for https://bugs.openjdk.java.net/browse/JDK-8211194. Can be removed once that issue is fixed on JDK's side
+            // Since JDK 11, package-list is missing from javadoc output files and superseded by element-list file, but a lot of external tools still need it
+            // Here we generate this file manually
+            new File(destinationDir, 'package-list').text = new File(destinationDir, 'element-list').text
+        }
+    }
+}
+
+tasks.register("zipJavaDocs", Zip) {
+    archiveBaseName = zipBaseNameJava
+    destinationDirectory = outputsFolder
+    dependsOn generateJavaDocs
+    from ("$buildDir/docs/javadoc")
+    into '/'
+}
+
+tasks.register("zipDocs") {
+    dependsOn zipCppDocs
+    dependsOn zipJavaDocs
+}
+
+apply plugin: 'maven-publish'
+
+publishing {
+    publications {
+        java(MavenPublication) {
+            artifact zipJavaDocs
+
+            artifactId = "${baseArtifactIdJava}"
+            groupId artifactGroupIdJava
+            version pubVersion
+        }
+        cpp(MavenPublication) {
+            artifact zipCppDocs
+
+            artifactId = "${baseArtifactIdCpp}"
+            groupId artifactGroupIdCpp
+            version pubVersion
+        }
+    }
+}

gradle.properties

@@ -0,0 +1,8 @@
+# The --add-exports flags work around a bug with spotless and JDK 17
+# https://github.com/diffplug/spotless/issues/834
+org.gradle.jvmargs= \
+  --add-exports jdk.compiler/com.sun.tools.javac.api=ALL-UNNAMED \
+  --add-exports jdk.compiler/com.sun.tools.javac.file=ALL-UNNAMED \
+  --add-exports jdk.compiler/com.sun.tools.javac.parser=ALL-UNNAMED \
+  --add-exports jdk.compiler/com.sun.tools.javac.tree=ALL-UNNAMED \
+  --add-exports jdk.compiler/com.sun.tools.javac.util=ALL-UNNAMED

gradle/wrapper/gradle-wrapper.properties

@@ -0,0 +1,7 @@
+distributionBase=GRADLE_USER_HOME
+distributionPath=permwrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=permwrapper/dists

gradlew

@@ -0,0 +1,249 @@
+#!/bin/sh
+
+#
+# Copyright © 2015-2021 the original authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+
+##############################################################################
+#
+#   Gradle start up script for POSIX generated by Gradle.
+#
+#   Important for running:
+#
+#   (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is
+#       noncompliant, but you have some other compliant shell such as ksh or
+#       bash, then to run this script, type that shell name before the whole
+#       command line, like:
+#
+#           ksh Gradle
+#
+#       Busybox and similar reduced shells will NOT work, because this script
+#       requires all of these POSIX shell features:
+#         * functions;
+#         * expansions «$var», «${var}», «${var:-default}», «${var+SET}»,
+#           «${var#prefix}», «${var%suffix}», and «$( cmd )»;
+#         * compound commands having a testable exit status, especially «case»;
+#         * various built-in commands including «command», «set», and «ulimit».
+#
+#   Important for patching:
+#
+#   (2) This script targets any POSIX shell, so it avoids extensions provided
+#       by Bash, Ksh, etc; in particular arrays are avoided.
+#
+#       The "traditional" practice of packing multiple parameters into a
+#       space-separated string is a well documented source of bugs and security
+#       problems, so this is (mostly) avoided, by progressively accumulating
+#       options in "$@", and eventually passing that to Java.
+#
+#       Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS,
+#       and GRADLE_OPTS) rely on word-splitting, this is performed explicitly;
+#       see the in-line comments for details.
+#
+#       There are tweaks for specific operating systems such as AIX, CygWin,
+#       Darwin, MinGW, and NonStop.
+#
+#   (3) This script is generated from the Groovy template
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       within the Gradle project.
+#
+#       You can find Gradle at https://github.com/gradle/gradle/.
+#
+##############################################################################
+
+# Attempt to set APP_HOME
+
+# Resolve links: $0 may be a link
+app_path=$0
+
+# Need this for daisy-chained symlinks.
+while
+    APP_HOME=${app_path%"${app_path##*/}"}  # leaves a trailing /; empty if no leading path
+    [ -h "$app_path" ]
+do
+    ls=$( ls -ld "$app_path" )
+    link=${ls#*' -> '}
+    case $link in             #(
+      /*)   app_path=$link ;; #(
+      *)    app_path=$APP_HOME$link ;;
+    esac
+done
+
+# This is normally unused
+# shellcheck disable=SC2034
+APP_BASE_NAME=${0##*/}
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
+
+# Use the maximum available, or set MAX_FD != -1 to use that value.
+MAX_FD=maximum
+
+warn () {
+    echo "$*"
+} >&2
+
+die () {
+    echo
+    echo "$*"
+    echo
+    exit 1
+} >&2
+
+# OS specific support (must be 'true' or 'false').
+cygwin=false
+msys=false
+darwin=false
+nonstop=false
+case "$( uname )" in                #(
+  CYGWIN* )         cygwin=true  ;; #(
+  Darwin* )         darwin=true  ;; #(
+  MSYS* | MINGW* )  msys=true    ;; #(
+  NONSTOP* )        nonstop=true ;;
+esac
+
+CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
+
+
+# Determine the Java command to use to start the JVM.
+if [ -n "$JAVA_HOME" ] ; then
+    if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
+        # IBM's JDK on AIX uses strange locations for the executables
+        JAVACMD=$JAVA_HOME/jre/sh/java
+    else
+        JAVACMD=$JAVA_HOME/bin/java
+    fi
+    if [ ! -x "$JAVACMD" ] ; then
+        die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+    fi
+else
+    JAVACMD=java
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+    fi
+fi
+
+# Increase the maximum file descriptors if we can.
+if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
+    case $MAX_FD in #(
+      max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
+        MAX_FD=$( ulimit -H -n ) ||
+            warn "Could not query maximum file descriptor limit"
+    esac
+    case $MAX_FD in  #(
+      '' | soft) :;; #(
+      *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
+        ulimit -n "$MAX_FD" ||
+            warn "Could not set maximum file descriptor limit to $MAX_FD"
+    esac
+fi
+
+# Collect all arguments for the java command, stacking in reverse order:
+#   * args from the command line
+#   * the main class name
+#   * -classpath
+#   * -D...appname settings
+#   * --module-path (only if needed)
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables.
+
+# For Cygwin or MSYS, switch paths to Windows format before running java
+if "$cygwin" || "$msys" ; then
+    APP_HOME=$( cygpath --path --mixed "$APP_HOME" )
+    CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" )
+
+    JAVACMD=$( cygpath --unix "$JAVACMD" )
+
+    # Now convert the arguments - kludge to limit ourselves to /bin/sh
+    for arg do
+        if
+            case $arg in                                #(
+              -*)   false ;;                            # don't mess with options #(
+              /?*)  t=${arg#/} t=/${t%%/*}              # looks like a POSIX filepath
+                    [ -e "$t" ] ;;                      #(
+              *)    false ;;
+            esac
+        then
+            arg=$( cygpath --path --ignore --mixed "$arg" )
+        fi
+        # Roll the args list around exactly as many times as the number of
+        # args, so each arg winds up back in the position where it started, but
+        # possibly modified.
+        #
+        # NB: a `for` loop captures its iteration list before it begins, so
+        # changing the positional parameters here affects neither the number of
+        # iterations, nor the values presented in `arg`.
+        shift                   # remove old arg
+        set -- "$@" "$arg"      # push replacement arg
+    done
+fi
+
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
+
+set -- \
+        "-Dorg.gradle.appname=$APP_BASE_NAME" \
+        -classpath "$CLASSPATH" \
+        org.gradle.wrapper.GradleWrapperMain \
+        "$@"
+
+# Stop when "xargs" is not available.
+if ! command -v xargs >/dev/null 2>&1
+then
+    die "xargs is not available"
+fi
+
+# Use "xargs" to parse quoted args.
+#
+# With -n1 it outputs one arg per line, with the quotes and backslashes removed.
+#
+# In Bash we could simply go:
+#
+#   readarray ARGS < <( xargs -n1 <<<"$var" ) &&
+#   set -- "${ARGS[@]}" "$@"
+#
+# but POSIX shell has neither arrays nor command substitution, so instead we
+# post-process each arg (as a line of input to sed) to backslash-escape any
+# character that might be a shell metacharacter, then use eval to reverse
+# that process (while maintaining the separation between arguments), and wrap
+# the whole thing up as a single "set" statement.
+#
+# This will of course break if any of these variables contains a newline or
+# an unmatched quote.
+#
+
+eval "set -- $(
+        printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" |
+        xargs -n1 |
+        sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' |
+        tr '\n' ' '
+    )" '"$@"'
+
+exec "$JAVACMD" "$@"

gradlew.bat

@@ -0,0 +1,92 @@
+@rem
+@rem Copyright 2015 the original author or authors.
+@rem
+@rem Licensed under the Apache License, Version 2.0 (the "License");
+@rem you may not use this file except in compliance with the License.
+@rem You may obtain a copy of the License at
+@rem
+@rem      https://www.apache.org/licenses/LICENSE-2.0
+@rem
+@rem Unless required by applicable law or agreed to in writing, software
+@rem distributed under the License is distributed on an "AS IS" BASIS,
+@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+@rem See the License for the specific language governing permissions and
+@rem limitations under the License.
+@rem
+
+@if "%DEBUG%"=="" @echo off
+@rem ##########################################################################
+@rem
+@rem  Gradle startup script for Windows
+@rem
+@rem ##########################################################################
+
+@rem Set local scope for the variables with windows NT shell
+if "%OS%"=="Windows_NT" setlocal
+
+set DIRNAME=%~dp0
+if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
+set APP_BASE_NAME=%~n0
+set APP_HOME=%DIRNAME%
+
+@rem Resolve any "." and ".." in APP_HOME to make it shorter.
+for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
+
+@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
+
+@rem Find java.exe
+if defined JAVA_HOME goto findJavaFromJavaHome
+
+set JAVA_EXE=java.exe
+%JAVA_EXE% -version >NUL 2>&1
+if %ERRORLEVEL% equ 0 goto execute
+
+echo.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:findJavaFromJavaHome
+set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
+if exist "%JAVA_EXE%" goto execute
+
+echo.
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:execute
+@rem Setup the command line
+
+set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+
+
+@rem Execute Gradle
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
+
+:end
+@rem End local scope for the variables with windows NT shell
+if %ERRORLEVEL% equ 0 goto mainEnd
+
+:fail
+rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
+rem the _cmd.exe /c_ return code!
+set EXIT_CODE=%ERRORLEVEL%
+if %EXIT_CODE% equ 0 set EXIT_CODE=1
+if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE%
+exit /b %EXIT_CODE%
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega

photon-client/.browserslistrc

@@ -1,2 +0,0 @@
-> 1%
-last 2 versions

photon-client/.eslintrc.js

@@ -1,17 +0,0 @@
-module.exports = {
-  root: true,
-  env: {
-    node: true
-  },
-  'extends': [
-    'plugin:vue/recommended',
-    'eslint:recommended'
-  ],
-  rules: {
-    'no-console': 'off',
-    'no-debugger': process.env.NODE_ENV === 'production' ? 'error' : 'off'
-  },
-  parserOptions: {
-    parser: 'babel-eslint'
-  }
-};

photon-client/.eslintrc.json

@@ -0,0 +1,21 @@
+{
+  "root": true,
+  "extends": [
+    "plugin:vue/vue3-recommended",
+    "eslint:recommended",
+    "@vue/eslint-config-typescript",
+    "@vue/eslint-config-prettier/skip-formatting"
+  ],
+  "rules": {
+    "quotes": ["error", "double"],
+    "comma-dangle": ["error", "never"],
+    "comma-spacing": ["error", { "before": false, "after": true }],
+    "semi": ["error", "always"],
+    "eol-last": "error",
+    "object-curly-spacing": ["error", "always"],
+    "quote-props": ["error", "as-needed"],
+    "no-case-declarations": "off",
+    "vue/require-default-prop": "off",
+    "vue/v-on-event-hyphenation": "off"
+  }
+}

photon-client/.gitignore

@@ -1,21 +1,28 @@
-.DS_Store
-node_modules
-/dist
-
-# local env files
-.env.local
-.env.*.local
-
-# Log files
+# Logs
+logs
+*.log
 npm-debug.log*
 yarn-debug.log*
 yarn-error.log*
+pnpm-debug.log*
+lerna-debug.log*
+
+node_modules
+.DS_Store
+dist
+dist-ssr
+*.local
+
+/cypress/videos/
+/cypress/screenshots/
 
 # Editor directories and files
-.idea
 .vscode
+!.vscode/extensions.json
+.idea
 *.suo
 *.ntvs*
 *.njsproj
 *.sln
 *.sw?
+components.d.ts

photon-client/.prettierignore

@@ -0,0 +1 @@
+src/assets/fonts/PromptRegular.ts

photon-client/.prettierrc.json

@@ -0,0 +1,8 @@
+{
+  "$schema": "https://json.schemastore.org/prettierrc",
+  "semi": true,
+  "tabWidth": 2,
+  "singleQuote": false,
+  "printWidth": 120,
+  "trailingComma": "none"
+}

photon-client/README.md

@@ -1,37 +0,0 @@
-# PhotonVision Client UI
-
-## Install Node.js
-
-Follow [this](https://nodejs.org/en/) link.
-
-## Project setup
-Run this one time, this command downloades the packages the UI uses and it might take a short while
-
-```
-npm install
-```
-
-### Compiles and hot-reloads for development
-Run this every development session, this command auto-builds the UI after every change you make
-
-```
-npm run serve
-```
-
-### Compiles and minifies for production
-```
-npm run build
-```
-
-### Run your tests
-```
-npm run test
-```
-
-### Lints and fixes files
-```
-npm run lint
-```
-
-### Customize configuration
-See Node.js' [Configuration Reference](https://cli.vuejs.org/config/).

photon-client/babel.config.js

@@ -1,5 +0,0 @@
-module.exports = {
-  presets: [
-    '@vue/app'
-  ]
-};

photon-client/env.d.ts

@@ -0,0 +1 @@
+/// <reference types="vite/client" />

photon-client/index.html

@@ -0,0 +1,13 @@
+<!DOCTYPE html>
+<html lang="en">
+  <head>
+    <meta charset="UTF-8" />
+    <link rel="icon" href="/favicon.ico" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+    <title>Photon Client</title>
+  </head>
+  <body>
+    <div id="app"></div>
+    <script type="module" src="/src/main.ts"></script>
+  </body>
+</html>

photon-client/package.json

@@ -1,40 +1,48 @@
 {
-  "name": "photon-client",
-  "version": "3.0.0",
+  "name": "photonclient",
+  "version": "0.0.0",
   "private": true,
   "scripts": {
-    "serve": "vue-cli-service serve",
-    "build": "vue-cli-service build",
-    "lint": "vue-cli-service lint"
+    "dev": "vite",
+    "build": "run-p build-only",
+    "preview": "vite preview --port 4173",
+    "build-only": "vite build",
+    "build-demo": "vite build --mode demo",
+    "lint": "eslint . --ext .vue,.js,.jsx,.cjs,.mjs,.ts,.tsx,.cts,.mts --fix --ignore-path .gitignore",
+    "format": "prettier --write src/",
+    "lint-ci": "eslint . --max-warnings 0 --ext .vue,.js,.jsx,.cjs,.mjs,.ts,.tsx,.cts,.mts --fix --ignore-path .gitignore",
+    "format-ci": "prettier --check src/"
   },
   "dependencies": {
-    "@femessage/log-viewer": "^1.4.2",
-    "@vue/eslint-config-prettier": "^6.0.0",
-    "axios": "^0.19.2",
-    "core-js": "^2.6.11",
-    "downloadjs": "^1.4.7",
-    "material-design-icons-iconfont": "^5.0.1",
-    "msgpack5": "^4.2.1",
-    "vue": "^2.6.12",
-    "vue-axios": "^2.1.5",
-    "vue-native-websocket": "git+https://github.com/PhotonVision/vue-native-websocket.git#7a32791",
-    "vue-router": "^3.4.3",
-    "vuetify": "^2.3.10",
-    "vuex": "^3.5.1"
+    "@fontsource/prompt": "^5.0.9",
+    "@mdi/font": "^7.4.47",
+    "@msgpack/msgpack": "^3.0.0-beta2",
+    "axios": "^1.6.3",
+    "jspdf": "^2.5.1",
+    "pinia": "^2.1.4",
+    "three": "^0.160.0",
+    "vue": "^2.7.14",
+    "vue-router": "^3.6.5",
+    "vuetify": "^2.7.1"
   },
   "devDependencies": {
-    "@mdi/font": "^4.9.95",
-    "@vue/cli-plugin-babel": "^3.12.1",
-    "@vue/cli-plugin-eslint": "^4.5.4",
-    "@vue/cli-service": "^4.5.4",
-    "babel-eslint": "^10.1.0",
-    "eslint": "^5.16.0",
-    "eslint-plugin-vue": "^5.0.0",
-    "papaparse": "^5.3.0",
-    "sass": "^1.26.10",
-    "sass-loader": "^7.1.0",
-    "vue-cli-plugin-vuetify": "^0.6.3",
-    "vue-template-compiler": "^2.6.12",
-    "vuetify-loader": "^1.6.0"
+    "@rushstack/eslint-patch": "^1.3.2",
+    "@vue/eslint-config-prettier": "^9.0.0",
+    "@vue/eslint-config-typescript": "^12.0.0",
+    "prettier": "^3.1.1",
+    "@types/node": "^16.11.45",
+    "@types/three": "^0.160.0",
+    "@vitejs/plugin-vue2": "^2.3.1",
+    "@vue/tsconfig": "^0.5.1",
+    "deepmerge": "^4.3.1",
+    "eslint": "^8.56.0",
+    "eslint-plugin-vue": "^9.19.2",
+    "npm-run-all": "^4.1.5",
+    "sass": "~1.32",
+    "sass-loader": "^13.3.2",
+    "terser": "^5.14.2",
+    "typescript": "^5.3.3",
+    "unplugin-vue-components": "^0.26.0",
+    "vite": "^4.5.1"
   }
 }

photon-client/postcss.config.js

@@ -1,5 +0,0 @@
-module.exports = {
-  plugins: {
-    autoprefixer: {}
-  }
-};

photon-client/public/index.html

@@ -1,20 +0,0 @@
-<!DOCTYPE html>
-<html lang="en">
-
-<head>
-    <meta charset="utf-8">
-    <meta http-equiv="X-UA-Compatible" content="IE=edge">
-    <meta name="viewport" content="width=device-width,initial-scale=1.0">
-    <link rel="icon" href="<%= BASE_URL %>favicon.png">
-    <title>PhotonVision</title>
-</head>
-
-<body>
-    <noscript>
-      <strong>We're sorry but PhotonVision doesn't work properly without JavaScript enabled. Please enable it to continue.</strong>
-    </noscript>
-    <div id="app"></div>
-    <!-- built files will be auto injected -->
-</body>
-
-</html>

photon-client/src/App.vue

@@ -1,344 +1,87 @@
+<script setup lang="ts">
+import { useStateStore } from "@/stores/StateStore";
+import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { AutoReconnectingWebsocket } from "@/lib/AutoReconnectingWebsocket";
+import { inject } from "vue";
+import PhotonSidebar from "@/components/app/photon-sidebar.vue";
+import PhotonLogView from "@/components/app/photon-log-view.vue";
+import PhotonErrorSnackbar from "@/components/app/photon-error-snackbar.vue";
+
+const is_demo = import.meta.env.MODE === "demo";
+if (!is_demo) {
+  const websocket = new AutoReconnectingWebsocket(
+    `ws://${inject("backendHost")}/websocket_data`,
+    () => {
+      useStateStore().$patch({ backendConnected: true });
+    },
+    (data) => {
+      if (data.log !== undefined) {
+        useStateStore().addLogFromWebsocket(data.log);
+      }
+      if (data.settings !== undefined) {
+        useSettingsStore().updateGeneralSettingsFromWebsocket(data.settings);
+      }
+      if (data.cameraSettings !== undefined) {
+        useCameraSettingsStore().updateCameraSettingsFromWebsocket(data.cameraSettings);
+      }
+      if (data.ntConnectionInfo !== undefined) {
+        useStateStore().updateNTConnectionStatusFromWebsocket(data.ntConnectionInfo);
+      }
+      if (data.metrics !== undefined) {
+        useSettingsStore().updateMetricsFromWebsocket(data.metrics);
+      }
+      if (data.updatePipelineResult !== undefined) {
+        useStateStore().updateBackendResultsFromWebsocket(data.updatePipelineResult);
+      }
+      if (data.mutatePipelineSettings !== undefined && data.cameraIndex !== undefined) {
+        useCameraSettingsStore().changePipelineSettingsInStore(data.mutatePipelineSettings, data.cameraIndex);
+      }
+      if (data.calibrationData !== undefined) {
+        useStateStore().updateCalibrationStateValuesFromWebsocket(data.calibrationData);
+      }
+    },
+    () => {
+      useStateStore().$patch({ backendConnected: false });
+    }
+  );
+  useStateStore().$patch({ websocket: websocket });
+}
+</script>
+
 <template>
   <v-app>
-    <!-- Although most of the app runs with the "light" theme, the navigation drawer needs to have white text and icons so it uses the dark theme-->
-    <v-navigation-drawer
-      dark
-      app
-      permanent
-      :mini-variant="compact"
-      color="primary"
-    >
-      <v-list>
-        <!-- List item for the heading; note that there are some tricks in setting padding and image width make things look right -->
-        <v-list-item :class="compact ? 'pr-0 pl-0' : ''">
-          <v-list-item-icon class="mr-0">
-            <img
-              v-if="!compact"
-              class="logo"
-              src="./assets/logoLarge.png"
-            >
-            <img
-              v-else
-              class="logo"
-              src="./assets/logoSmall.png"
-            >
-          </v-list-item-icon>
-        </v-list-item>
-
-        <v-list-item
-          link
-          to="dashboard"
-          @click="rollbackPipelineIndex()"
-        >
-          <v-list-item-icon>
-            <v-icon>mdi-view-dashboard</v-icon>
-          </v-list-item-icon>
-          <v-list-item-content>
-            <v-list-item-title>Dashboard</v-list-item-title>
-          </v-list-item-content>
-        </v-list-item>
-        <v-list-item
-          ref="camerasTabOpener"
-          link
-          to="cameras"
-          @click="switchToDriverMode()"
-        >
-          <v-list-item-icon>
-            <v-icon>mdi-camera</v-icon>
-          </v-list-item-icon>
-          <v-list-item-content>
-            <v-list-item-title>Cameras</v-list-item-title>
-          </v-list-item-content>
-        </v-list-item>
-        <v-list-item
-          link
-          to="settings"
-          @click="switchToSettingsTab()"
-        >
-          <v-list-item-icon>
-            <v-icon>mdi-settings</v-icon>
-          </v-list-item-icon>
-          <v-list-item-content>
-            <v-list-item-title>Settings</v-list-item-title>
-          </v-list-item-content>
-        </v-list-item>
-        <v-list-item
-          link
-          to="docs"
-        >
-          <v-list-item-icon>
-            <v-icon>mdi-bookshelf</v-icon>
-          </v-list-item-icon>
-          <v-list-item-content>
-            <v-list-item-title>Documentation</v-list-item-title>
-          </v-list-item-content>
-        </v-list-item>
-        <v-list-item
-          v-if="this.$vuetify.breakpoint.mdAndUp"
-          link
-          @click.stop="toggleCompactMode"
-        >
-          <v-list-item-icon>
-            <v-icon v-if="compact">
-              mdi-chevron-right
-            </v-icon>
-            <v-icon v-else>
-              mdi-chevron-left
-            </v-icon>
-          </v-list-item-icon>
-          <v-list-item-content>
-            <v-list-item-title>Advanced Mode</v-list-item-title>
-          </v-list-item-content>
-        </v-list-item>
-
-        <v-list-item style="position: absolute; bottom: 0; left: 0;">
-          <v-list-item-icon>
-            <v-icon v-if="$store.state.backendConnected">
-              mdi-wifi
-            </v-icon>
-            <v-icon
-              v-else
-              class="pulse"
-              style="border-radius: 100%;"
-            >
-              mdi-wifi-off
-            </v-icon>
-          </v-list-item-icon>
-          <v-list-item-content>
-            <v-list-item-title>
-              {{ $store.state.backendConnected ? "Connected" : "Trying to connect..." }}
-            </v-list-item-title>
-          </v-list-item-content>
-        </v-list-item>
-      </v-list>
-    </v-navigation-drawer>
+    <photon-sidebar />
     <v-main>
-      <v-container
-        fluid
-        fill-height
-      >
+      <v-container class="main-container" fluid fill-height>
         <v-layout>
           <v-flex>
-            <router-view @switch-to-cameras="switchToDriverMode" />
+            <router-view />
           </v-flex>
         </v-layout>
       </v-container>
     </v-main>
 
-    <v-dialog
-      v-model="$store.state.logsOverlay"
-      width="1500"
-      dark
-    >
-      <logs />
-    </v-dialog>
+    <photon-log-view />
+    <photon-error-snackbar />
   </v-app>
 </template>
 
-<script>
-import Logs from "./views/LogsView"
-
-    export default {
-        name: 'App',
-        components: {
-            Logs
-        },
-        data: () => ({
-            // Used so that we can switch back to the previously selected pipeline after camera calibration
-            previouslySelectedIndices: [],
-            timer: undefined,
-        }),
-        computed: {
-            compact: {
-                get() {
-                    if (this.$store.state.compactMode === undefined) {
-                        return this.$vuetify.breakpoint.smAndDown;
-                    } else {
-                        return this.$store.state.compactMode || this.$vuetify.breakpoint.smAndDown;
-                    }
-                },
-                set(value) {
-                    // compactMode is the user's preference for compact mode; it overrides screen size
-                    this.$store.commit("compactMode", value);
-                    localStorage.setItem("compactMode", value);
-                },
-            },
-        },
-        created() {
-            document.addEventListener("keydown", e => {
-                switch (e.key) {
-                    case "`":
-                        this.$store.state.logsOverlay = !this.$store.state.logsOverlay;
-                        break;
-                    case "z":
-                        if (e.ctrlKey && this.$store.getters.canUndo) {
-                            this.$store.dispatch('undo', {vm: this});
-                        }
-                        break;
-                    case "y":
-                        if (e.ctrlKey && this.$store.getters.canRedo) {
-                            this.$store.dispatch('redo', {vm: this});
-                        }
-                        break;
-
-                }
-            });
-
-            this.$options.sockets.onmessage = (data) => {
-                try {
-                    let message = this.$msgPack.decode(data.data);
-                    for (let prop in message) {
-                        if (message.hasOwnProperty(prop)) {
-                            this.handleMessage(prop, message[prop]);
-                        }
-                    }
-                } catch (error) {
-                    console.error('error: ' + JSON.stringify(data.data) + " , " + error);
-                }
-            };
-            this.$options.sockets.onopen = () => {
-                this.$store.state.backendConnected = true;
-                this.$store.state.connectedCallbacks.forEach(it => it())
-            };
-
-            let closed = () => {
-                this.$store.state.backendConnected = false;
-            };
-            this.$options.sockets.onclose = closed;
-            this.$options.sockets.onerror = closed;
-
-            this.$connect();
-        },
-        methods: {
-            handleMessage(key, value) {
-                if (key === "logMessage") {
-                    this.logMessage(value["logMessage"], value["logLevel"]);
-                } else if (key === "updatePipelineResult") {
-                    this.$store.commit('mutatePipelineResults', value)
-                } else if (this.$store.state.hasOwnProperty(key)) {
-                    this.$store.commit(key, value);
-                } else if (this.$store.getters.currentPipelineSettings.hasOwnProperty(key)) {
-                    this.$store.commit('mutatePipeline', {[key]: value});
-                } else if (this.$store.state.settings.hasOwnProperty(key)) {
-                    this.$store.commit('mutateSettings', {[key]: value});
-                } else {
-                    switch (key) {
-                        default: {
-                            console.error("Unknown message from backend: " + value);
-                        }
-                    }
-                }
-            },
-            toggleCompactMode() {
-                this.compact = !this.compact;
-            },
-            // eslint-disable-next-line no-unused-vars
-            logMessage(message, levelInt) {
-                this.$store.commit('logString', {
-                    ['level']: levelInt,
-                    ['message']: message
-                })
-            },
-            switchToDriverMode() {
-                if (!this.previouslySelectedIndices) this.previouslySelectedIndices = [];
-
-                for (const [i, cameraSettings] of this.$store.state.cameraSettings.entries()) {
-                  this.previouslySelectedIndices[i] = cameraSettings.currentPipelineIndex;
-                  this.handleInputWithIndex('currentPipeline', -1, i);
-                }
-            },
-            rollbackPipelineIndex()
-            {
-              if (this.previouslySelectedIndices !== null) {
-                for (const [i] of this.$store.state.cameraSettings.entries()) {
-                  this.handleInputWithIndex('currentPipeline', this.previouslySelectedIndices[i] || 0, i);
-                }
-              }
-              this.previouslySelectedIndices = null;
-            }
-,
-            switchToSettingsTab() {
-                this.axios.post('http://' + this.$address + '/api/sendMetrics', {})
-            }
-        }
-    };
-</script>
-
-<style lang="sass">
-    @import "./scss/variables.scss"
-</style>
-
-<style>
-    .pulse {
-        animation: pulse-animation 2s infinite;
-    }
-
-    @keyframes pulse-animation {
-        0% {
-            box-shadow: 0 0 0 0px rgba(0, 0, 0, 0.2);
-            background-color: rgba(0, 0, 0, 0.2);
-        }
-        100% {
-            box-shadow: 0 0 0 20px rgba(0, 0, 0, 0);
-            background-color: rgba(0, 0, 0, 0);
-        }
-    }
-
-    .logo {
-        width: 100%;
-        height: 70px;
-        object-fit: contain;
-    }
-
-    ::-webkit-scrollbar {
-        width: 0.5em;
-        border-radius: 5px;
-    }
-
-    ::-webkit-scrollbar-track {
-        -webkit-box-shadow: inset 0 0 6px rgba(0, 0, 0, 0.3);
-        border-radius: 10px;
-    }
-
-
-    ::-webkit-scrollbar-thumb {
-        background-color: #ffd843;
-        border-radius: 10px;
-    }
-
-    .container {
-        background-color: #232c37;
-        padding: 0 !important;
-    }
-
-    #title {
-        color: #ffd843;
-    }
-</style>
-
-<style>
-  /* Hacks */
-
-  .v-divider {
-    border-color: white !important;
-  }
-
-  .v-input {
-      font-size: 1rem !important;
-  }
-
-  /* This is unfortunately the only way to override table background color */
-  .theme--dark.v-data-table > .v-data-table__wrapper > table > tbody > tr:hover:not(.v-data-table__expanded__content):not(.v-data-table__empty-wrapper) {
-    background: #005281 !important;
-  }
-</style>
-
 <style lang="scss">
-    @import '~vuetify/src/styles/settings/_variables';
+@import "vuetify/src/styles/settings/_variables";
 
-    @media #{map-get($display-breakpoints, 'md-and-down')} {
-        html {
-            font-size: 14px !important;
-        }
-    }
-</style>
+@media #{map-get($display-breakpoints, 'md-and-down')} {
+  html {
+    font-size: 14px !important;
+  }
+}
+
+.main-container {
+  background-color: #232c37;
+  padding: 0 !important;
+}
+
+#title {
+  color: #ffd843;
+}
+</style>

photon-client/src/assets/eyedropper.svg

@@ -1,68 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<svg
-   xmlns:dc="http://purl.org/dc/elements/1.1/"
-   xmlns:cc="http://creativecommons.org/ns#"
-   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
-   xmlns:svg="http://www.w3.org/2000/svg"
-   xmlns="http://www.w3.org/2000/svg"
-   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
-   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
-   version="1.1"
-   width="24"
-   height="24"
-   viewBox="0 0 24 24"
-   id="svg865"
-   sodipodi:docname="eyedropper.svg"
-   inkscape:version="0.92.4 (unknown)">
-  <metadata
-     id="metadata871">
-    <rdf:RDF>
-      <cc:Work
-         rdf:about="">
-        <dc:format>image/svg+xml</dc:format>
-        <dc:type
-           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
-      </cc:Work>
-    </rdf:RDF>
-  </metadata>
-  <defs
-     id="defs869" />
-  <sodipodi:namedview
-     pagecolor="#ffffff"
-     bordercolor="#666666"
-     borderopacity="1"
-     objecttolerance="10"
-     gridtolerance="10"
-     guidetolerance="10"
-     inkscape:pageopacity="0"
-     inkscape:pageshadow="2"
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-     inkscape:zoom="35.541667"
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-     inkscape:cy="10.171169"
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-     inkscape:window-maximized="0"
-     inkscape:current-layer="svg865" />
-  <g
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-     inkscape:export-xdpi="77.2733"
-     inkscape:export-ydpi="77.2733">
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-       inkscape:connector-curvature="0"
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-       sodipodi:type="inkscape:offset" />
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-</svg>

photon-client/src/assets/images/loading.svg

@@ -0,0 +1,40 @@
+<svg xmlns="http://www.w3.org/2000/svg" style="margin: auto; background: rgb(255, 216, 68); display: block;"
+     width="600px" height="412px" viewBox="0 0 100 100" preserveAspectRatio="xMidYMid">
+<circle cx="75" cy="50" fill="#89b99a" r="5">
+  <animate attributeName="r" values="2;2;4;2;2" times="0;0.1;0.2;0.3;1" dur="1s" repeatCount="indefinite" begin="-0.9166666666666666s"></animate>
+  <animate attributeName="fill" values="#89b99a;#89b99a;#43a7ce;#89b99a;#89b99a" repeatCount="indefinite" times="0;0.1;0.2;0.3;1" dur="1s" begin="-0.9166666666666666s"></animate>
+</circle><circle cx="71.65063509461098" cy="62.5" fill="#89b99a" r="5">
+  <animate attributeName="r" values="2;2;4;2;2" times="0;0.1;0.2;0.3;1" dur="1s" repeatCount="indefinite" begin="-0.8333333333333334s"></animate>
+  <animate attributeName="fill" values="#89b99a;#89b99a;#43a7ce;#89b99a;#89b99a" repeatCount="indefinite" times="0;0.1;0.2;0.3;1" dur="1s" begin="-0.8333333333333334s"></animate>
+</circle><circle cx="62.5" cy="71.65063509461096" fill="#89b99a" r="5">
+  <animate attributeName="r" values="2;2;4;2;2" times="0;0.1;0.2;0.3;1" dur="1s" repeatCount="indefinite" begin="-0.75s"></animate>
+  <animate attributeName="fill" values="#89b99a;#89b99a;#43a7ce;#89b99a;#89b99a" repeatCount="indefinite" times="0;0.1;0.2;0.3;1" dur="1s" begin="-0.75s"></animate>
+</circle><circle cx="50" cy="75" fill="#89b99a" r="5">
+  <animate attributeName="r" values="2;2;4;2;2" times="0;0.1;0.2;0.3;1" dur="1s" repeatCount="indefinite" begin="-0.6666666666666666s"></animate>
+  <animate attributeName="fill" values="#89b99a;#89b99a;#43a7ce;#89b99a;#89b99a" repeatCount="indefinite" times="0;0.1;0.2;0.3;1" dur="1s" begin="-0.6666666666666666s"></animate>
+</circle><circle cx="37.50000000000001" cy="71.65063509461098" fill="#89b99a" r="5">
+  <animate attributeName="r" values="2;2;4;2;2" times="0;0.1;0.2;0.3;1" dur="1s" repeatCount="indefinite" begin="-0.5833333333333334s"></animate>
+  <animate attributeName="fill" values="#89b99a;#89b99a;#43a7ce;#89b99a;#89b99a" repeatCount="indefinite" times="0;0.1;0.2;0.3;1" dur="1s" begin="-0.5833333333333334s"></animate>
+</circle><circle cx="28.34936490538903" cy="62.5" fill="#89b99a" r="5">
+  <animate attributeName="r" values="2;2;4;2;2" times="0;0.1;0.2;0.3;1" dur="1s" repeatCount="indefinite" begin="-0.5s"></animate>
+  <animate attributeName="fill" values="#89b99a;#89b99a;#43a7ce;#89b99a;#89b99a" repeatCount="indefinite" times="0;0.1;0.2;0.3;1" dur="1s" begin="-0.5s"></animate>
+</circle><circle cx="25" cy="50" fill="#89b99a" r="5">
+  <animate attributeName="r" values="2;2;4;2;2" times="0;0.1;0.2;0.3;1" dur="1s" repeatCount="indefinite" begin="-0.4166666666666667s"></animate>
+  <animate attributeName="fill" values="#89b99a;#89b99a;#43a7ce;#89b99a;#89b99a" repeatCount="indefinite" times="0;0.1;0.2;0.3;1" dur="1s" begin="-0.4166666666666667s"></animate>
+</circle><circle cx="28.34936490538903" cy="37.50000000000001" fill="#89b99a" r="5">
+  <animate attributeName="r" values="2;2;4;2;2" times="0;0.1;0.2;0.3;1" dur="1s" repeatCount="indefinite" begin="-0.3333333333333333s"></animate>
+  <animate attributeName="fill" values="#89b99a;#89b99a;#43a7ce;#89b99a;#89b99a" repeatCount="indefinite" times="0;0.1;0.2;0.3;1" dur="1s" begin="-0.3333333333333333s"></animate>
+</circle><circle cx="37.499999999999986" cy="28.349364905389038" fill="#89b99a" r="5">
+  <animate attributeName="r" values="2;2;4;2;2" times="0;0.1;0.2;0.3;1" dur="1s" repeatCount="indefinite" begin="-0.25s"></animate>
+  <animate attributeName="fill" values="#89b99a;#89b99a;#43a7ce;#89b99a;#89b99a" repeatCount="indefinite" times="0;0.1;0.2;0.3;1" dur="1s" begin="-0.25s"></animate>
+</circle><circle cx="49.99999999999999" cy="25" fill="#89b99a" r="5">
+  <animate attributeName="r" values="2;2;4;2;2" times="0;0.1;0.2;0.3;1" dur="1s" repeatCount="indefinite" begin="-0.16666666666666666s"></animate>
+  <animate attributeName="fill" values="#89b99a;#89b99a;#43a7ce;#89b99a;#89b99a" repeatCount="indefinite" times="0;0.1;0.2;0.3;1" dur="1s" begin="-0.16666666666666666s"></animate>
+</circle><circle cx="62.5" cy="28.349364905389034" fill="#89b99a" r="5">
+  <animate attributeName="r" values="2;2;4;2;2" times="0;0.1;0.2;0.3;1" dur="1s" repeatCount="indefinite" begin="-0.08333333333333333s"></animate>
+  <animate attributeName="fill" values="#89b99a;#89b99a;#43a7ce;#89b99a;#89b99a" repeatCount="indefinite" times="0;0.1;0.2;0.3;1" dur="1s" begin="-0.08333333333333333s"></animate>
+</circle><circle cx="71.65063509461096" cy="37.499999999999986" fill="#89b99a" r="5">
+  <animate attributeName="r" values="2;2;4;2;2" times="0;0.1;0.2;0.3;1" dur="1s" repeatCount="indefinite" begin="0s"></animate>
+  <animate attributeName="fill" values="#89b99a;#89b99a;#43a7ce;#89b99a;#89b99a" repeatCount="indefinite" times="0;0.1;0.2;0.3;1" dur="1s" begin="0s"></animate>
+</circle>
+</svg>

photon-client/src/assets/images/logoLarge.svg

@@ -0,0 +1,57 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
+<svg width="100%" height="100%" viewBox="0 0 1920 680" version="1.1" xmlns="http://www.w3.org/2000/svg"
+     xml:space="preserve"
+     style="fill-rule:evenodd;clip-rule:evenodd;stroke-linejoin:round;stroke-miterlimit:2;">
+    <g transform="matrix(1,0,0,1,-1986,-1146)">
+        <g id="PhotonVision-Header-noBG" transform="matrix(1,0,0,0.62963,-0.666667,1146)">
+            <rect x="1986.67" y="0" width="1920" height="1080" style="fill:none;"/>
+            <g transform="matrix(1.87463,0,0,2.97735,-2372.42,-4617.27)">
+                <g transform="matrix(136.163,0,0,136.163,2412.48,1719.32)">
+                    <path d="M0.061,0L0.061,-0.7L0.362,-0.7C0.409,-0.7 0.452,-0.689 0.491,-0.668C0.53,-0.647 0.561,-0.617 0.584,-0.58C0.607,-0.542 0.619,-0.498 0.619,-0.449C0.619,-0.4 0.607,-0.356 0.584,-0.318C0.561,-0.279 0.53,-0.249 0.491,-0.228C0.452,-0.207 0.409,-0.196 0.362,-0.196L0.229,-0.196L0.229,0L0.061,0ZM0.229,-0.337L0.343,-0.337C0.362,-0.337 0.38,-0.341 0.397,-0.35C0.413,-0.359 0.426,-0.371 0.436,-0.388C0.446,-0.405 0.451,-0.425 0.451,-0.448C0.451,-0.471 0.446,-0.491 0.436,-0.508C0.426,-0.525 0.413,-0.538 0.397,-0.547C0.38,-0.556 0.362,-0.56 0.343,-0.56L0.229,-0.56L0.229,-0.337Z" style="fill:rgb(255,216,67);fill-rule:nonzero;"/>
+                </g>
+                <g transform="matrix(136.163,0,0,136.163,2500.17,1719.32)">
+                    <path d="M0.061,0L0.061,-0.7L0.229,-0.7L0.229,-0.425L0.502,-0.425L0.502,-0.7L0.67,-0.7L0.67,0L0.502,0L0.502,-0.285L0.229,-0.285L0.229,0L0.061,0Z" style="fill:rgb(255,216,67);fill-rule:nonzero;"/>
+                </g>
+                <g transform="matrix(136.163,0,0,136.163,2599.7,1719.32)">
+                    <path d="M0.4,0.013C0.344,0.013 0.293,0.004 0.248,-0.015C0.203,-0.034 0.164,-0.06 0.131,-0.093C0.098,-0.126 0.073,-0.165 0.056,-0.209C0.038,-0.253 0.029,-0.3 0.029,-0.351C0.029,-0.402 0.038,-0.449 0.056,-0.493C0.073,-0.536 0.098,-0.575 0.131,-0.608C0.164,-0.641 0.203,-0.667 0.248,-0.686C0.293,-0.704 0.344,-0.713 0.4,-0.713C0.455,-0.713 0.506,-0.704 0.552,-0.686C0.597,-0.667 0.636,-0.641 0.669,-0.608C0.701,-0.575 0.726,-0.536 0.744,-0.493C0.762,-0.449 0.771,-0.402 0.771,-0.351C0.771,-0.3 0.762,-0.253 0.744,-0.209C0.726,-0.165 0.701,-0.126 0.669,-0.093C0.636,-0.06 0.597,-0.034 0.552,-0.015C0.506,0.004 0.455,0.013 0.4,0.013ZM0.4,-0.13C0.429,-0.13 0.457,-0.136 0.482,-0.147C0.506,-0.158 0.528,-0.173 0.546,-0.193C0.564,-0.213 0.578,-0.236 0.588,-0.264C0.598,-0.291 0.603,-0.32 0.603,-0.351C0.603,-0.382 0.598,-0.411 0.588,-0.438C0.578,-0.465 0.564,-0.488 0.546,-0.508C0.528,-0.528 0.506,-0.544 0.482,-0.555C0.457,-0.566 0.429,-0.571 0.4,-0.571C0.37,-0.571 0.343,-0.566 0.318,-0.555C0.293,-0.544 0.272,-0.528 0.254,-0.508C0.235,-0.488 0.221,-0.465 0.212,-0.438C0.202,-0.411 0.197,-0.382 0.197,-0.351C0.197,-0.32 0.202,-0.291 0.212,-0.264C0.221,-0.236 0.235,-0.213 0.254,-0.193C0.272,-0.173 0.293,-0.158 0.318,-0.147C0.343,-0.136 0.37,-0.13 0.4,-0.13Z" style="fill:rgb(255,216,67);fill-rule:nonzero;"/>
+                </g>
+                <g transform="matrix(136.163,0,0,136.163,2704.41,1719.32)">
+                    <path d="M0.421,0C0.378,0 0.341,-0.01 0.309,-0.029C0.276,-0.048 0.251,-0.073 0.233,-0.105C0.214,-0.137 0.205,-0.173 0.205,-0.212L0.205,-0.56L0.015,-0.56L0.015,-0.7L0.562,-0.7L0.562,-0.56L0.373,-0.56L0.373,-0.197C0.373,-0.182 0.378,-0.168 0.389,-0.157C0.4,-0.146 0.413,-0.14 0.429,-0.14L0.484,-0.14L0.484,0L0.421,0Z" style="fill:rgb(255,216,67);fill-rule:nonzero;"/>
+                </g>
+                <g transform="matrix(136.163,0,0,136.163,2778.89,1719.32)">
+                    <path d="M0.4,0.013C0.344,0.013 0.293,0.004 0.248,-0.015C0.203,-0.034 0.164,-0.06 0.131,-0.093C0.098,-0.126 0.073,-0.165 0.056,-0.209C0.038,-0.253 0.029,-0.3 0.029,-0.351C0.029,-0.402 0.038,-0.449 0.056,-0.493C0.073,-0.536 0.098,-0.575 0.131,-0.608C0.164,-0.641 0.203,-0.667 0.248,-0.686C0.293,-0.704 0.344,-0.713 0.4,-0.713C0.455,-0.713 0.506,-0.704 0.552,-0.686C0.597,-0.667 0.636,-0.641 0.669,-0.608C0.701,-0.575 0.726,-0.536 0.744,-0.493C0.762,-0.449 0.771,-0.402 0.771,-0.351C0.771,-0.3 0.762,-0.253 0.744,-0.209C0.726,-0.165 0.701,-0.126 0.669,-0.093C0.636,-0.06 0.597,-0.034 0.552,-0.015C0.506,0.004 0.455,0.013 0.4,0.013ZM0.4,-0.13C0.429,-0.13 0.457,-0.136 0.482,-0.147C0.506,-0.158 0.528,-0.173 0.546,-0.193C0.564,-0.213 0.578,-0.236 0.588,-0.264C0.598,-0.291 0.603,-0.32 0.603,-0.351C0.603,-0.382 0.598,-0.411 0.588,-0.438C0.578,-0.465 0.564,-0.488 0.546,-0.508C0.528,-0.528 0.506,-0.544 0.482,-0.555C0.457,-0.566 0.429,-0.571 0.4,-0.571C0.37,-0.571 0.343,-0.566 0.318,-0.555C0.293,-0.544 0.272,-0.528 0.254,-0.508C0.235,-0.488 0.221,-0.465 0.212,-0.438C0.202,-0.411 0.197,-0.382 0.197,-0.351C0.197,-0.32 0.202,-0.291 0.212,-0.264C0.221,-0.236 0.235,-0.213 0.254,-0.193C0.272,-0.173 0.293,-0.158 0.318,-0.147C0.343,-0.136 0.37,-0.13 0.4,-0.13Z" style="fill:rgb(255,216,67);fill-rule:nonzero;"/>
+                </g>
+                <g transform="matrix(136.163,0,0,136.163,2887.69,1719.32)">
+                    <path d="M0.058,0L0.058,-0.422C0.058,-0.482 0.071,-0.534 0.096,-0.577C0.121,-0.62 0.157,-0.654 0.202,-0.677C0.247,-0.7 0.298,-0.712 0.356,-0.712C0.414,-0.712 0.465,-0.7 0.51,-0.677C0.555,-0.654 0.59,-0.62 0.616,-0.577C0.641,-0.534 0.654,-0.482 0.654,-0.422L0.654,0L0.488,0L0.488,-0.431C0.488,-0.457 0.483,-0.481 0.471,-0.502C0.461,-0.523 0.445,-0.54 0.426,-0.552C0.407,-0.564 0.383,-0.57 0.356,-0.57C0.329,-0.57 0.306,-0.564 0.286,-0.552C0.266,-0.54 0.251,-0.523 0.24,-0.502C0.229,-0.481 0.224,-0.457 0.224,-0.431L0.224,0L0.058,0Z" style="fill:rgb(255,216,67);fill-rule:nonzero;"/>
+                </g>
+            </g>
+            <g transform="matrix(2.05664,0,0,3.26643,-2793.17,-4723.02)">
+                <g transform="matrix(136.163,0,0,136.163,2412.48,1719.32)">
+                    <path d="M0.341,0.012C0.314,0.012 0.29,0.005 0.269,-0.008C0.248,-0.021 0.231,-0.043 0.22,-0.072L0.001,-0.7L0.133,-0.7L0.319,-0.121C0.322,-0.114 0.325,-0.109 0.328,-0.106C0.331,-0.102 0.336,-0.1 0.341,-0.1C0.346,-0.1 0.351,-0.102 0.355,-0.106C0.358,-0.109 0.361,-0.114 0.363,-0.121L0.555,-0.7L0.681,-0.7L0.462,-0.072C0.452,-0.044 0.436,-0.023 0.414,-0.009C0.393,0.005 0.368,0.012 0.341,0.012Z" style="fill:white;fill-rule:nonzero;"/>
+                </g>
+                <g transform="matrix(136.163,0,0,136.163,2505.34,1719.32)">
+                    <path d="M0.052,0L0.052,-0.105L0.182,-0.105L0.182,-0.595L0.052,-0.595L0.052,-0.7L0.432,-0.7L0.432,-0.595L0.302,-0.595L0.302,-0.105L0.432,-0.105L0.432,0L0.052,0Z" style="fill:white;fill-rule:nonzero;"/>
+                </g>
+                <g transform="matrix(136.163,0,0,136.163,2571.25,1719.32)">
+                    <path d="M0.071,0L0.071,-0.105L0.372,-0.105C0.391,-0.105 0.408,-0.11 0.423,-0.119C0.437,-0.128 0.448,-0.141 0.457,-0.156C0.465,-0.171 0.469,-0.186 0.469,-0.203C0.469,-0.221 0.465,-0.237 0.457,-0.252C0.449,-0.267 0.438,-0.278 0.424,-0.287C0.409,-0.296 0.393,-0.3 0.374,-0.3L0.249,-0.3C0.21,-0.3 0.174,-0.308 0.143,-0.325C0.113,-0.341 0.088,-0.364 0.07,-0.393C0.052,-0.422 0.043,-0.457 0.043,-0.497C0.043,-0.537 0.052,-0.572 0.069,-0.603C0.086,-0.633 0.11,-0.657 0.14,-0.674C0.17,-0.691 0.204,-0.7 0.242,-0.7L0.543,-0.7L0.543,-0.595L0.253,-0.595C0.236,-0.595 0.22,-0.591 0.206,-0.582C0.192,-0.573 0.181,-0.562 0.173,-0.548C0.166,-0.534 0.162,-0.519 0.162,-0.503C0.162,-0.486 0.166,-0.471 0.173,-0.458C0.181,-0.444 0.192,-0.433 0.205,-0.425C0.219,-0.416 0.235,-0.412 0.252,-0.412L0.38,-0.412C0.423,-0.412 0.46,-0.404 0.491,-0.387C0.522,-0.37 0.546,-0.347 0.563,-0.318C0.58,-0.289 0.588,-0.255 0.588,-0.217C0.588,-0.172 0.579,-0.134 0.562,-0.102C0.544,-0.069 0.52,-0.044 0.49,-0.027C0.459,-0.009 0.425,0 0.387,0L0.071,0Z" style="fill:white;fill-rule:nonzero;"/>
+                </g>
+                <g transform="matrix(136.163,0,0,136.163,2656.62,1719.32)">
+                    <path d="M0.052,0L0.052,-0.105L0.182,-0.105L0.182,-0.595L0.052,-0.595L0.052,-0.7L0.432,-0.7L0.432,-0.595L0.302,-0.595L0.302,-0.105L0.432,-0.105L0.432,0L0.052,0Z" style="fill:white;fill-rule:nonzero;"/>
+                </g>
+                <g transform="matrix(136.163,0,0,136.163,2722.52,1719.32)">
+                    <path d="M0.401,0.013C0.346,0.013 0.296,0.003 0.251,-0.016C0.205,-0.035 0.167,-0.061 0.136,-0.094C0.104,-0.127 0.079,-0.166 0.062,-0.21C0.045,-0.254 0.036,-0.301 0.036,-0.351C0.036,-0.401 0.045,-0.448 0.062,-0.492C0.079,-0.535 0.104,-0.574 0.136,-0.607C0.167,-0.64 0.205,-0.666 0.251,-0.685C0.296,-0.704 0.346,-0.713 0.402,-0.713C0.457,-0.713 0.507,-0.704 0.552,-0.685C0.597,-0.666 0.635,-0.64 0.667,-0.607C0.699,-0.574 0.724,-0.535 0.741,-0.492C0.758,-0.448 0.767,-0.401 0.767,-0.351C0.767,-0.301 0.758,-0.254 0.741,-0.21C0.724,-0.166 0.699,-0.127 0.667,-0.094C0.635,-0.061 0.597,-0.035 0.552,-0.016C0.507,0.003 0.457,0.013 0.401,0.013ZM0.401,-0.093C0.436,-0.093 0.469,-0.099 0.499,-0.112C0.529,-0.125 0.555,-0.143 0.578,-0.167C0.6,-0.19 0.617,-0.218 0.629,-0.249C0.641,-0.28 0.647,-0.314 0.647,-0.351C0.647,-0.388 0.641,-0.422 0.629,-0.453C0.617,-0.484 0.6,-0.511 0.578,-0.535C0.555,-0.558 0.529,-0.576 0.499,-0.589C0.469,-0.602 0.436,-0.608 0.401,-0.608C0.366,-0.608 0.334,-0.602 0.304,-0.589C0.274,-0.576 0.248,-0.558 0.226,-0.535C0.203,-0.511 0.186,-0.484 0.173,-0.453C0.161,-0.422 0.155,-0.388 0.155,-0.351C0.155,-0.314 0.161,-0.28 0.173,-0.249C0.186,-0.218 0.203,-0.19 0.226,-0.167C0.248,-0.143 0.274,-0.125 0.304,-0.112C0.334,-0.099 0.366,-0.093 0.401,-0.093Z" style="fill:white;fill-rule:nonzero;"/>
+                </g>
+                <g transform="matrix(136.163,0,0,136.163,2831.86,1719.32)">
+                    <path d="M0.069,0L0.069,-0.426C0.069,-0.485 0.081,-0.536 0.106,-0.579C0.13,-0.622 0.163,-0.655 0.206,-0.678C0.249,-0.701 0.298,-0.712 0.353,-0.712C0.408,-0.712 0.457,-0.701 0.5,-0.678C0.543,-0.655 0.576,-0.622 0.601,-0.579C0.626,-0.536 0.638,-0.485 0.638,-0.426L0.638,0L0.518,0L0.518,-0.436C0.518,-0.467 0.511,-0.496 0.498,-0.522C0.485,-0.548 0.466,-0.569 0.442,-0.584C0.417,-0.599 0.388,-0.607 0.353,-0.607C0.32,-0.607 0.291,-0.599 0.266,-0.584C0.241,-0.569 0.222,-0.548 0.209,-0.522C0.195,-0.496 0.188,-0.467 0.188,-0.436L0.188,0L0.069,0Z" style="fill:white;fill-rule:nonzero;"/>
+                </g>
+            </g>
+            <g transform="matrix(1.47838,0,0,2.34801,-955.236,-8562.95)">
+                <path d="M3055.09,3977.51C3050.3,3984.25 3045,3990.56 3039.21,3996.35C2987.91,4047.65 2917.1,4038.77 2881.16,3976.54C2845.23,3914.3 2857.71,3822.13 2909.01,3770.83C2960.31,3719.53 3031.13,3728.41 3067.06,3790.64C3069.85,3795.48 3072.35,3800.49 3074.56,3805.67L3039.78,3811.64C3012.82,3769.64 2962.9,3764.58 2926.45,3801.04C2888.89,3838.59 2879.76,3906.07 2906.07,3951.63C2932.37,3997.19 2984.22,4003.69 3021.77,3966.14L3021.89,3966.01L3055.09,3977.51ZM3085.02,3841.47C3090.86,3875.56 3086.6,3912.35 3073.22,3944.57L3043.91,3934.42C3056.74,3907.59 3060.53,3875.54 3054.13,3846.78L3085.02,3841.47Z" style="fill:white;"/>
+            </g>
+            <g transform="matrix(1.47838,0,0,2.34801,-955.236,-3103.7)">
+                <path d="M2906.78,1571.77L3111.02,1642.48L3116.61,1626.34L3147.2,1664.74L3099.42,1675.99L3105,1659.86L2910.03,1592.35C2908.25,1585.69 2907.18,1578.77 2906.78,1571.77ZM2917.45,1517.07L3114.77,1483.17L3111.88,1466.34L3157.2,1485.21L3120.78,1518.13L3117.88,1501.3L2910.22,1536.97C2911.99,1530.09 2914.41,1523.4 2917.45,1517.07Z" style="fill:rgb(255,216,67);"/>
+            </g>
+        </g>
+    </g>
+</svg>

photon-client/src/assets/images/logoSmall.svg

@@ -0,0 +1,25 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
+<svg width="100%" height="100%" viewBox="0 0 508 507" version="1.1" xmlns="http://www.w3.org/2000/svg"
+     xml:space="preserve"
+     style="fill-rule:evenodd;clip-rule:evenodd;stroke-linejoin:round;stroke-miterlimit:2;">
+    <g transform="matrix(1,0,0,1,-1279,0)">
+        <g id="PhotonVision-Icon-BG" transform="matrix(0.264062,0,0,0.469444,1279.5,0)">
+            <rect x="0" y="0" width="1920" height="1080" style="fill:none;"/>
+            <clipPath id="_clip1">
+                <rect x="0" y="0" width="1920" height="1080"/>
+            </clipPath>
+            <g clip-path="url(#_clip1)">
+                <g transform="matrix(4.27015,0,0,2.40196,-20444.8,-3235.56)">
+                    <circle cx="5012.55" cy="1571.77" r="224.918" style="fill:rgb(0,100,146);"/>
+                </g>
+                <g transform="matrix(4.95901,0,0,2.78944,-13955,-10313.5)">
+                    <path d="M3055.09,3977.51C3050.3,3984.25 3045,3990.56 3039.21,3996.35C2987.91,4047.65 2917.1,4038.77 2881.16,3976.54C2845.23,3914.3 2857.71,3822.13 2909.01,3770.83C2960.31,3719.53 3031.13,3728.41 3067.06,3790.64C3069.85,3795.48 3072.35,3800.49 3074.56,3805.67L3039.78,3811.64C3012.82,3769.64 2962.9,3764.58 2926.45,3801.04C2888.89,3838.59 2879.76,3906.07 2906.07,3951.63C2932.37,3997.19 2984.22,4003.69 3021.77,3966.14L3021.89,3966.01L3055.09,3977.51ZM3085.02,3841.47C3090.86,3875.56 3086.6,3912.35 3073.22,3944.57L3043.91,3934.42C3056.74,3907.59 3060.53,3875.54 3054.13,3846.78L3085.02,3841.47Z" style="fill:white;"/>
+                </g>
+                <g transform="matrix(4.95901,0,0,2.78944,-13955,-3827.86)">
+                    <path d="M2906.78,1571.77L3111.02,1642.48L3116.61,1626.34L3147.2,1664.74L3099.42,1675.99L3105,1659.86L2910.03,1592.35C2908.25,1585.69 2907.18,1578.77 2906.78,1571.77ZM2917.45,1517.07L3114.77,1483.17L3111.88,1466.34L3157.2,1485.21L3120.78,1518.13L3117.88,1501.3L2910.22,1536.97C2911.99,1530.09 2914.41,1523.4 2917.45,1517.07Z" style="fill:rgb(255,216,67);"/>
+                </g>
+            </g>
+        </g>
+    </g>
+</svg>

photon-client/src/assets/styles/variables.scss

@@ -0,0 +1,24 @@
+@import "@fontsource/prompt";
+
+$default-font: "Prompt", sans-serif !default;
+$body-font-family: $default-font;
+$heading-font-family: $default-font;
+
+.v-application {
+  font-family: $default-font !important;
+}
+
+.v-row-group__header {
+  background: #005281 !important;
+}
+.theme--dark.v-data-table
+  > .v-data-table__wrapper
+  > table
+  > tbody
+  > tr:hover:not(.v-data-table__expanded__content):not(.v-data-table__empty-wrapper) {
+  background: #005281 !important;
+}
+
+.v-card__title {
+  word-break: break-word !important;
+}

photon-client/src/components/app/photon-3d-visualizer.vue

@@ -0,0 +1,206 @@
+<script setup lang="ts">
+import type { PhotonTarget } from "@/types/PhotonTrackingTypes";
+import { onBeforeUnmount, onMounted, watchEffect } from "vue";
+import {
+  ArrowHelper,
+  BoxGeometry,
+  Color,
+  ConeGeometry,
+  Mesh,
+  MeshNormalMaterial,
+  type Object3D,
+  PerspectiveCamera,
+  Quaternion,
+  Scene,
+  Vector3,
+  WebGLRenderer
+} from "three";
+import { TrackballControls } from "three/examples/jsm/controls/TrackballControls";
+
+const props = defineProps<{
+  targets: PhotonTarget[];
+}>();
+
+let scene: Scene | undefined;
+let camera: PerspectiveCamera | undefined;
+let renderer: WebGLRenderer | undefined;
+let controls: TrackballControls | undefined;
+
+let previousTargets: Object3D[] = [];
+const drawTargets = (targets: PhotonTarget[]) => {
+  // Check here, since if we check in watchEffect this never gets called
+  if (scene === undefined || camera === undefined || renderer === undefined || controls === undefined) {
+    return;
+  }
+
+  scene.remove(...previousTargets);
+  previousTargets = [];
+
+  targets.forEach((target) => {
+    if (target.pose === undefined) return;
+
+    const geometry = new BoxGeometry(0.3 / 5, 0.2, 0.2);
+    const material = new MeshNormalMaterial();
+
+    const quaternion = new Quaternion(target.pose.qx, target.pose.qy, target.pose.qz, target.pose.qw);
+
+    const cube = new Mesh(geometry, material);
+    cube.position.set(target.pose.x, target.pose.y, target.pose.z);
+    cube.rotation.setFromQuaternion(quaternion);
+    previousTargets.push(cube);
+
+    let arrow = new ArrowHelper(new Vector3(1, 0, 0).normalize(), new Vector3(0, 0, 0), 1, 0xff0000, 0.1, 0.1);
+    arrow.rotation.setFromQuaternion(quaternion);
+    arrow.rotateZ(-Math.PI / 2);
+    arrow.position.set(target.pose.x, target.pose.y, target.pose.z);
+    previousTargets.push(arrow);
+
+    arrow = new ArrowHelper(new Vector3(1, 0, 0).normalize(), new Vector3(0, 0, 0), 1, 0x00ff00, 0.1, 0.1);
+    arrow.rotation.setFromQuaternion(quaternion);
+    arrow.position.set(target.pose.x, target.pose.y, target.pose.z);
+    previousTargets.push(arrow);
+
+    arrow = new ArrowHelper(new Vector3(1, 0, 0).normalize(), new Vector3(0, 0, 0), 1, 0x0000ff, 0.1, 0.1);
+    arrow.setRotationFromQuaternion(quaternion);
+    arrow.rotateX(Math.PI / 2);
+    arrow.position.set(target.pose.x, target.pose.y, target.pose.z);
+    previousTargets.push(arrow);
+  });
+
+  if (previousTargets.length > 0) {
+    scene.add(...previousTargets);
+  }
+};
+const onWindowResize = () => {
+  const container = document.getElementById("container");
+  const canvas = document.getElementById("view");
+
+  if (container === null || canvas === null || camera === undefined || renderer === undefined) {
+    return;
+  }
+
+  canvas.style.width = container.clientWidth * 0.75 + "px";
+  canvas.style.height = container.clientWidth * 0.35 + "px";
+  camera.aspect = canvas.clientWidth / canvas.clientHeight;
+  camera.updateProjectionMatrix();
+  renderer.setSize(canvas.clientWidth, canvas.clientHeight);
+};
+const resetCamFirstPerson = () => {
+  if (scene === undefined || camera === undefined || controls === undefined) {
+    return;
+  }
+
+  controls.reset();
+  camera.position.set(0.2, 0, 0);
+  camera.up.set(0, 0, 1);
+  controls.target.set(4.0, 0.0, 0.0);
+  controls.update();
+  if (previousTargets.length > 0) {
+    scene.add(...previousTargets);
+  }
+};
+const resetCamThirdPerson = () => {
+  if (scene === undefined || camera === undefined || controls === undefined) {
+    return;
+  }
+
+  controls.reset();
+  camera.position.set(-1.39, -1.09, 1.17);
+  camera.up.set(0, 0, 1);
+  controls.target.set(4.0, 0.0, 0.0);
+  controls.update();
+  if (previousTargets.length > 0) {
+    scene.add(...previousTargets);
+  }
+};
+
+onMounted(() => {
+  scene = new Scene();
+  camera = new PerspectiveCamera(75, 800 / 800, 0.1, 1000);
+
+  const canvas = document.getElementById("view");
+  if (canvas === null) return;
+  renderer = new WebGLRenderer({ canvas: canvas });
+
+  scene.background = new Color(0xa9a9a9);
+
+  onWindowResize();
+  window.addEventListener("resize", onWindowResize);
+
+  const referenceFrameCues: Object3D[] = [];
+  referenceFrameCues.push(
+    new ArrowHelper(new Vector3(1, 0, 0).normalize(), new Vector3(0, 0, 0), 1, 0xff0000, 0.1, 0.1)
+  );
+  referenceFrameCues.push(
+    new ArrowHelper(new Vector3(0, 1, 0).normalize(), new Vector3(0, 0, 0), 1, 0x00ff00, 0.1, 0.1)
+  );
+  referenceFrameCues.push(
+    new ArrowHelper(new Vector3(0, 0, 1).normalize(), new Vector3(0, 0, 0), 1, 0x0000ff, 0.1, 0.1)
+  );
+
+  // Draw the Camera Body
+  const camSize = 0.2;
+  const camBodyGeometry = new BoxGeometry(camSize, camSize, camSize);
+  const camLensGeometry = new ConeGeometry(camSize * 0.4, camSize * 0.8, 30);
+  const camMaterial = new MeshNormalMaterial();
+  const camBody = new Mesh(camBodyGeometry, camMaterial);
+  const camLens = new Mesh(camLensGeometry, camMaterial);
+  camBody.position.set(0, 0, 0);
+  camLens.rotateZ(Math.PI / 2);
+  camLens.position.set(camSize * 0.8, 0, 0);
+  referenceFrameCues.push(camBody);
+  referenceFrameCues.push(camLens);
+
+  controls = new TrackballControls(camera, renderer.domElement);
+  controls.rotateSpeed = 1.0;
+  controls.zoomSpeed = 1.2;
+  controls.panSpeed = 0.8;
+  controls.noZoom = false;
+  controls.noPan = false;
+  controls.staticMoving = true;
+  controls.dynamicDampingFactor = 0.3;
+
+  scene.add(...referenceFrameCues);
+  resetCamThirdPerson();
+
+  controls.update();
+
+  const animate = () => {
+    if (scene === undefined || camera === undefined || renderer === undefined || controls === undefined) {
+      return;
+    }
+
+    requestAnimationFrame(animate);
+
+    controls.update();
+    renderer.render(scene, camera);
+  };
+
+  drawTargets(props.targets);
+  animate();
+});
+onBeforeUnmount(() => {
+  window.removeEventListener("resize", onWindowResize);
+});
+watchEffect(() => {
+  drawTargets(props.targets);
+});
+</script>
+
+<template>
+  <div id="container" style="width: 100%">
+    <v-row>
+      <v-col align-self="stretch" style="display: flex; justify-content: center">
+        <canvas id="view" />
+      </v-col>
+    </v-row>
+    <v-row style="margin-bottom: 24px">
+      <v-col style="display: flex; justify-content: center">
+        <v-btn color="secondary" @click="resetCamFirstPerson"> First Person </v-btn>
+      </v-col>
+      <v-col style="display: flex; justify-content: center">
+        <v-btn color="secondary" @click="resetCamThirdPerson"> Third Person </v-btn>
+      </v-col>
+    </v-row>
+  </div>
+</template>

photon-client/src/components/app/photon-camera-stream.vue

@@ -0,0 +1,101 @@
+<script setup lang="ts">
+import { computed, inject } from "vue";
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { useStateStore } from "@/stores/StateStore";
+import loadingImage from "@/assets/images/loading.svg";
+import type { StyleValue } from "vue/types/jsx";
+import PvIcon from "@/components/common/pv-icon.vue";
+
+const props = defineProps<{
+  streamType: "Raw" | "Processed";
+  id: string;
+}>();
+
+const streamSrc = computed<string>(() => {
+  const port =
+    useCameraSettingsStore().currentCameraSettings.stream[props.streamType === "Raw" ? "inputPort" : "outputPort"];
+
+  if (!useStateStore().backendConnected || port === 0) {
+    return loadingImage;
+  }
+
+  return `http://${inject("backendHostname")}:${port}/stream.mjpg`;
+});
+const streamDesc = computed<string>(() => `${props.streamType} Stream View`);
+const streamStyle = computed<StyleValue>(() => {
+  if (useStateStore().colorPickingMode) {
+    return { width: "100%", cursor: "crosshair" };
+  }
+
+  return { width: "100%" };
+});
+
+const overlayStyle = computed<StyleValue>(() => {
+  if (useStateStore().colorPickingMode || streamSrc.value == loadingImage) {
+    return { display: "none" };
+  } else {
+    return {};
+  }
+});
+
+const handleCaptureClick = () => {
+  if (props.streamType === "Raw") {
+    useCameraSettingsStore().saveInputSnapshot();
+  } else {
+    useCameraSettingsStore().saveOutputSnapshot();
+  }
+};
+const handlePopoutClick = () => {
+  window.open(streamSrc.value);
+};
+const handleFullscreenRequest = () => {
+  const stream = document.getElementById(props.id);
+  if (!stream) return;
+  stream.requestFullscreen();
+};
+</script>
+
+<template>
+  <div class="stream-container">
+    <img :id="id" crossorigin="anonymous" :src="streamSrc" :alt="streamDesc" :style="streamStyle" />
+    <div class="stream-overlay" :style="overlayStyle">
+      <pv-icon
+        icon-name="mdi-camera-image"
+        tooltip="Capture and save a frame of this stream"
+        class="ma-1 mr-2"
+        @click="handleCaptureClick"
+      />
+      <pv-icon
+        icon-name="mdi-fullscreen"
+        tooltip="Open this stream in fullscreen"
+        class="ma-1 mr-2"
+        @click="handleFullscreenRequest"
+      />
+      <pv-icon
+        icon-name="mdi-open-in-new"
+        tooltip="Open this stream in a new window"
+        class="ma-1 mr-2"
+        @click="handlePopoutClick"
+      />
+    </div>
+  </div>
+</template>
+
+<style scoped>
+.stream-container {
+  position: relative;
+}
+
+.stream-overlay {
+  display: flex;
+  opacity: 0;
+  transition: 0.1s ease;
+  position: absolute;
+  top: 0;
+  right: 0;
+}
+
+.stream-container:hover .stream-overlay {
+  opacity: 1;
+}
+</style>

photon-client/src/components/app/photon-error-snackbar.vue

@@ -0,0 +1,16 @@
+<script setup lang="ts">
+import { useStateStore } from "@/stores/StateStore";
+</script>
+
+<template>
+  <v-snackbar
+    v-model="useStateStore().snackbarData.show"
+    top
+    :color="useStateStore().snackbarData.color"
+    :timeout="useStateStore().snackbarData.timeout"
+  >
+    <p style="padding: 0; margin: 0; text-align: center">
+      {{ useStateStore().snackbarData.message }}
+    </p>
+  </v-snackbar>
+</template>

photon-client/src/components/app/photon-log-view.vue

@@ -0,0 +1,127 @@
+<script setup lang="ts">
+import { computed, inject, ref } from "vue";
+import { LogLevel, type LogMessage } from "@/types/SettingTypes";
+import { useStateStore } from "@/stores/StateStore";
+
+const selectedLogLevels = ref<LogLevel[]>([LogLevel.ERROR, LogLevel.WARN, LogLevel.INFO]);
+
+const logs = computed<LogMessage[]>(() =>
+  useStateStore().logMessages.filter((message) => selectedLogLevels.value.includes(message.level))
+);
+
+const backendHost = inject<string>("backendHost");
+
+const getLogColor = (level: LogLevel): string => {
+  switch (level) {
+    case LogLevel.ERROR:
+      return "red";
+    case LogLevel.WARN:
+      return "yellow";
+    case LogLevel.INFO:
+      return "green";
+    case LogLevel.DEBUG:
+      return "white";
+  }
+  return "";
+};
+
+const getLogLevelFromIndex = (index: number): string => {
+  return LogLevel[index];
+};
+
+const exportLogFile = ref();
+
+const handleLogExport = () => {
+  exportLogFile.value.click();
+};
+
+document.addEventListener("keydown", (e) => {
+  switch (e.key) {
+    case "`":
+      useStateStore().$patch((state) => (state.showLogModal = !state.showLogModal));
+      break;
+  }
+});
+</script>
+
+<template>
+  <v-dialog v-model="useStateStore().showLogModal" width="1500" dark>
+    <v-card dark class="pt-3" color="primary" flat>
+      <v-row class="heading-container pl-6 pr-6">
+        <v-col>
+          <v-card-title>View Program Logs</v-card-title>
+        </v-col>
+        <v-col class="align-self-center">
+          <v-btn
+            color="secondary"
+            style="margin-left: auto; max-width: 500px; width: 100%"
+            depressed
+            @click="handleLogExport"
+          >
+            <v-icon left class="open-icon"> mdi-download </v-icon>
+            <span class="open-label">Download Current Log</span>
+
+            <!-- Special hidden link that gets 'clicked' when the user exports journalctl logs -->
+            <a
+              ref="exportLogFile"
+              style="color: black; text-decoration: none; display: none"
+              :href="`http://${backendHost}/api/utils/photonvision-journalctl.txt`"
+              download="photonvision-journalctl.txt"
+              target="_blank"
+            />
+          </v-btn>
+        </v-col>
+      </v-row>
+      <div class="pr-6 pl-6">
+        <v-btn-toggle v-model="selectedLogLevels" dark multiple class="fill mb-4 overflow-x-auto">
+          <v-btn v-for="level in [0, 1, 2, 3]" :key="level" color="secondary" class="fill">
+            {{ getLogLevelFromIndex(level) }}
+          </v-btn>
+        </v-btn-toggle>
+        <v-card-text v-if="logs.length === 0" style="font-size: 18px; font-weight: 600">
+          There are no logs to show
+        </v-card-text>
+        <v-virtual-scroll v-else :items="logs" item-height="50" height="600">
+          <template #default="{ item }">
+            <div :class="[getLogColor(item.level) + '--text', 'log-item']">
+              {{ item.message }}
+            </div>
+          </template>
+        </v-virtual-scroll>
+      </div>
+
+      <v-divider />
+
+      <v-card-actions>
+        <v-spacer />
+        <v-btn color="white" text @click="() => (useStateStore().showLogModal = false)"> Close </v-btn>
+      </v-card-actions>
+    </v-card>
+  </v-dialog>
+</template>
+
+<style scoped>
+.v-btn-toggle.fill {
+  width: 100%;
+  height: 100%;
+}
+
+.v-btn-toggle.fill > .v-btn {
+  width: 25%;
+  height: 100%;
+}
+@media only screen and (max-width: 512px) {
+  .heading-container {
+    flex-direction: column;
+    padding-bottom: 14px;
+  }
+}
+@media only screen and (max-width: 312px) {
+  .open-icon {
+    margin: 0 !important;
+  }
+  .open-label {
+    display: none;
+  }
+}
+</style>

photon-client/src/components/app/photon-sidebar.vue

@@ -0,0 +1,122 @@
+<script setup lang="ts">
+import { computed, getCurrentInstance } from "vue";
+import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
+import { useStateStore } from "@/stores/StateStore";
+
+const compact = computed<boolean>({
+  get: () => {
+    return useStateStore().sidebarFolded;
+  },
+  set: (val) => {
+    useStateStore().setSidebarFolded(val);
+  }
+});
+
+// Vuetify2 doesn't yet support the useDisplay API so this is required to access the prop when using the Composition API
+const mdAndUp = computed<boolean>(() => getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndUp || false);
+</script>
+
+<template>
+  <v-navigation-drawer dark app permanent :mini-variant="compact || !mdAndUp" color="primary">
+    <v-list>
+      <!-- List item for the heading; note that there are some tricks in setting padding and image width make things look right -->
+      <v-list-item :class="compact || !mdAndUp ? 'pr-0 pl-0' : ''" style="display: flex; justify-content: center">
+        <v-list-item-icon class="mr-0">
+          <img v-if="!(compact || !mdAndUp)" class="logo" src="@/assets/images/logoLarge.svg" alt="large logo" />
+          <img v-else class="logo" src="@/assets/images/logoSmall.svg" alt="small logo" />
+        </v-list-item-icon>
+      </v-list-item>
+
+      <v-list-item link to="/dashboard">
+        <v-list-item-icon>
+          <v-icon>mdi-view-dashboard</v-icon>
+        </v-list-item-icon>
+        <v-list-item-content>
+          <v-list-item-title>Dashboard</v-list-item-title>
+        </v-list-item-content>
+      </v-list-item>
+      <v-list-item ref="camerasTabOpener" link to="/cameras">
+        <v-list-item-icon>
+          <v-icon>mdi-camera</v-icon>
+        </v-list-item-icon>
+        <v-list-item-content>
+          <v-list-item-title>Cameras</v-list-item-title>
+        </v-list-item-content>
+      </v-list-item>
+      <v-list-item link to="/settings">
+        <v-list-item-icon>
+          <v-icon>mdi-cog</v-icon>
+        </v-list-item-icon>
+        <v-list-item-content>
+          <v-list-item-title>Settings</v-list-item-title>
+        </v-list-item-content>
+      </v-list-item>
+      <v-list-item link to="/docs">
+        <v-list-item-icon>
+          <v-icon>mdi-bookshelf</v-icon>
+        </v-list-item-icon>
+        <v-list-item-content>
+          <v-list-item-title>Documentation</v-list-item-title>
+        </v-list-item-content>
+      </v-list-item>
+      <v-list-item v-if="mdAndUp" link @click="() => (compact = !compact)">
+        <v-list-item-icon>
+          <v-icon v-if="compact || !mdAndUp"> mdi-chevron-right </v-icon>
+          <v-icon v-else> mdi-chevron-left </v-icon>
+        </v-list-item-icon>
+        <v-list-item-content>
+          <v-list-item-title>Compact Mode</v-list-item-title>
+        </v-list-item-content>
+      </v-list-item>
+
+      <div style="position: absolute; bottom: 0; left: 0">
+        <v-list-item>
+          <v-list-item-icon>
+            <v-icon v-if="useSettingsStore().network.runNTServer"> mdi-server </v-icon>
+            <v-icon v-else-if="useStateStore().ntConnectionStatus.connected"> mdi-robot </v-icon>
+            <v-icon v-else style="border-radius: 100%"> mdi-robot-off </v-icon>
+          </v-list-item-icon>
+          <v-list-item-content>
+            <v-list-item-title v-if="useSettingsStore().network.runNTServer" class="text-wrap">
+              NetworkTables server running for
+              <span class="accent--text">{{ useStateStore().ntConnectionStatus.clients || 0 }}</span> clients
+            </v-list-item-title>
+            <v-list-item-title
+              v-else-if="useStateStore().ntConnectionStatus.connected && useStateStore().backendConnected"
+              class="text-wrap"
+              style="flex-direction: column; display: flex"
+            >
+              NetworkTables Server Connected!
+              <span class="accent--text">
+                {{ useStateStore().ntConnectionStatus.address }}
+              </span>
+            </v-list-item-title>
+            <v-list-item-title v-else class="text-wrap" style="flex-direction: column; display: flex">
+              Not connected to NetworkTables Server!
+            </v-list-item-title>
+          </v-list-item-content>
+        </v-list-item>
+
+        <v-list-item>
+          <v-list-item-icon>
+            <v-icon v-if="useStateStore().backendConnected"> mdi-server-network </v-icon>
+            <v-icon v-else style="border-radius: 100%"> mdi-server-network-off </v-icon>
+          </v-list-item-icon>
+          <v-list-item-content>
+            <v-list-item-title class="text-wrap">
+              {{ useStateStore().backendConnected ? "Backend connected" : "Trying to connect to backend" }}
+            </v-list-item-title>
+          </v-list-item-content>
+        </v-list-item>
+      </div>
+    </v-list>
+  </v-navigation-drawer>
+</template>
+
+<style scoped>
+.logo {
+  width: 100%;
+  height: 70px;
+  object-fit: contain;
+}
+</style>

photon-client/src/components/cameras/CameraCalibrationCard.vue

@@ -0,0 +1,571 @@
+<script setup lang="ts">
+import { computed, ref } from "vue";
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { CalibrationBoardTypes, type VideoFormat } from "@/types/SettingTypes";
+import JsPDF from "jspdf";
+import { font as PromptRegular } from "@/assets/fonts/PromptRegular";
+import MonoLogo from "@/assets/images/logoMono.png";
+import PvSlider from "@/components/common/pv-slider.vue";
+import { useStateStore } from "@/stores/StateStore";
+import PvSwitch from "@/components/common/pv-switch.vue";
+import PvSelect from "@/components/common/pv-select.vue";
+import PvNumberInput from "@/components/common/pv-number-input.vue";
+import { WebsocketPipelineType } from "@/types/WebsocketDataTypes";
+import { getResolutionString, resolutionsAreEqual } from "@/lib/PhotonUtils";
+import CameraCalibrationInfoCard from "@/components/cameras/CameraCalibrationInfoCard.vue";
+import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
+
+const settingsValid = ref(true);
+
+const getUniqueVideoFormatsByResolution = (): VideoFormat[] => {
+  const uniqueResolutions: VideoFormat[] = [];
+  useCameraSettingsStore().currentCameraSettings.validVideoFormats.forEach((format, index) => {
+    if (!uniqueResolutions.some((v) => resolutionsAreEqual(v.resolution, format.resolution))) {
+      format.index = index;
+
+      const calib = useCameraSettingsStore().getCalibrationCoeffs(format.resolution);
+      if (calib !== undefined) {
+        // Is this the right formula for RMS error? who knows! not me!
+        const perViewSumSquareReprojectionError = calib.observations.flatMap((it) =>
+          it.reprojectionErrors.flatMap((it2) => [it2.x, it2.y])
+        );
+        // For each error, square it, sum the squares, and divide by total points N
+        format.mean = Math.sqrt(
+          perViewSumSquareReprojectionError.map((it) => Math.pow(it, 2)).reduce((a, b) => a + b, 0) /
+            perViewSumSquareReprojectionError.length
+        );
+
+        format.horizontalFOV =
+          2 * Math.atan2(format.resolution.width / 2, calib.cameraIntrinsics.data[0]) * (180 / Math.PI);
+        format.verticalFOV =
+          2 * Math.atan2(format.resolution.height / 2, calib.cameraIntrinsics.data[4]) * (180 / Math.PI);
+        format.diagonalFOV =
+          2 *
+          Math.atan2(
+            Math.sqrt(
+              format.resolution.width ** 2 +
+                (format.resolution.height / (calib.cameraIntrinsics.data[4] / calib.cameraIntrinsics.data[0])) ** 2
+            ) / 2,
+            calib.cameraIntrinsics.data[0]
+          ) *
+          (180 / Math.PI);
+      }
+      uniqueResolutions.push(format);
+    }
+  });
+  uniqueResolutions.sort(
+    (a, b) => b.resolution.width + b.resolution.height - (a.resolution.width + a.resolution.height)
+  );
+  return uniqueResolutions;
+};
+const getUniqueVideoResolutionStrings = (): { name: string; value: number }[] =>
+  getUniqueVideoFormatsByResolution().map<{ name: string; value: number }>((f) => ({
+    name: `${getResolutionString(f.resolution)}`,
+    // Index won't ever be undefined
+    value: f.index || 0
+  }));
+const calibrationDivisors = computed(() =>
+  [1, 2, 4].filter((v) => {
+    const currentRes = useCameraSettingsStore().currentVideoFormat.resolution;
+    return (currentRes.width / v >= 300 && currentRes.height / v >= 220) || v === 1;
+  })
+);
+
+const squareSizeIn = ref(1);
+const patternWidth = ref(8);
+const patternHeight = ref(8);
+const boardType = ref<CalibrationBoardTypes>(CalibrationBoardTypes.Chessboard);
+const useMrCalRef = ref(true);
+const useMrCal = computed<boolean>({
+  get() {
+    return useMrCalRef.value && useSettingsStore().general.mrCalWorking;
+  },
+  set(value) {
+    useMrCalRef.value = value && useSettingsStore().general.mrCalWorking;
+  }
+});
+
+const downloadCalibBoard = () => {
+  const doc = new JsPDF({ unit: "in", format: "letter" });
+
+  doc.addFileToVFS("Prompt-Regular.tff", PromptRegular);
+  doc.addFont("Prompt-Regular.tff", "Prompt-Regular", "normal");
+  doc.setFont("Prompt-Regular");
+  doc.setFontSize(12);
+
+  const paperWidth = 8.5;
+  const paperHeight = 11.0;
+
+  switch (boardType.value) {
+    case CalibrationBoardTypes.Chessboard:
+      // eslint-disable-next-line no-case-declarations
+      const chessboardStartX = (paperWidth - patternWidth.value * squareSizeIn.value) / 2;
+      // eslint-disable-next-line no-case-declarations
+      const chessboardStartY = (paperHeight - patternWidth.value * squareSizeIn.value) / 2;
+
+      for (let squareY = 0; squareY < patternHeight.value; squareY++) {
+        for (let squareX = 0; squareX < patternWidth.value; squareX++) {
+          const xPos = chessboardStartX + squareX * squareSizeIn.value;
+          const yPos = chessboardStartY + squareY * squareSizeIn.value;
+
+          // Only draw the odd squares to create the chessboard pattern
+          if ((xPos + yPos + 0.25) % 2 === 0) {
+            doc.rect(xPos, yPos, squareSizeIn.value, squareSizeIn.value, "F");
+          }
+        }
+      }
+      break;
+    case CalibrationBoardTypes.DotBoard:
+      // eslint-disable-next-line no-case-declarations
+      const dotgridStartX =
+        (paperWidth - (2 * (patternWidth.value - 1) + ((patternHeight.value - 1) % 2)) * squareSizeIn.value) / 2.0;
+      // eslint-disable-next-line no-case-declarations
+      const dotgridStartY = (paperHeight - (patternHeight.value - squareSizeIn.value)) / 2;
+
+      for (let squareY = 0; squareY < patternHeight.value; squareY++) {
+        for (let squareX = 0; squareX < patternWidth.value; squareX++) {
+          const xPos = dotgridStartX + (2 * squareX + (squareY % 2)) * squareSizeIn.value;
+          const yPos = dotgridStartY + squareY * squareSizeIn.value;
+
+          doc.circle(xPos, yPos, squareSizeIn.value / 4, "F");
+        }
+      }
+      break;
+  }
+
+  // Draw ruler pattern
+  const lineStartX = 1.0;
+  const lineEndX = paperWidth - lineStartX;
+  const lineY = paperHeight - 1.0;
+
+  doc.setLineWidth(0.01);
+  doc.line(lineStartX, lineY, lineEndX, lineY);
+
+  for (let tickX = lineStartX; tickX <= lineEndX; tickX++) {
+    doc.line(tickX, lineY, tickX, lineY + 0.25);
+    doc.text(`${tickX - 1}${tickX - 1 === 0 ? " in" : ""}`, tickX + 0.1, lineY + 0.25);
+  }
+
+  // Add branding
+  const logoImage = new Image();
+  logoImage.src = MonoLogo;
+  doc.addImage(logoImage, "PNG", 1.0, 0.75, 1.4, 0.5);
+
+  doc.text(`${patternWidth.value} x ${patternHeight.value} | ${squareSizeIn.value}in`, paperWidth - 1, 1.0, {
+    maxWidth: (paperWidth - 2.0) / 2,
+    align: "right"
+  });
+
+  doc.save(`calibrationTarget-${CalibrationBoardTypes[boardType.value]}.pdf`);
+};
+
+const importCalibrationFromCalibDB = ref();
+const openCalibUploadPrompt = () => {
+  importCalibrationFromCalibDB.value.click();
+};
+const readImportedCalibrationFromCalibDB = () => {
+  const files = importCalibrationFromCalibDB.value.files;
+  if (files.length === 0) return;
+
+  files[0].text().then((text) => {
+    useCameraSettingsStore()
+      .importCalibDB({ payload: text, filename: files[0].name })
+      .then((response) => {
+        useStateStore().showSnackbarMessage({
+          message: response.data.text || response.data,
+          color: response.status === 200 ? "success" : "error"
+        });
+      })
+      .catch((err) => {
+        if (err.request) {
+          useStateStore().showSnackbarMessage({
+            message: "Error while uploading calibration file! The backend didn't respond to the upload attempt.",
+            color: "error"
+          });
+        } else {
+          useStateStore().showSnackbarMessage({
+            message: "Error while uploading calibration file!",
+            color: "error"
+          });
+        }
+      });
+  });
+};
+
+const isCalibrating = ref(false);
+const startCalibration = () => {
+  useCameraSettingsStore().startPnPCalibration({
+    squareSizeIn: squareSizeIn.value,
+    patternHeight: patternHeight.value,
+    patternWidth: patternWidth.value,
+    boardType: boardType.value,
+    useMrCal: useMrCal.value
+  });
+  // The Start PnP method already handles updating the backend so only a store update is required
+  useCameraSettingsStore().currentCameraSettings.currentPipelineIndex = WebsocketPipelineType.Calib3d;
+  isCalibrating.value = true;
+  calibCanceled.value = false;
+};
+const showCalibEndDialog = ref(false);
+const calibCanceled = ref(false);
+const calibSuccess = ref<boolean | undefined>(undefined);
+const endCalibration = () => {
+  if (!useStateStore().calibrationData.hasEnoughImages) {
+    calibCanceled.value = true;
+  }
+
+  showCalibEndDialog.value = true;
+  // Check if calibration finished cleanly or was canceled
+  useCameraSettingsStore()
+    .endPnPCalibration()
+    .then(() => {
+      calibSuccess.value = true;
+    })
+    .catch(() => {
+      calibSuccess.value = false;
+    })
+    .finally(() => {
+      isCalibrating.value = false;
+    });
+};
+
+let showCalDialog = ref(false);
+let selectedVideoFormat = ref<VideoFormat | undefined>(undefined);
+const setSelectedVideoFormat = (format: VideoFormat) => {
+  selectedVideoFormat.value = format;
+  showCalDialog.value = true;
+};
+</script>
+
+<template>
+  <div>
+    <v-card class="mb-3 pr-6 pb-3" color="primary" dark>
+      <v-card-title>Camera Calibration</v-card-title>
+      <div class="ml-5">
+        <v-row v-show="!isCalibrating" class="pb-12">
+          <v-card-subtitle class="pb-0 mb-0 pl-3">Complete Calibrations</v-card-subtitle>
+          <v-simple-table fixed-header height="100%" dense class="mt-2">
+            <thead>
+              <tr>
+                <th>Resolution</th>
+                <th>Mean Error</th>
+                <th>Horizontal FOV</th>
+                <th>Vertical FOV</th>
+                <th>Diagonal FOV</th>
+              </tr>
+            </thead>
+            <tbody>
+              <tr
+                v-for="(value, index) in getUniqueVideoFormatsByResolution()"
+                :key="index"
+                title="Click to get calibration specific information"
+                @click="setSelectedVideoFormat(value)"
+              >
+                <td>{{ getResolutionString(value.resolution) }}</td>
+                <td>
+                  {{ value.mean !== undefined ? (isNaN(value.mean) ? "NaN" : value.mean.toFixed(2) + "px") : "-" }}
+                </td>
+                <td>{{ value.horizontalFOV !== undefined ? value.horizontalFOV.toFixed(2) + "°" : "-" }}</td>
+                <td>{{ value.verticalFOV !== undefined ? value.verticalFOV.toFixed(2) + "°" : "-" }}</td>
+                <td>{{ value.diagonalFOV !== undefined ? value.diagonalFOV.toFixed(2) + "°" : "-" }}</td>
+              </tr>
+            </tbody>
+          </v-simple-table>
+        </v-row>
+        <v-divider />
+        <v-row style="display: flex; flex-direction: column" class="mt-4">
+          <v-card-subtitle v-show="!isCalibrating" class="pl-3 pa-0 ma-0"> Configure New Calibration</v-card-subtitle>
+          <v-form ref="form" v-model="settingsValid" class="pl-4 mb-10 pr-5">
+            <pv-select
+              v-model="useStateStore().calibrationData.videoFormatIndex"
+              label="Resolution"
+              :select-cols="7"
+              :disabled="isCalibrating"
+              tooltip="Resolution to calibrate at (you will have to calibrate every resolution you use 3D mode on)"
+              :items="getUniqueVideoResolutionStrings()"
+            />
+            <pv-select
+              v-show="isCalibrating"
+              v-model="useCameraSettingsStore().currentPipelineSettings.streamingFrameDivisor"
+              label="Decimation"
+              tooltip="Resolution to which camera frames are downscaled for detection. Calibration still uses full-res"
+              :items="calibrationDivisors"
+              :select-cols="7"
+              @input="(v) => useCameraSettingsStore().changeCurrentPipelineSetting({ streamingFrameDivisor: v }, false)"
+            />
+            <pv-select
+              v-model="boardType"
+              label="Board Type"
+              tooltip="Calibration board pattern to use"
+              :select-cols="7"
+              :items="['Chessboard', 'Dotboard']"
+              :disabled="isCalibrating"
+            />
+            <pv-number-input
+              v-model="squareSizeIn"
+              label="Pattern Spacing (in)"
+              tooltip="Spacing between pattern features in inches"
+              :disabled="isCalibrating"
+              :rules="[(v) => v > 0 || 'Size must be positive']"
+              :label-cols="5"
+            />
+            <pv-number-input
+              v-model="patternWidth"
+              label="Board Width (in)"
+              tooltip="Width of the board in dots or chessboard squares"
+              :disabled="isCalibrating"
+              :rules="[(v) => v >= 4 || 'Width must be at least 4']"
+              :label-cols="5"
+            />
+            <pv-number-input
+              v-model="patternHeight"
+              label="Board Height (in)"
+              tooltip="Height of the board in dots or chessboard squares"
+              :disabled="isCalibrating"
+              :rules="[(v) => v >= 4 || 'Height must be at least 4']"
+              :label-cols="5"
+            />
+            <pv-switch
+              v-model="useMrCal"
+              label="Try using MrCal over OpenCV"
+              :disabled="!useSettingsStore().general.mrCalWorking || isCalibrating"
+              tooltip="If enabled, Photon will (try to) use MrCal instead of OpenCV for camera calibration."
+              :label-cols="5"
+            />
+            <v-banner
+              v-show="!useSettingsStore().general.mrCalWorking"
+              rounded
+              color="red"
+              text-color="white"
+              class="mt-3"
+              icon="mdi-alert-circle-outline"
+            >
+              MrCal JNI could not be loaded! Consult journalctl logs for additional details.
+            </v-banner>
+          </v-form>
+          <v-row justify="center">
+            <v-chip
+              v-show="isCalibrating"
+              label
+              :color="useStateStore().calibrationData.hasEnoughImages ? 'secondary' : 'gray'"
+              class="mb-6"
+            >
+              Snapshots: {{ useStateStore().calibrationData.imageCount }} of at least
+              {{ useStateStore().calibrationData.minimumImageCount }}
+            </v-chip>
+          </v-row>
+        </v-row>
+        <v-row v-if="isCalibrating">
+          <v-col cols="12" class="pt-0">
+            <pv-slider
+              v-model="useCameraSettingsStore().currentPipelineSettings.cameraExposure"
+              :disabled="useCameraSettingsStore().currentCameraSettings.pipelineSettings.cameraAutoExposure"
+              label="Exposure"
+              tooltip="Directly controls how much light is allowed to fall onto the sensor, which affects apparent brightness"
+              :min="0"
+              :max="100"
+              :slider-cols="8"
+              :step="0.1"
+              @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraExposure: args }, false)"
+            />
+            <pv-slider
+              v-model="useCameraSettingsStore().currentPipelineSettings.cameraBrightness"
+              label="Brightness"
+              :min="0"
+              :max="100"
+              :slider-cols="8"
+              @input="
+                (args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraBrightness: args }, false)
+              "
+            />
+            <pv-switch
+              v-model="useCameraSettingsStore().currentPipelineSettings.cameraAutoExposure"
+              class="pt-2"
+              label="Auto Exposure"
+              :label-cols="4"
+              tooltip="Enables or Disables camera automatic adjustment for current lighting conditions"
+              @input="
+                (args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraAutoExposure: args }, false)
+              "
+            />
+            <pv-slider
+              v-if="useCameraSettingsStore().currentPipelineSettings.cameraGain >= 0"
+              v-model="useCameraSettingsStore().currentPipelineSettings.cameraGain"
+              label="Camera Gain"
+              tooltip="Controls camera gain, similar to brightness"
+              :min="0"
+              :max="100"
+              @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraGain: args }, false)"
+            />
+            <pv-slider
+              v-if="useCameraSettingsStore().currentPipelineSettings.cameraRedGain !== -1"
+              v-model="useCameraSettingsStore().currentPipelineSettings.cameraRedGain"
+              label="Red AWB Gain"
+              :min="0"
+              :max="100"
+              tooltip="Controls red automatic white balance gain, which affects how the camera captures colors in different conditions"
+              @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraRedGain: args }, false)"
+            />
+            <pv-slider
+              v-if="useCameraSettingsStore().currentPipelineSettings.cameraBlueGain !== -1"
+              v-model="useCameraSettingsStore().currentPipelineSettings.cameraBlueGain"
+              label="Blue AWB Gain"
+              :min="0"
+              :max="100"
+              tooltip="Controls blue automatic white balance gain, which affects how the camera captures colors in different conditions"
+              @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraBlueGain: args }, false)"
+            />
+          </v-col>
+        </v-row>
+        <v-row>
+          <v-col :cols="6">
+            <v-btn
+              small
+              color="secondary"
+              style="width: 100%"
+              :disabled="!settingsValid"
+              @click="isCalibrating ? useCameraSettingsStore().takeCalibrationSnapshot() : startCalibration()"
+            >
+              <v-icon left class="calib-btn-icon"> {{ isCalibrating ? "mdi-camera" : "mdi-flag-outline" }} </v-icon>
+              <span class="calib-btn-label">{{ isCalibrating ? "Take Snapshot" : "Start Calibration" }}</span>
+            </v-btn>
+          </v-col>
+          <v-col :cols="6">
+            <v-btn
+              small
+              :color="useStateStore().calibrationData.hasEnoughImages ? 'accent' : 'red'"
+              :class="useStateStore().calibrationData.hasEnoughImages ? 'black--text' : 'white---text'"
+              style="width: 100%"
+              :disabled="!isCalibrating || !settingsValid"
+              @click="endCalibration"
+            >
+              <v-icon left class="calib-btn-icon">
+                {{ useStateStore().calibrationData.hasEnoughImages ? "mdi-flag-checkered" : "mdi-flag-off-outline" }}
+              </v-icon>
+              <span class="calib-btn-label">{{
+                useStateStore().calibrationData.hasEnoughImages ? "Finish Calibration" : "Cancel Calibration"
+              }}</span>
+            </v-btn>
+          </v-col>
+        </v-row>
+        <v-row>
+          <v-col :cols="6">
+            <v-btn
+              color="accent"
+              small
+              outlined
+              style="width: 100%"
+              :disabled="!settingsValid"
+              @click="downloadCalibBoard"
+            >
+              <v-icon left class="calib-btn-icon"> mdi-download </v-icon>
+              <span class="calib-btn-label">Generate Board</span>
+            </v-btn>
+          </v-col>
+          <v-col :cols="6">
+            <v-btn color="secondary" :disabled="isCalibrating" small style="width: 100%" @click="openCalibUploadPrompt">
+              <v-icon left class="calib-btn-icon"> mdi-upload </v-icon>
+              <span class="calib-btn-label">Import From CalibDB</span>
+            </v-btn>
+            <input
+              ref="importCalibrationFromCalibDB"
+              type="file"
+              accept=".json"
+              style="display: none"
+              @change="readImportedCalibrationFromCalibDB"
+            />
+          </v-col>
+        </v-row>
+      </div>
+    </v-card>
+    <v-dialog v-model="showCalibEndDialog" width="500px" :persistent="true">
+      <v-card color="primary" dark>
+        <v-card-title class="pb-8"> Camera Calibration </v-card-title>
+        <div class="ml-3">
+          <v-col style="text-align: center">
+            <template v-if="calibCanceled">
+              <v-icon color="blue" size="70"> mdi-cancel </v-icon>
+              <v-card-text
+                >Camera Calibration has been Canceled, the backend is attempting to cleanly cancel the calibration
+                process.</v-card-text
+              >
+            </template>
+            <template v-else-if="isCalibrating">
+              <v-progress-circular indeterminate :size="70" :width="8" color="accent" />
+              <v-card-text>Camera is being calibrated. This process may take several minutes...</v-card-text>
+            </template>
+            <template v-else-if="calibSuccess">
+              <v-icon color="green" size="70"> mdi-check-bold </v-icon>
+              <v-card-text>
+                Camera has been successfully calibrated for
+                {{
+                  getUniqueVideoResolutionStrings().find(
+                    (v) => v.value === useStateStore().calibrationData.videoFormatIndex
+                  )?.name
+                }}!
+              </v-card-text>
+            </template>
+            <template v-else>
+              <v-icon color="red" size="70"> mdi-close </v-icon>
+              <v-card-text
+                >Camera calibration failed! Make sure that the photos are taken such that the rainbow grid circles align
+                with the corners of the chessboard, and try again. More information is available in the program
+                logs.</v-card-text
+              >
+            </template>
+          </v-col>
+        </div>
+        <v-card-actions>
+          <v-spacer />
+          <v-btn v-if="!isCalibrating" color="white" text @click="showCalibEndDialog = false"> OK </v-btn>
+        </v-card-actions>
+      </v-card>
+    </v-dialog>
+    <v-dialog v-model="showCalDialog" width="80em">
+      <CameraCalibrationInfoCard v-if="selectedVideoFormat" :video-format="selectedVideoFormat" />
+    </v-dialog>
+  </div>
+</template>
+
+<style scoped lang="scss">
+.v-data-table {
+  text-align: center;
+  width: 100%;
+
+  th,
+  td {
+    background-color: #006492 !important;
+    font-size: 1rem !important;
+  }
+
+  tbody :hover td {
+    background-color: #005281 !important;
+    cursor: pointer;
+  }
+
+  ::-webkit-scrollbar {
+    width: 0;
+    height: 0.55em;
+    border-radius: 5px;
+  }
+
+  ::-webkit-scrollbar-track {
+    -webkit-box-shadow: inset 0 0 6px rgba(0, 0, 0, 0.3);
+    border-radius: 10px;
+  }
+
+  ::-webkit-scrollbar-thumb {
+    background-color: #ffd843;
+    border-radius: 10px;
+  }
+}
+
+@media only screen and (max-width: 512px) {
+  .calib-btn-icon {
+    margin: 0 !important;
+  }
+  .calib-btn-label {
+    display: none;
+  }
+}
+</style>

photon-client/src/components/cameras/CameraCalibrationInfoCard.vue

@@ -0,0 +1,306 @@
+<script setup lang="ts">
+import type { BoardObservation, CameraCalibrationResult, VideoFormat } from "@/types/SettingTypes";
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { useStateStore } from "@/stores/StateStore";
+import { ref } from "vue";
+import loadingImage from "@/assets/images/loading.svg";
+import { getResolutionString, parseJsonFile } from "@/lib/PhotonUtils";
+
+const props = defineProps<{
+  videoFormat: VideoFormat;
+}>();
+
+const getMeanFromView = (o: BoardObservation) => {
+  // Is this the right formula for RMS error? who knows! not me!
+  const perViewSumSquareReprojectionError = o.reprojectionErrors.flatMap((it2) => [it2.x, it2.y]);
+
+  // For each error, square it, sum the squares, and divide by total points N
+  return Math.sqrt(
+    perViewSumSquareReprojectionError.map((it) => Math.pow(it, 2)).reduce((a, b) => a + b, 0) /
+      perViewSumSquareReprojectionError.length
+  );
+};
+
+// Import and export functions
+const downloadCalibration = () => {
+  const calibData = useCameraSettingsStore().getCalibrationCoeffs(props.videoFormat.resolution);
+  if (calibData === undefined) {
+    useStateStore().showSnackbarMessage({
+      color: "error",
+      message:
+        "Calibration data isn't available for the requested resolution, please calibrate the requested resolution first"
+    });
+    return;
+  }
+
+  const camUniqueName = useCameraSettingsStore().currentCameraSettings.uniqueName;
+  const filename = `photon_calibration_${camUniqueName}_${calibData.resolution.width}x${calibData.resolution.height}.json`;
+  const fileData = JSON.stringify(calibData);
+
+  const element = document.createElement("a");
+  element.style.display = "none";
+  element.setAttribute("href", "data:text/plain;charset=utf-8," + encodeURIComponent(fileData));
+  element.setAttribute("download", filename);
+
+  document.body.appendChild(element);
+  element.click();
+  document.body.removeChild(element);
+};
+const importCalibrationFromPhotonJson = ref();
+const openUploadPhotonCalibJsonPrompt = () => {
+  importCalibrationFromPhotonJson.value.click();
+};
+const importCalibration = async () => {
+  const files = importCalibrationFromPhotonJson.value.files;
+  if (files.length === 0) return;
+  const uploadedJson = files[0];
+
+  const data = await parseJsonFile<CameraCalibrationResult>(uploadedJson);
+
+  if (
+    data.resolution.height != props.videoFormat.resolution.height ||
+    data.resolution.width != props.videoFormat.resolution.width
+  ) {
+    useStateStore().showSnackbarMessage({
+      color: "error",
+      message: `The resolution of the calibration export doesn't match the current resolution ${props.videoFormat.resolution.height}x${props.videoFormat.resolution.width}`
+    });
+    return;
+  }
+
+  useCameraSettingsStore()
+    .importCalibrationFromData({ calibration: data })
+    .then((response) => {
+      useStateStore().showSnackbarMessage({
+        color: "success",
+        message: response.data.text || response.data
+      });
+    })
+    .catch((error) => {
+      if (error.response) {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: error.response.data.text || error.response.data
+        });
+      } else if (error.request) {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: "Error while trying to process the request! The backend didn't respond."
+        });
+      } else {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: "An error occurred while trying to process the request."
+        });
+      }
+    });
+};
+
+interface ObservationDetails {
+  snapshotSrc: any;
+  mean: number;
+  index: number;
+}
+const getObservationDetails = (): ObservationDetails[] | undefined => {
+  return useCameraSettingsStore()
+    .getCalibrationCoeffs(props.videoFormat.resolution)
+    ?.observations.map((o, i) => ({
+      index: i,
+      mean: parseFloat(getMeanFromView(o).toFixed(2)),
+      snapshotSrc: o.includeObservationInCalibration ? "data:image/png;base64," + o.snapshotData.data : loadingImage
+    }));
+};
+</script>
+
+<template>
+  <v-card color="primary" class="pa-6" dark>
+    <v-row>
+      <v-col cols="12" md="5">
+        <v-card-title class="pl-0 ml-0"
+          ><span class="text-no-wrap" style="white-space: pre !important">Calibration Details: </span
+          ><span class="text-no-wrap"
+            >{{ useCameraSettingsStore().currentCameraName }}@{{ getResolutionString(videoFormat.resolution) }}</span
+          ></v-card-title
+        >
+      </v-col>
+      <v-col>
+        <v-btn color="secondary" class="mt-4" style="width: 100%" @click="openUploadPhotonCalibJsonPrompt">
+          <v-icon left> mdi-import</v-icon>
+          <span>Import</span>
+        </v-btn>
+        <input
+          ref="importCalibrationFromPhotonJson"
+          type="file"
+          accept=".json"
+          style="display: none"
+          @change="importCalibration"
+        />
+      </v-col>
+      <v-col>
+        <v-btn
+          color="secondary"
+          class="mt-4"
+          :disabled="useCameraSettingsStore().getCalibrationCoeffs(props.videoFormat.resolution) === undefined"
+          style="width: 100%"
+          @click="downloadCalibration"
+        >
+          <v-icon left>mdi-export</v-icon>
+          <span>Export</span>
+        </v-btn>
+      </v-col>
+    </v-row>
+    <v-row
+      v-if="useCameraSettingsStore().getCalibrationCoeffs(props.videoFormat.resolution) !== undefined"
+      class="pt-2"
+    >
+      <v-card-subtitle>Calibration Details</v-card-subtitle>
+      <v-simple-table dense style="width: 100%" class="pl-2 pr-2">
+        <template #default>
+          <thead>
+            <tr>
+              <th class="text-left">Name</th>
+              <th class="text-left">Value</th>
+            </tr>
+          </thead>
+          <tbody>
+            <tr>
+              <td>Fx</td>
+              <td>
+                {{
+                  useCameraSettingsStore()
+                    .getCalibrationCoeffs(props.videoFormat.resolution)
+                    ?.cameraIntrinsics.data[0].toFixed(2) || 0.0
+                }}
+                mm
+              </td>
+            </tr>
+            <tr>
+              <td>Fy</td>
+              <td>
+                {{
+                  useCameraSettingsStore()
+                    .getCalibrationCoeffs(props.videoFormat.resolution)
+                    ?.cameraIntrinsics.data[4].toFixed(2) || 0.0
+                }}
+                mm
+              </td>
+            </tr>
+            <tr>
+              <td>Cx</td>
+              <td>
+                {{
+                  useCameraSettingsStore()
+                    .getCalibrationCoeffs(props.videoFormat.resolution)
+                    ?.cameraIntrinsics.data[2].toFixed(2) || 0.0
+                }}
+                px
+              </td>
+            </tr>
+            <tr>
+              <td>Cy</td>
+              <td>
+                {{
+                  useCameraSettingsStore()
+                    .getCalibrationCoeffs(props.videoFormat.resolution)
+                    ?.cameraIntrinsics.data[5].toFixed(2) || 0.0
+                }}
+                px
+              </td>
+            </tr>
+            <tr>
+              <td>Distortion</td>
+              <td>
+                {{
+                  useCameraSettingsStore()
+                    .getCalibrationCoeffs(props.videoFormat.resolution)
+                    ?.distCoeffs.data.map((it) => parseFloat(it.toFixed(3))) || []
+                }}
+              </td>
+            </tr>
+            <tr>
+              <td>Mean Err</td>
+              <td>
+                {{
+                  videoFormat.mean !== undefined
+                    ? isNaN(videoFormat.mean)
+                      ? "NaN"
+                      : videoFormat.mean.toFixed(2) + "px"
+                    : "-"
+                }}
+              </td>
+            </tr>
+            <tr>
+              <td>Horizontal FOV</td>
+              <td>{{ videoFormat.horizontalFOV !== undefined ? videoFormat.horizontalFOV.toFixed(2) + "°" : "-" }}</td>
+            </tr>
+            <tr>
+              <td>Vertical FOV</td>
+              <td>{{ videoFormat.verticalFOV !== undefined ? videoFormat.verticalFOV.toFixed(2) + "°" : "-" }}</td>
+            </tr>
+            <tr>
+              <td>Diagonal FOV</td>
+              <td>{{ videoFormat.diagonalFOV !== undefined ? videoFormat.diagonalFOV.toFixed(2) + "°" : "-" }}</td>
+            </tr>
+            <!-- Board warp, only shown for mrcal-calibrated cameras -->
+            <tr
+              v-if="
+                useCameraSettingsStore().getCalibrationCoeffs(props.videoFormat.resolution)?.calobjectWarp?.length === 2
+              "
+            >
+              <td>Board warp, X/Y</td>
+              <td>
+                {{
+                  useCameraSettingsStore()
+                    .getCalibrationCoeffs(props.videoFormat.resolution)
+                    ?.calobjectWarp?.map((it) => (it * 1000).toFixed(2) + " mm")
+                    .join(" / ")
+                }}
+              </td>
+            </tr>
+          </tbody>
+        </template>
+      </v-simple-table>
+      <hr style="width: 100%" class="ma-6" />
+      <v-card-subtitle>Per Observation Details</v-card-subtitle>
+      <v-data-table
+        dense
+        style="width: 100%"
+        class="pl-2 pr-2"
+        :headers="[
+          { text: 'Observation Id', value: 'index' },
+          { text: 'Mean Reprojection Error', value: 'mean' }
+        ]"
+        :items="getObservationDetails()"
+        item-key="index"
+        show-expand
+        expand-icon="mdi-eye"
+      >
+        <template #expanded-item="{ headers, item }">
+          <td :colspan="headers.length">
+            <div style="display: flex; justify-content: center; width: 100%">
+              <img :src="item.snapshotSrc" alt="observation image" class="snapshot-preview pt-2 pb-2" />
+            </div>
+          </td>
+        </template>
+      </v-data-table>
+    </v-row>
+    <v-row v-else class="pt-2 mb-0 pb-0">
+      The selected video format doesn't have any additional information as it has yet to be calibrated.
+    </v-row>
+  </v-card>
+</template>
+
+<style scoped>
+.v-data-table {
+  background-color: #006492 !important;
+}
+.snapshot-preview {
+  max-width: 55%;
+}
+
+@media only screen and (max-width: 512px) {
+  .snapshot-preview {
+    max-width: 100%;
+  }
+}
+</style>

photon-client/src/components/cameras/CameraControlCard.vue

@@ -0,0 +1,210 @@
+<script setup lang="ts">
+import { ref } from "vue";
+import axios from "axios";
+import { useStateStore } from "@/stores/StateStore";
+
+interface SnapshotMetadata {
+  snapshotName: string;
+  cameraNickname: string;
+  streamType: "input" | "output";
+  timeCreated: Date;
+}
+const getSnapshotMetadataFromName = (snapshotName: string): SnapshotMetadata => {
+  snapshotName = snapshotName.replace(/\.[^/.]+$/, "");
+
+  const data = snapshotName.split("_");
+
+  const cameraName = data.slice(0, data.length - 2).join("_");
+  const streamType = data[data.length - 2] as "input" | "output";
+  const dateStr = data[data.length - 1];
+
+  const year = parseInt(dateStr.substring(0, 4), 10);
+  const month = parseInt(dateStr.substring(5, 7), 10) - 1; // Months are zero-based
+  const day = parseInt(dateStr.substring(8, 10), 10);
+  const hours = parseInt(dateStr.substring(11, 13), 10);
+  const minutes = parseInt(dateStr.substring(13, 15), 10);
+  const seconds = parseInt(dateStr.substring(15, 17), 10);
+  const milliseconds = parseInt(dateStr.substring(17), 10);
+
+  return {
+    snapshotName: snapshotName,
+    cameraNickname: cameraName,
+    streamType: streamType,
+    timeCreated: new Date(year, month, day, hours, minutes, seconds, milliseconds)
+  };
+};
+
+interface Snapshot {
+  index: number;
+  snapshotName: string;
+  snapshotShortName: string;
+  cameraUniqueName: string;
+  cameraNickname: string;
+  streamType: "input" | "output";
+  timeCreated: Date;
+  snapshotSrc: string;
+}
+const imgData = ref<Snapshot[]>([]);
+const fetchSnapshots = () => {
+  axios
+    .get("/utils/getImageSnapshots")
+    .then((response) => {
+      imgData.value = response.data.map(
+        (snapshotData: { snapshotName: string; cameraUniqueName: string; snapshotData: string }, index) => {
+          const metadata = getSnapshotMetadataFromName(snapshotData.snapshotName);
+
+          return {
+            index: index,
+            snapshotName: snapshotData.snapshotName,
+            snapshotShortName: metadata.snapshotName,
+            cameraUniqueName: snapshotData.cameraUniqueName,
+            cameraNickname: metadata.cameraNickname,
+            streamType: metadata.streamType,
+            timeCreated: metadata.timeCreated,
+            snapshotSrc: "data:image/jpg;base64," + snapshotData.snapshotData
+          };
+        }
+      );
+      showSnapshotViewerDialog.value = true;
+    })
+    .catch((error) => {
+      if (error.response) {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: error.response.data.text || error.response.data
+        });
+      } else if (error.request) {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: "Error while trying to process the request! The backend didn't respond."
+        });
+      } else {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: "An error occurred while trying to process the request."
+        });
+      }
+    });
+};
+const showSnapshotViewerDialog = ref(false);
+const expanded = ref([]);
+</script>
+
+<template>
+  <v-card dark class="pr-6 pb-3" style="background-color: #006492">
+    <v-card-title>Camera Control</v-card-title>
+    <v-row class="pl-6">
+      <v-col>
+        <v-btn color="secondary" @click="fetchSnapshots">
+          <v-icon left class="open-icon"> mdi-folder </v-icon>
+          <span class="open-label">Show Saved Snapshots</span>
+        </v-btn>
+      </v-col>
+    </v-row>
+    <v-dialog v-model="showSnapshotViewerDialog">
+      <v-card dark class="pt-3 pl-5 pr-5" color="primary" flat>
+        <v-card-title> View Saved Frame Snapshots </v-card-title>
+        <v-divider />
+        <v-card-text v-if="imgData.length === 0" style="font-size: 18px; font-weight: 600" class="pt-4">
+          There are no snapshots saved
+        </v-card-text>
+        <div v-else class="pb-2">
+          <v-data-table
+            v-model:expanded="expanded"
+            :headers="[
+              { text: 'Snapshot Name', value: 'snapshotShortName', sortable: false },
+              { text: 'Camera Unique Name', value: 'cameraUniqueName' },
+              { text: 'Camera Nickname', value: 'cameraNickname' },
+              { text: 'Stream Type', value: 'streamType' },
+              { text: 'Time Created', value: 'timeCreated' },
+              { text: 'Actions', value: 'actions', sortable: false }
+            ]"
+            :items="imgData"
+            group-by="cameraUniqueName"
+            class="elevation-0"
+            item-key="index"
+            show-expand
+            expand-icon="mdi-eye"
+          >
+            <template #expanded-item="{ headers, item }">
+              <td :colspan="headers.length">
+                <div style="display: flex; justify-content: center; width: 100%">
+                  <img :src="item.snapshotSrc" alt="snapshot-image" class="snapshot-preview pt-2 pb-2" />
+                </div>
+              </td>
+            </template>
+            <!-- eslint-disable-next-line vue/valid-v-slot-->
+            <template #item.actions="{ item }">
+              <div style="display: flex; justify-content: center">
+                <a :download="item.snapshotName" :href="item.snapshotSrc">
+                  <v-icon small> mdi-download </v-icon>
+                </a>
+              </div>
+            </template>
+          </v-data-table>
+          <span
+            >Snapshot Timestamps may be incorrect as they depend on when the coprocessor was last connected to the
+            internet</span
+          >
+        </div>
+      </v-card>
+    </v-dialog>
+  </v-card>
+</template>
+
+<style scoped lang="scss">
+.v-divider {
+  border-color: white !important;
+}
+.v-btn {
+  width: 100%;
+}
+.v-data-table {
+  text-align: center;
+  background-color: #006492 !important;
+
+  th,
+  td {
+    background-color: #005281 !important;
+    font-size: 1rem !important;
+  }
+
+  tbody :hover tr {
+    background-color: #005281 !important;
+  }
+
+  ::-webkit-scrollbar {
+    width: 0;
+    height: 0.55em;
+    border-radius: 5px;
+  }
+
+  ::-webkit-scrollbar-track {
+    -webkit-box-shadow: inset 0 0 6px rgba(0, 0, 0, 0.3);
+    border-radius: 10px;
+  }
+
+  ::-webkit-scrollbar-thumb {
+    background-color: #ffd843;
+    border-radius: 10px;
+  }
+}
+
+.snapshot-preview {
+  max-width: 55%;
+}
+
+@media only screen and (max-width: 512px) {
+  .snapshot-preview {
+    max-width: 100%;
+  }
+}
+@media only screen and (max-width: 351px) {
+  .open-icon {
+    margin: 0 !important;
+  }
+  .open-label {
+    display: none;
+  }
+}
+</style>

photon-client/src/components/cameras/CameraSettingsCard.vue

@@ -0,0 +1,150 @@
+<script setup lang="ts">
+import PvSelect from "@/components/common/pv-select.vue";
+import PvNumberInput from "@/components/common/pv-number-input.vue";
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { useStateStore } from "@/stores/StateStore";
+import { computed, ref, watchEffect } from "vue";
+import { type CameraSettingsChangeRequest, ValidQuirks } from "@/types/SettingTypes";
+
+const tempSettingsStruct = ref<CameraSettingsChangeRequest>({
+  fov: useCameraSettingsStore().currentCameraSettings.fov.value,
+  quirksToChange: Object.assign({}, useCameraSettingsStore().currentCameraSettings.cameraQuirks.quirks)
+});
+
+const arducamSelectWrapper = computed<number>({
+  get: () => {
+    if (tempSettingsStruct.value.quirksToChange.ArduOV9281) return 1;
+    else if (tempSettingsStruct.value.quirksToChange.ArduOV2311) return 2;
+    else return 0;
+  },
+  set: (v) => {
+    switch (v) {
+      case 1:
+        tempSettingsStruct.value.quirksToChange.ArduOV9281 = true;
+        tempSettingsStruct.value.quirksToChange.ArduOV2311 = false;
+        break;
+      case 2:
+        tempSettingsStruct.value.quirksToChange.ArduOV9281 = false;
+        tempSettingsStruct.value.quirksToChange.ArduOV2311 = true;
+        break;
+      default:
+        tempSettingsStruct.value.quirksToChange.ArduOV9281 = false;
+        tempSettingsStruct.value.quirksToChange.ArduOV2311 = false;
+        break;
+    }
+  }
+});
+
+const currentCameraIsArducam = computed<boolean>(
+  () => useCameraSettingsStore().currentCameraSettings.cameraQuirks.quirks.ArduCamCamera
+);
+
+const settingsHaveChanged = (): boolean => {
+  const a = tempSettingsStruct.value;
+  const b = useCameraSettingsStore().currentCameraSettings;
+
+  for (const q in ValidQuirks) {
+    if (a.quirksToChange[q] != b.cameraQuirks.quirks[q]) return true;
+  }
+
+  return a.fov != b.fov.value;
+};
+
+const resetTempSettingsStruct = () => {
+  tempSettingsStruct.value.fov = useCameraSettingsStore().currentCameraSettings.fov.value;
+  tempSettingsStruct.value.quirksToChange = Object.assign(
+    {},
+    useCameraSettingsStore().currentCameraSettings.cameraQuirks.quirks
+  );
+};
+
+const saveCameraSettings = () => {
+  useCameraSettingsStore()
+    .updateCameraSettings(tempSettingsStruct.value)
+    .then((response) => {
+      useStateStore().showSnackbarMessage({
+        color: "success",
+        message: response.data.text || response.data
+      });
+
+      // Update the local settings cause the backend checked their validity. Assign is to deref value
+      useCameraSettingsStore().currentCameraSettings.fov.value = tempSettingsStruct.value.fov;
+      useCameraSettingsStore().currentCameraSettings.cameraQuirks.quirks = Object.assign(
+        {},
+        tempSettingsStruct.value.quirksToChange
+      );
+    })
+    .catch((error) => {
+      resetTempSettingsStruct();
+      if (error.response) {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: error.response.data.text || error.response.data
+        });
+      } else if (error.request) {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: "Error while trying to process the request! The backend didn't respond."
+        });
+      } else {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: "An error occurred while trying to process the request."
+        });
+      }
+    });
+};
+
+watchEffect(() => {
+  // Reset temp settings on remote camera settings change
+  resetTempSettingsStruct();
+});
+</script>
+
+<template>
+  <v-card class="mb-3 pr-6 pb-3" color="primary" dark>
+    <v-card-title>Camera Settings</v-card-title>
+    <div class="ml-5">
+      <pv-select
+        v-model="useStateStore().currentCameraIndex"
+        label="Camera"
+        :items="useCameraSettingsStore().cameraNames"
+        :select-cols="8"
+      />
+      <pv-number-input
+        v-model="tempSettingsStruct.fov"
+        :tooltip="
+          !useCameraSettingsStore().currentCameraSettings.fov.managedByVendor
+            ? 'Field of view (in degrees) of the camera measured across the diagonal of the frame, in a video mode which covers the whole sensor area.'
+            : 'This setting is managed by a vendor'
+        "
+        label="Maximum Diagonal FOV"
+        :disabled="useCameraSettingsStore().currentCameraSettings.fov.managedByVendor"
+        :label-cols="4"
+      />
+      <pv-select
+        v-show="currentCameraIsArducam"
+        v-model="arducamSelectWrapper"
+        label="Arducam Model"
+        :items="[
+          { name: 'None', value: 0, disabled: true },
+          { name: 'OV9281', value: 1 },
+          { name: 'OV2311', value: 2 }
+        ]"
+        :select-cols="8"
+      />
+      <br />
+      <v-btn
+        class="mt-2 mb-3"
+        style="width: 100%"
+        small
+        color="secondary"
+        :disabled="!settingsHaveChanged()"
+        @click="saveCameraSettings"
+      >
+        <v-icon left> mdi-content-save </v-icon>
+        Save Changes
+      </v-btn>
+    </div>
+  </v-card>
+</template>

photon-client/src/components/cameras/CamerasView.vue

@@ -0,0 +1,172 @@
+<script setup lang="ts">
+import PhotonCameraStream from "@/components/app/photon-camera-stream.vue";
+import { computed } from "vue";
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { PipelineType } from "@/types/PipelineTypes";
+import { useStateStore } from "@/stores/StateStore";
+import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
+
+const props = defineProps<{
+  // TODO fully update v-model usage in custom components on Vue3 update
+  value: number[];
+}>();
+
+const emit = defineEmits<{
+  (e: "input", value: number[]): void;
+}>();
+
+const localValue = computed({
+  get: () => props.value,
+  set: (v) => emit("input", v)
+});
+
+const driverMode = computed<boolean>({
+  get: () => useCameraSettingsStore().isDriverMode,
+  set: (v) =>
+    useCameraSettingsStore().changeCurrentPipelineIndex(
+      v ? -1 : useCameraSettingsStore().currentCameraSettings.lastPipelineIndex || 0,
+      true
+    )
+});
+
+const fpsTooLow = computed<boolean>(() => {
+  const currFPS = useStateStore().currentPipelineResults?.fps || 0;
+  const targetFPS = useCameraSettingsStore().currentVideoFormat.fps;
+  const driverMode = useCameraSettingsStore().isDriverMode;
+  const gpuAccel = useSettingsStore().general.gpuAcceleration !== undefined;
+  const isReflective = useCameraSettingsStore().currentPipelineSettings.pipelineType === PipelineType.Reflective;
+
+  return currFPS - targetFPS < -5 && currFPS !== 0 && !driverMode && gpuAccel && isReflective;
+});
+</script>
+
+<template>
+  <v-card
+    id="camera-settings-camera-view-card"
+    class="camera-settings-camera-view-card mb-3 pb-3 pa-4"
+    color="primary"
+    dark
+  >
+    <v-card-title
+      class="pb-0 mb-2 pl-4 pt-1"
+      style="min-height: 50px; justify-content: space-between; align-content: center"
+    >
+      <div style="display: flex; flex-wrap: wrap">
+        <div>
+          <span class="mr-4" style="white-space: nowrap"> Cameras </span>
+        </div>
+        <div>
+          <v-chip
+            label
+            :color="fpsTooLow ? 'error' : 'transparent'"
+            :text-color="fpsTooLow ? '#C7EA46' : '#ff4d00'"
+            style="font-size: 1rem; padding: 0; margin: 0"
+          >
+            <span class="pr-1">
+              {{ Math.round(useStateStore().currentPipelineResults?.fps || 0) }}&nbsp;FPS &ndash;
+              {{ Math.min(Math.round(useStateStore().currentPipelineResults?.latency || 0), 9999) }} ms latency
+            </span>
+          </v-chip>
+        </div>
+      </div>
+
+      <div>
+        <v-switch
+          v-model="driverMode"
+          :disabled="useCameraSettingsStore().isCalibrationMode || useCameraSettingsStore().pipelineNames.length === 0"
+          label="Driver Mode"
+          style="margin-left: auto"
+          color="accent"
+          class="pt-2"
+        />
+      </div>
+    </v-card-title>
+    <div class="stream-container pb-4">
+      <div class="stream">
+        <photon-camera-stream
+          v-show="value.includes(0)"
+          id="input-camera-stream"
+          stream-type="Raw"
+          style="max-width: 100%"
+        />
+      </div>
+      <div class="stream">
+        <photon-camera-stream
+          v-show="value.includes(1)"
+          id="output-camera-stream"
+          stream-type="Processed"
+          style="max-width: 100%"
+        />
+      </div>
+    </div>
+    <v-divider />
+    <div class="pt-4">
+      <p style="color: white">Stream Display</p>
+      <v-btn-toggle v-model="localValue" :multiple="true" mandatory dark class="fill" style="width: 100%">
+        <v-btn
+          color="secondary"
+          class="fill"
+          :disabled="useCameraSettingsStore().isDriverMode || useCameraSettingsStore().isCalibrationMode"
+        >
+          <v-icon left class="mode-btn-icon">mdi-import</v-icon>
+          <span class="mode-btn-label">Raw</span>
+        </v-btn>
+        <v-btn
+          color="secondary"
+          class="fill"
+          :disabled="useCameraSettingsStore().isDriverMode || useCameraSettingsStore().isCalibrationMode"
+        >
+          <v-icon left class="mode-btn-icon">mdi-export</v-icon>
+          <span class="mode-btn-label">Processed</span>
+        </v-btn>
+      </v-btn-toggle>
+    </div>
+  </v-card>
+</template>
+
+<style scoped>
+.v-btn-toggle.fill {
+  width: 100%;
+  height: 100%;
+}
+.v-btn-toggle.fill > .v-btn {
+  width: 50%;
+  height: 100%;
+}
+th {
+  width: 80px;
+  text-align: center;
+}
+
+.stream-container {
+  display: flex;
+  justify-content: center;
+  flex-wrap: wrap;
+  align-items: center;
+  gap: 12px;
+}
+
+.stream {
+  display: flex;
+  justify-content: center;
+}
+
+@media only screen and (min-width: 512px) and (max-width: 960px) {
+  .stream-container {
+    flex-wrap: nowrap;
+    justify-content: center;
+  }
+
+  .stream {
+    max-width: 50%;
+  }
+}
+@media only screen and (max-width: 351px) {
+  .mode-btn-icon {
+    margin: 0 !important;
+  }
+  .mode-btn-label {
+    display: none;
+  }
+}
+</style>

photon-client/src/components/common/cv-icon.vue

@@ -1,54 +0,0 @@
-<template>
-  <div>
-    <v-tooltip
-      :right="right"
-      :bottom="!right"
-      nudge-right="10"
-    >
-      <template v-slot:activator="{ on }">
-        <v-icon
-          :class="hoverClass"
-          :color="color"
-          @click="handleClick"
-          v-on="on"
-        >
-          {{ text }}
-        </v-icon>
-      </template>
-      <span>{{ tooltip }}</span>
-    </v-tooltip>
-  </div>
-</template>
-
-<script>
-    export default {
-        name: 'Icon',
-      // eslint-disable-next-line vue/require-prop-types
-        props: ['color', 'tooltip', 'text', 'right', 'hover'],
-        data() {
-            return {}
-        },
-        computed: {
-            hoverClass: {
-                get() {
-                    if (this.hover !== undefined) {
-                        return "hover";
-                    }
-                    return "";
-                }
-            }
-        },
-        methods: {
-            handleClick() {
-                this.$emit('click');
-            }
-        },
-
-    }
-</script>
-
-<style scoped>
-    .hover:hover {
-        color: white !important;
-    }
-</style>

photon-client/src/components/common/cv-image.vue

@@ -1,62 +0,0 @@
-<template>
-  <img
-    :id="id"
-    crossOrigin="anonymous"
-    :style="styleObject"
-    :src="src"
-    alt=""
-    @click="e => $emit('click', e)"
-  >
-</template>
-
-<script>
-    export default {
-        name: "CvImage",
-        // eslint-disable-next-line vue/require-prop-types
-        props: ['address', 'scale', 'maxHeight', 'maxHeightMd', 'maxHeightXl', 'colorPicking', 'id', 'disconnected'],
-        data() {
-            return {
-                seed: 1.0,
-            }
-        },
-        computed: {
-            styleObject: {
-                get() {
-                    let ret = {
-                      "border-radius": "3px",
-                      "display": "block",
-                      "object-fit": "contain",
-                      "object-position": "50% 50%",
-                      "max-width": "100%",
-                      "margin-left": "auto",
-                      "margin-right": "auto",
-                      "max-height": this.maxHeight,
-                      height: `${this.scale}%`,
-                      cursor: (this.colorPicking ? `url(${require("../../assets/eyedropper.svg")}),` : "") + "default",
-                    };
-
-                    if (this.$vuetify.breakpoint.xl) {
-                      ret["max-height"] = this.maxHeightXl;
-                    } else if (this.$vuetify.breakpoint.mdAndUp) {
-                      ret["max-height"] = this.maxHeightMd;
-                    }
-
-                    return ret;
-                }
-            },
-            src: {
-              get() {
-                return this.disconnected ? require("../../assets/noStream.jpg") : this.address + "?" + this.seed // This prevents caching
-              },
-            },
-        },
-        mounted() {
-            this.reload(); // Force reload image on creation
-        },
-        methods: {
-            reload() {
-                this.seed = new Date().getTime();
-            }
-        },
-    }
-</script>

photon-client/src/components/common/cv-input.vue

@@ -1,64 +0,0 @@
-<template>
-  <div>
-    <v-row
-      dense
-      align="center"
-    >
-      <v-col :cols="12 - (inputCols || 8)">
-        <tooltipped-label
-          :tooltip="tooltip"
-          :text="name"
-        />
-      </v-col>
-      <v-col :cols="inputCols || 8">
-        <v-text-field
-          v-model="localValue"
-          dark
-          dense
-          color="accent"
-          :disabled="disabled"
-          :error-messages="errorMessage"
-          :rules="rules"
-          class="mt-1 pt-2"
-          @keydown="handleKeyboard"
-        />
-      </v-col>
-    </v-row>
-  </div>
-</template>
-s
-<script>
-    import TooltippedLabel from "./cv-tooltipped-label";
-
-    export default {
-        name: 'Input',
-        components: {
-          TooltippedLabel
-        },
-        // eslint-disable-next-line vue/require-prop-types
-        props: ['name', 'value', 'disabled', 'errorMessage', 'inputCols', 'rules', 'tooltip'],
-        data() {
-            return {}
-        },
-        computed: {
-            localValue: {
-                get() {
-                    return this.value;
-                },
-                set(value) {
-                    this.$emit('input', value);
-                }
-            }
-        },
-        methods: {
-            handleKeyboard(event) {
-                if (event.key === "Enter") {
-                    this.$emit("Enter");
-                }
-            }
-        }
-    }
-</script>
-
-<style lang="css" scoped>
-</style>

photon-client/src/components/common/cv-number-input.vue

@@ -1,57 +0,0 @@
-<template>
-  <div>
-    <v-row
-      dense
-      align="center"
-    >
-      <v-col :cols="labelCols || 2">
-        <tooltipped-label
-          :tooltip="tooltip"
-          :text="name"
-        />
-      </v-col>
-      <v-col>
-        <v-text-field
-          v-model="localValue"
-          dark
-          class="mt-0 pt-0"
-          hide-details
-          single-line
-          color="accent"
-          type="number"
-          style="width: 70px"
-          :step="step"
-          :disabled="disabled"
-          :rules="rules"
-        />
-      </v-col>
-    </v-row>
-  </div>
-</template>
-
-<script>
-    import TooltippedLabel from "./cv-tooltipped-label";
-
-    export default {
-        name: 'NumberInput',
-        components: {
-            TooltippedLabel,
-        },
-      // eslint-disable-next-line vue/require-prop-types
-        props: ['name', 'value', 'step', 'labelCols', 'rules', 'tooltip', 'disabled'],
-        computed: {
-            localValue: {
-                get() {
-                    return this.value;
-                },
-                set(value) {
-                    this.$emit('input', parseFloat(value));
-                }
-            }
-        }
-    }
-</script>
-
-<style lang="" scoped>
-
-</style>

photon-client/src/components/common/cv-radio.vue

@@ -1,44 +0,0 @@
-<template>
-  <div>
-    <v-radio-group
-      v-model="localValue"
-      row
-      dark
-      :mandatory="true"
-    >
-      <v-radio
-        v-for="(name,index) in list"
-        :key="index"
-        color="#ffd843"
-        :label="name"
-        :value="index"
-        :disabled="disabled"
-      />
-    </v-radio-group>
-  </div>
-</template>
-
-<script>
-    export default {
-        name: 'Radio',
-      // eslint-disable-next-line vue/require-prop-types
-        props: ['value', 'list', 'disabled'],
-        data() {
-            return {}
-        },
-        computed: {
-            localValue: {
-                get() {
-                    return this.value;
-                },
-                set(value) {
-                    this.$emit('input', value);
-                }
-            }
-        }
-    }
-</script>
-
-<style lang="" scoped>
-
-</style>

photon-client/src/components/common/cv-range-slider.vue

@@ -1,131 +0,0 @@
-<template>
-  <div>
-    <v-row
-      dense
-      align="center"
-    >
-      <v-col cols="2">
-        <tooltipped-label
-          :tooltip="tooltip"
-          :text="name"
-        />
-      </v-col>
-      <v-col cols="10">
-        <v-range-slider
-          :value="localValue"
-          :max="max"
-          :min="min"
-          hide-details
-          class="align-center"
-          dark
-          color="accent"
-          :step="step"
-          @input="handleInput"
-          @mousedown="$emit('rollback', localValue)"
-        >
-          <template v-slot:prepend>
-            <v-text-field
-              dark
-              color="accent"
-              :value="localValue[0]"
-              :max="max"
-              :min="min"
-              class="mt-0 pt-0"
-              hide-details
-              single-line
-              type="number"
-              style="width: 50px"
-              :step="step"
-              @input="handleChange"
-              @focus="prependFocused = true"
-              @blur="prependFocused = false"
-            />
-          </template>
-
-          <template v-slot:append>
-            <v-text-field
-              dark
-              color="accent"
-              :value="localValue[1]"
-              :max="max"
-              :min="min"
-              class="mt-0 pt-0"
-              hide-details
-              single-line
-              type="number"
-              style="width: 50px"
-              :step="step"
-              @input="handleChange"
-              @focus="appendFocused = true"
-              @blur="appendFocused = false"
-            />
-          </template>
-        </v-range-slider>
-      </v-col>
-    </v-row>
-  </div>
-</template>
-
-<script>
-import TooltippedLabel from "./cv-tooltipped-label";
-
-export default {
-  name: "RangeSlider",
-  components: {
-    TooltippedLabel,
-  },
-  // eslint-disable-next-line vue/require-prop-types
-  props: ["name", "min", "max", "value", "step", "tooltip"],
-  data() {
-    return {
-      prependFocused: false,
-      appendFocused: false,
-      currentTempVal: null,
-    };
-  },
-  computed: {
-    localValue: {
-      get() {
-        return Object.values(this.value || [0, 0]);
-      },
-      set(value) {
-        this.$emit("input", value);
-      },
-    },
-  },
-  methods: {
-    delay(ms) {
-      return new Promise((resolve) => setTimeout(resolve, ms));
-    },
-
-    async handleChange(val) {
-      this.currentTempVal = val;
-
-      await this.delay(200).then(() => {
-        let i = 0;
-        if (this.prependFocused === false && this.appendFocused === true) {
-          i = 1;
-        }
-
-        // will get empty string if entry is not a number
-        if (this.currentTempVal !== val || val === "") return;
-
-        let parsed = parseFloat(val);
-        let tmp = this.localValue;
-        tmp[i] = Math.max(this.min, Math.min(parsed, this.max));
-        this.localValue = tmp;
-
-        this.$emit("rollback", this.localValue);
-      });
-    },
-    handleInput(val) {
-      if (!this.prependFocused || !this.appendFocused) {
-        this.localValue = val;
-      }
-    },
-  },
-};
-</script>
-
-<style lang="" scoped>
-</style>

photon-client/src/components/common/cv-select.vue

@@ -1,65 +0,0 @@
-<template>
-  <div>
-    <v-row
-      dense
-      align="center"
-    >
-      <v-col :cols="12 - (selectCols || 9)">
-        <tooltipped-label
-          :tooltip="tooltip"
-          :text="name"
-        />
-      </v-col>
-      <v-col :cols="selectCols || 9">
-        <v-select
-          v-model="localValue"
-          :items="indexList"
-          item-text="name"
-          item-value="index"
-          dark
-          color="accent"
-          item-color="secondary"
-          :disabled="disabled"
-          :rules="rules"
-          @change="$emit('rollback', localValue)"
-        />
-      </v-col>
-    </v-row>
-  </div>
-</template>
-
-<script>
-import TooltippedLabel from "./cv-tooltipped-label";
-
-    export default {
-        name: 'Select',
-        components: {
-            TooltippedLabel,
-        },
-      // eslint-disable-next-line vue/require-prop-types
-        props: ['list', 'name', 'value', 'disabled', 'selectCols', 'rules', 'tooltip'],
-        computed: {
-            localValue: {
-                get() {
-                    return this.value;
-                },
-                set(value) {
-                    this.$emit('input', value)
-                }
-            },
-            indexList() {
-                let list = [];
-                for (let i = 0; i < this.list.length; i++) {
-                    list.push({
-                        name: this.list[i],
-                        index: i
-                    });
-                }
-                return list;
-            }
-        }
-    }
-</script>
-
-<style>
-</style>

photon-client/src/components/common/cv-slider.vue

@@ -1,108 +0,0 @@
-<template>
-  <div>
-    <v-row
-      dense
-      align="center"
-    >
-      <v-col :cols="12 - (sliderCols || 8)">
-        <tooltipped-label
-          :tooltip="tooltip"
-          :text="name"
-        />
-      </v-col>
-      <v-col :cols="sliderCols || 8">
-        <v-slider
-          :value="localValue"
-          dark
-          class="align-center"
-          :max="max"
-          :min="min"
-          hide-details
-          color="accent"
-          :disabled="disabled"
-          :step="step"
-          @start="isClicked = true"
-          @end="isClicked = false"
-          @change="handleClick"
-          @input="handleInput"
-          @mousedown="$emit('rollback', localValue)"
-        >
-          <template v-slot:append>
-            <v-text-field
-              dark
-              color="accent"
-              :max="max"
-              :min="min"
-              :disabled="disabled"
-              :value="localValue"
-              class="mt-0 pt-0"
-              hide-details
-              single-line
-              type="number"
-              style="width: 50px"
-              :step="step"
-              @input="handleChange"
-              @focus="isFocused = true"
-              @blur="isFocused = false"
-            />
-          </template>
-        </v-slider>
-      </v-col>
-    </v-row>
-  </div>
-</template>
-
-<script>
-import TooltippedLabel from "./cv-tooltipped-label";
-
-export default {
-  name: "Slider",
-  components: {
-    TooltippedLabel,
-  },
-  // eslint-disable-next-line vue/require-prop-types
-  props: ["min", "max", "name", "value", "step", "sliderCols", "disabled", "tooltip"],
-  data() {
-    return {
-      isFocused: false,
-      isClicked: false,
-      currentBoxVal: null
-    };
-  },
-  computed: {
-    localValue: {
-      get() {
-        return this.value;
-      },
-      set(value) {
-        this.$emit("input", value);
-      }
-    },
-  },
-  methods: {
-    handleChange(val) {
-      this.currentBoxVal = val;
-      setTimeout(() => {
-        if (this.currentBoxVal !== val) return;
-        // if (this.isFocused) {
-        this.localValue = parseFloat(val);
-        this.$emit("rollback", this.localValue);
-        // }
-      }, 200);
-    },
-    handleInput(val) {
-      if (!this.isFocused && this.isClicked) {
-        this.localValue = val;
-      }
-    },
-    handleClick(val) {
-      if (!this.isFocused) {
-        this.localValue = val;
-      }
-    }
-  }
-};
-</script>
-
-<style lang="" scoped>
-</style>

photon-client/src/components/common/cv-switch.vue

@@ -1,51 +0,0 @@
-<template>
-  <div>
-    <v-row
-      dense
-      align="center"
-    >
-      <v-col :cols="textCols || 2">
-        <tooltipped-label
-          :tooltip="tooltip"
-          :text="name"
-        />
-      </v-col>
-      <v-col :cols="12 - (textCols || 2)">
-        <v-switch
-          v-model="localValue"
-          dark
-          :disabled="disabled"
-          color="#ffd843"
-          @change="$emit('rollback', localValue)"
-        />
-      </v-col>
-    </v-row>
-  </div>
-</template>
-
-<script>
-import TooltippedLabel from "./cv-tooltipped-label";
-
-export default {
-    name: 'CVSwitch',
-    components: {
-        TooltippedLabel,
-    },
-  // eslint-disable-next-line vue/require-prop-types
-    props: ['name', 'value', 'disabled', 'textCols', 'tooltip'],
-    computed: {
-        localValue: {
-            get() {
-                return this.value;
-            },
-            set(value) {
-                this.$emit('input', value)
-            }
-        }
-    }
-}
-</script>
-
-<style lang="" scoped>
-
-</style>

photon-client/src/components/common/cv-tooltipped-label.vue

@@ -1,27 +0,0 @@
-<template>
-  <div>
-    <v-tooltip
-      :disabled="tooltip === undefined"
-      right
-      open-delay="600"
-    >
-      <template v-slot:activator="{ on, attrs }">
-        <span
-          style="cursor: text !important;"
-          class="white--text"
-          v-bind="attrs"
-          v-on="on"
-        >{{ text }}</span>
-      </template>
-      <span>{{ tooltip }}</span>
-    </v-tooltip>
-  </div>
-</template>
-
-<script>
-    export default {
-        name: 'TooltippedLabel',
-        // eslint-disable-next-line vue/require-prop-types
-        props: ['text', 'tooltip'],
-    }
-</script>

photon-client/src/components/common/pv-icon.vue

@@ -0,0 +1,49 @@
+<script setup lang="ts">
+const props = withDefaults(
+  defineProps<{
+    iconName: string;
+    disabled?: boolean;
+    color?: string;
+    tooltip?: string;
+    right?: boolean;
+    hover?: boolean;
+  }>(),
+  {
+    right: false,
+    disabled: false,
+    hover: false
+  }
+);
+
+defineEmits<{
+  (e: "click"): void;
+}>();
+
+const hoverClass = props.hover ? "hover" : "";
+</script>
+
+<template>
+  <div>
+    <v-tooltip :right="right" :bottom="!right" nudge-right="10" :disabled="tooltip === undefined">
+      <template #activator="{ on, attrs }">
+        <v-icon
+          :class="hoverClass"
+          :color="color"
+          v-bind="attrs"
+          :disabled="disabled"
+          v-on="on"
+          @click="$emit('click')"
+        >
+          {{ iconName }}
+        </v-icon>
+      </template>
+      <span>{{ tooltip }}</span>
+    </v-tooltip>
+  </div>
+</template>
+
+<style scoped>
+.hover:hover {
+  color: white !important;
+}
+</style>

photon-client/src/components/common/pv-input.vue

@@ -0,0 +1,73 @@
+<script setup lang="ts">
+import { computed } from "vue";
+import TooltippedLabel from "@/components/common/pv-tooltipped-label.vue";
+
+const props = withDefaults(
+  defineProps<{
+    label?: string;
+    tooltip?: string;
+    // TODO fully update v-model usage in custom components on Vue3 update
+    value: string;
+    disabled?: boolean;
+    errorMessage?: string;
+    placeholder?: string;
+    labelCols?: number;
+    inputCols?: number;
+    rules?: ((v: string) => boolean | string)[];
+  }>(),
+  {
+    disabled: false,
+    inputCols: 8
+  }
+);
+
+const emit = defineEmits<{
+  (e: "input", value: string): void;
+  (e: "onEnter", value: string): void;
+  (e: "onEscape"): void;
+}>();
+
+const localValue = computed({
+  get: () => props.value,
+  set: (v) => emit("input", v)
+});
+
+const handleKeydown = ({ key }) => {
+  switch (key) {
+    case "Enter":
+      // Explicitly check that all rule props return true
+      if (!props.rules?.every((rule) => rule(localValue.value) === true)) return;
+
+      emit("onEnter", localValue.value);
+      break;
+    case "Escape":
+      emit("onEscape");
+      break;
+  }
+};
+</script>
+
+<template>
+  <div>
+    <v-row dense align="center">
+      <v-col :cols="labelCols || 12 - inputCols">
+        <tooltipped-label :tooltip="tooltip" :label="label" />
+      </v-col>
+
+      <v-col :cols="inputCols">
+        <v-text-field
+          v-model="localValue"
+          dark
+          dense
+          color="accent"
+          :placeholder="placeholder"
+          :disabled="disabled"
+          :error-messages="errorMessage"
+          :rules="rules"
+          class="mt-1 pt-2"
+          @keydown="handleKeydown"
+        />
+      </v-col>
+    </v-row>
+  </div>
+</template>

photon-client/src/components/common/pv-number-input.vue

@@ -0,0 +1,56 @@
+<script setup lang="ts">
+import TooltippedLabel from "@/components/common/pv-tooltipped-label.vue";
+import { computed } from "vue";
+
+const props = withDefaults(
+  defineProps<{
+    label?: string;
+    tooltip?: string;
+    // TODO fully update v-model usage in custom components on Vue3 update
+    value: number;
+    disabled?: boolean;
+    labelCols?: number;
+    rules?: ((v: number) => boolean | string)[];
+    step?: number;
+  }>(),
+  {
+    disabled: false,
+    labelCols: 2,
+    step: 1
+  }
+);
+
+const emit = defineEmits<{
+  (e: "input", value: number): void;
+}>();
+
+const localValue = computed({
+  get: () => props.value,
+  set: (v) => emit("input", parseFloat(v as unknown as string))
+});
+</script>
+
+<template>
+  <div>
+    <v-row dense align="center">
+      <v-col :cols="labelCols">
+        <tooltipped-label :tooltip="tooltip" :label="label" />
+      </v-col>
+      <v-col>
+        <v-text-field
+          v-model="localValue"
+          dark
+          class="mt-0 pt-0"
+          hide-details
+          single-line
+          color="accent"
+          type="number"
+          style="width: 70px"
+          :step="step"
+          :disabled="disabled"
+          :rules="rules"
+        />
+      </v-col>
+    </v-row>
+  </div>
+</template>

photon-client/src/components/common/pv-radio.vue

@@ -0,0 +1,51 @@
+<script setup lang="ts">
+import { computed } from "vue";
+import TooltippedLabel from "@/components/common/pv-tooltipped-label.vue";
+
+const props = withDefaults(
+  defineProps<{
+    label?: string;
+    tooltip?: string;
+    // TODO fully update v-model usage in custom components on Vue3 update
+    value: number;
+    disabled?: boolean;
+    inputCols?: number;
+    list: string[];
+  }>(),
+  {
+    disabled: false,
+    inputCols: 8
+  }
+);
+
+const emit = defineEmits<{
+  (e: "input", value: number): void;
+}>();
+
+const localValue = computed({
+  get: () => props.value,
+  set: (v) => emit("input", v)
+});
+</script>
+
+<template>
+  <div>
+    <v-row dense align="center">
+      <v-col :cols="12 - inputCols">
+        <tooltipped-label :tooltip="tooltip" :label="label" />
+      </v-col>
+      <v-col :cols="inputCols">
+        <v-radio-group v-model="localValue" row dark :mandatory="true">
+          <v-radio
+            v-for="(radioName, index) in list"
+            :key="index"
+            color="#ffd843"
+            :label="radioName"
+            :value="index"
+            :disabled="disabled"
+          />
+        </v-radio-group>
+      </v-col>
+    </v-row>
+  </div>
+</template>

photon-client/src/components/common/pv-range-slider.vue

@@ -0,0 +1,118 @@
+<script setup lang="ts">
+import { computed } from "vue";
+import TooltippedLabel from "@/components/common/pv-tooltipped-label.vue";
+
+const props = withDefaults(
+  defineProps<{
+    label?: string;
+    tooltip?: string;
+    // TODO fully update v-model usage in custom components on Vue3 update
+    // value: [number, number] | WebsocketNumberPair, // Vue doesnt like Union types for the value prop for some reason.
+    value: [number, number];
+    min: number;
+    max: number;
+    step?: number;
+    sliderCols?: number;
+    disabled?: boolean;
+    inverted?: boolean;
+  }>(),
+  {
+    step: 1,
+    disabled: false,
+    inverted: false,
+    sliderCols: 10
+  }
+);
+
+const emit = defineEmits<{
+  (e: "input", value: [number, number]): void;
+}>();
+
+const localValue = computed<[number, number]>({
+  get: (): [number, number] => {
+    return Object.values(props.value) as [number, number];
+  },
+  set: (v) => {
+    for (let i = 0; i < v.length; i++) {
+      v[i] = parseFloat(v[i] as unknown as string);
+    }
+    emit("input", v);
+  }
+});
+
+const changeFromSlot = (v: string, i: number) => {
+  // v comes in as a string, not a number, for some reason
+  // if v is undefined, take a guess and set it to 0
+  const val = Math.max(props.min, Math.min(parseFloat(v) || 0, props.max));
+
+  // localValue.value must be replaced for a reactive change to take place
+  const temp = localValue.value;
+  temp[i] = val;
+  localValue.value = temp;
+};
+
+const checkNumberRange = (v: string): boolean => {
+  const val: number = parseFloat(v);
+  return isFinite(val) && val >= props.min && val <= props.max;
+};
+</script>
+
+<template>
+  <div>
+    <v-row dense align="center">
+      <v-col :cols="12 - sliderCols">
+        <tooltipped-label :tooltip="tooltip" :label="label" />
+      </v-col>
+      <v-col :cols="sliderCols">
+        <v-range-slider
+          v-model="localValue"
+          :max="max"
+          :min="min"
+          :disabled="disabled"
+          hide-details
+          class="align-center"
+          dark
+          :color="inverted ? 'rgba(255, 255, 255, 0.2)' : 'accent'"
+          :track-color="inverted ? 'accent' : undefined"
+          thumb-color="accent"
+          :step="step"
+        >
+          <template #prepend>
+            <v-text-field
+              :value="localValue[0]"
+              dark
+              color="accent"
+              class="mt-0 pt-0"
+              hide-details
+              single-line
+              :max="max"
+              :min="min"
+              :step="step"
+              :rules="[checkNumberRange]"
+              type="number"
+              style="width: 60px"
+              @input="(v) => changeFromSlot(v, 0)"
+            />
+          </template>
+          <template #append>
+            <v-text-field
+              :value="localValue[1]"
+              dark
+              color="accent"
+              class="mt-0 pt-0"
+              hide-details
+              single-line
+              :max="max"
+              :min="min"
+              :step="step"
+              :rules="[checkNumberRange]"
+              type="number"
+              style="width: 60px"
+              @input="(v) => changeFromSlot(v, 1)"
+            />
+          </template>
+        </v-range-slider>
+      </v-col>
+    </v-row>
+  </div>
+</template>

photon-client/src/components/common/pv-select.vue

@@ -0,0 +1,72 @@
+<script setup lang="ts">
+import { computed } from "vue";
+import TooltippedLabel from "@/components/common/pv-tooltipped-label.vue";
+
+interface SelectItem {
+  name: string | number;
+  value: string | number;
+  disabled?: boolean;
+}
+
+const props = withDefaults(
+  defineProps<{
+    label?: string;
+    tooltip?: string;
+    selectCols?: number;
+    // TODO fully update v-model usage in custom components on Vue3 update
+    value: number;
+    disabled?: boolean;
+    items: string[] | number[] | SelectItem[];
+  }>(),
+  {
+    selectCols: 9,
+    disabled: false
+  }
+);
+
+const emit = defineEmits<{
+  (e: "input", value: number): void;
+}>();
+
+const localValue = computed({
+  get: () => props.value,
+  set: (v) => emit("input", v)
+});
+
+// Computed in case items changes
+const items = computed<SelectItem[]>(() => {
+  // Trivial case for empty list; we have no data
+  if (!props.items.length) {
+    return [];
+  }
+
+  // Check if the prop exists on the object to infer object type
+  if ((props.items[0] as SelectItem).name) {
+    return props.items as SelectItem[];
+  }
+  return props.items.map((v, i) => ({ name: v, value: i }));
+});
+</script>
+
+<template>
+  <div>
+    <v-row dense align="center">
+      <v-col :cols="12 - selectCols">
+        <tooltipped-label :tooltip="tooltip" :label="label" />
+      </v-col>
+      <v-col :cols="selectCols">
+        <v-select
+          v-model="localValue"
+          :items="items"
+          item-text="name"
+          item-value="value"
+          item-disabled="disabled"
+          dark
+          color="accent"
+          item-color="secondary"
+          :disabled="disabled"
+        />
+      </v-col>
+    </v-row>
+  </div>
+</template>

photon-client/src/components/common/pv-slider.vue

@@ -0,0 +1,72 @@
+<script setup lang="ts">
+import { computed } from "vue";
+import TooltippedLabel from "@/components/common/pv-tooltipped-label.vue";
+
+const props = withDefaults(
+  defineProps<{
+    label?: string;
+    tooltip?: string;
+    // TODO fully update v-model usage in custom components on Vue3 update
+    value: number;
+    min: number;
+    max: number;
+    step?: number;
+    disabled?: boolean;
+    sliderCols?: number;
+  }>(),
+  {
+    step: 1,
+    disabled: false,
+    sliderCols: 8
+  }
+);
+
+const emit = defineEmits<{
+  (e: "input", value: number): void;
+}>();
+
+const localValue = computed({
+  get: () => props.value,
+  set: (v) => emit("input", parseFloat(v as unknown as string))
+});
+</script>
+
+<template>
+  <div>
+    <v-row dense align="center">
+      <v-col :cols="12 - sliderCols">
+        <tooltipped-label :tooltip="tooltip" :label="label" />
+      </v-col>
+      <v-col :cols="sliderCols">
+        <v-slider
+          v-model="localValue"
+          dark
+          class="align-center"
+          :max="max"
+          :min="min"
+          hide-details
+          color="accent"
+          :disabled="disabled"
+          :step="step"
+        >
+          <template #append>
+            <v-text-field
+              v-model="localValue"
+              dark
+              color="accent"
+              :max="max"
+              :min="min"
+              :disabled="disabled"
+              class="mt-0 pt-0"
+              hide-details
+              single-line
+              type="number"
+              style="width: 50px"
+              :step="step"
+            />
+          </template>
+        </v-slider>
+      </v-col>
+    </v-row>
+  </div>
+</template>

photon-client/src/components/common/pv-switch.vue

@@ -0,0 +1,42 @@
+<script setup lang="ts">
+import TooltippedLabel from "@/components/common/pv-tooltipped-label.vue";
+import { computed } from "vue";
+
+const props = withDefaults(
+  defineProps<{
+    label?: string;
+    tooltip?: string;
+    // TODO fully update v-model usage in custom components on Vue3 update
+    value: boolean;
+    disabled?: boolean;
+    labelCols?: number;
+    switchCols?: number;
+  }>(),
+  {
+    disabled: false,
+    labelCols: 2
+  }
+);
+
+const emit = defineEmits<{
+  (e: "input", value: boolean): void;
+}>();
+
+const localValue = computed({
+  get: () => props.value,
+  set: (v) => emit("input", v)
+});
+</script>
+
+<template>
+  <div>
+    <v-row dense align="center">
+      <v-col :cols="12 - switchCols || labelCols">
+        <tooltipped-label :tooltip="tooltip" :label="label" />
+      </v-col>
+      <v-col :cols="switchCols || 12 - labelCols">
+        <v-switch v-model="localValue" dark :disabled="disabled" color="#ffd843" />
+      </v-col>
+    </v-row>
+  </div>
+</template>

photon-client/src/components/common/pv-tooltipped-label.vue

@@ -0,0 +1,17 @@
+<script setup lang="ts">
+defineProps<{
+  label?: string;
+  tooltip?: string;
+}>();
+</script>
+
+<template>
+  <div>
+    <v-tooltip :disabled="tooltip === undefined" right open-delay="300">
+      <template #activator="{ on, attrs }">
+        <span style="cursor: text !important" class="white--text" v-bind="attrs" v-on="on">{{ label }}</span>
+      </template>
+      <span>{{ tooltip }}</span>
+    </v-tooltip>
+  </div>
+</template>

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

@@ -0,0 +1,406 @@
+<script setup lang="ts">
+import PvSelect from "@/components/common/pv-select.vue";
+import { useStateStore } from "@/stores/StateStore";
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { WebsocketPipelineType } from "@/types/WebsocketDataTypes";
+import { computed, ref } from "vue";
+import PvIcon from "@/components/common/pv-icon.vue";
+import PvInput from "@/components/common/pv-input.vue";
+import { PipelineType } from "@/types/PipelineTypes";
+
+const changeCurrentCameraIndex = (index: number) => {
+  useCameraSettingsStore().setCurrentCameraIndex(index, true);
+
+  switch (useCameraSettingsStore().cameras[index].pipelineSettings.pipelineType) {
+    case PipelineType.Reflective:
+      pipelineType.value = WebsocketPipelineType.Reflective;
+      break;
+    case PipelineType.ColoredShape:
+      pipelineType.value = WebsocketPipelineType.ColoredShape;
+      break;
+    case PipelineType.AprilTag:
+      pipelineType.value = WebsocketPipelineType.AprilTag;
+      break;
+    case PipelineType.Aruco:
+      pipelineType.value = WebsocketPipelineType.Aruco;
+      break;
+  }
+};
+
+// Common RegEx used for naming both pipelines and cameras
+const nameChangeRegex = /^[A-Za-z0-9_ \-)(]*[A-Za-z0-9][A-Za-z0-9_ \-)(.]*$/;
+
+// Camera Name Edit
+const isCameraNameEdit = ref(false);
+const currentCameraName = ref(useCameraSettingsStore().currentCameraSettings.nickname);
+const startCameraNameEdit = () => {
+  currentCameraName.value = useCameraSettingsStore().currentCameraSettings.nickname;
+  isCameraNameEdit.value = true;
+};
+const checkCameraName = (name: string): string | boolean => {
+  if (!nameChangeRegex.test(name))
+    return "A camera name can only contain letters, numbers, spaces, underscores, hyphens, parenthesis, and periods";
+  if (useCameraSettingsStore().cameraNames.some((cameraName) => cameraName === name))
+    return "This camera name has already been used";
+
+  return true;
+};
+const saveCameraNameEdit = (newName: string) => {
+  useCameraSettingsStore()
+    .changeCameraNickname(newName, false)
+    .then((response) => {
+      useStateStore().showSnackbarMessage({
+        color: "success",
+        message: response.data.text || response.data
+      });
+      useCameraSettingsStore().currentCameraSettings.nickname = newName;
+    })
+    .catch((error) => {
+      if (error.response) {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: error.response.data.text || error.response.data
+        });
+      } else if (error.request) {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: "Error while trying to process the request! The backend didn't respond."
+        });
+      } else {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: "An error occurred while trying to process the request."
+        });
+      }
+      currentCameraName.value = useCameraSettingsStore().currentCameraSettings.nickname;
+    })
+    .finally(() => (isCameraNameEdit.value = false));
+};
+const cancelCameraNameEdit = () => {
+  isCameraNameEdit.value = false;
+  currentCameraName.value = useCameraSettingsStore().currentCameraSettings.nickname;
+};
+
+// Pipeline Name Edit
+const pipelineNamesWrapper = computed<{ name: string; value: number }[]>(() => {
+  const pipelineNames = useCameraSettingsStore().pipelineNames.map((name, index) => ({ name: name, value: index }));
+
+  if (useCameraSettingsStore().isDriverMode) {
+    pipelineNames.push({ name: "Driver Mode", value: WebsocketPipelineType.DriverMode });
+  }
+  if (useCameraSettingsStore().isCalibrationMode) {
+    pipelineNames.push({ name: "3D Calibration Mode", value: WebsocketPipelineType.Calib3d });
+  }
+
+  return pipelineNames;
+});
+const isPipelineNameEdit = ref(false);
+const currentPipelineName = ref(useCameraSettingsStore().currentPipelineSettings.pipelineNickname);
+const startPipelineNameEdit = () => {
+  currentPipelineName.value = useCameraSettingsStore().currentPipelineSettings.pipelineNickname;
+  isPipelineNameEdit.value = true;
+};
+const checkPipelineName = (name: string): string | boolean => {
+  if (!nameChangeRegex.test(name))
+    return "A pipeline name can only contain letters, numbers, spaces, underscores, hyphens, parenthesis, and periods";
+  if (useCameraSettingsStore().pipelineNames.some((pipelineName) => pipelineName === name))
+    return "This pipeline name has already been used";
+
+  return true;
+};
+const savePipelineNameEdit = (name: string) => {
+  useCameraSettingsStore().changeCurrentPipelineNickname(name);
+  isPipelineNameEdit.value = false;
+};
+const cancelPipelineNameEdit = () => {
+  isPipelineNameEdit.value = false;
+  currentPipelineName.value = useCameraSettingsStore().currentPipelineSettings.pipelineNickname;
+};
+
+// Pipeline Creation
+const showPipelineCreationDialog = ref(false);
+const newPipelineName = ref("");
+const newPipelineType = ref<WebsocketPipelineType>(useCameraSettingsStore().currentWebsocketPipelineType);
+const showCreatePipelineDialog = () => {
+  newPipelineName.value = "";
+  newPipelineType.value = useCameraSettingsStore().currentWebsocketPipelineType;
+  showPipelineCreationDialog.value = true;
+};
+const createNewPipeline = () => {
+  const type = newPipelineType.value;
+  if (type === WebsocketPipelineType.DriverMode || type === WebsocketPipelineType.Calib3d) return;
+  useCameraSettingsStore().createNewPipeline(newPipelineName.value, type);
+  showPipelineCreationDialog.value = false;
+};
+const cancelPipelineCreation = () => {
+  showPipelineCreationDialog.value = false;
+  newPipelineName.value = "";
+  newPipelineType.value = useCameraSettingsStore().currentWebsocketPipelineType;
+};
+
+// Pipeline Deletion
+const showPipelineDeletionConfirmationDialog = ref(false);
+const confirmDeleteCurrentPipeline = () => {
+  useCameraSettingsStore().deleteCurrentPipeline();
+  showPipelineDeletionConfirmationDialog.value = false;
+};
+
+// Pipeline Type Change
+const showPipelineTypeChangeDialog = ref(false);
+const pipelineTypesWrapper = computed<{ name: string; value: number }[]>(() => {
+  const pipelineTypes = [
+    { name: "Reflective", value: WebsocketPipelineType.Reflective },
+    { name: "Colored Shape", value: WebsocketPipelineType.ColoredShape },
+    { name: "AprilTag", value: WebsocketPipelineType.AprilTag },
+    { name: "Aruco", value: WebsocketPipelineType.Aruco }
+  ];
+
+  if (useCameraSettingsStore().isDriverMode) {
+    pipelineTypes.push({ name: "Driver Mode", value: WebsocketPipelineType.DriverMode });
+  }
+  if (useCameraSettingsStore().isCalibrationMode) {
+    pipelineTypes.push({ name: "3D Calibration Mode", value: WebsocketPipelineType.Calib3d });
+  }
+
+  return pipelineTypes;
+});
+const pipelineType = ref<WebsocketPipelineType>(useCameraSettingsStore().currentWebsocketPipelineType);
+const currentPipelineType = computed<WebsocketPipelineType>({
+  get: () => {
+    if (useCameraSettingsStore().isDriverMode) return WebsocketPipelineType.DriverMode;
+    if (useCameraSettingsStore().isCalibrationMode) return WebsocketPipelineType.Calib3d;
+    return pipelineType.value;
+  },
+  set: (v) => {
+    pipelineType.value = v;
+  }
+});
+const confirmChangePipelineType = () => {
+  const type = currentPipelineType.value;
+  if (type === WebsocketPipelineType.DriverMode || type === WebsocketPipelineType.Calib3d) return;
+  useCameraSettingsStore().changeCurrentPipelineType(type);
+  showPipelineTypeChangeDialog.value = false;
+};
+const cancelChangePipelineType = () => {
+  pipelineType.value = useCameraSettingsStore().currentWebsocketPipelineType;
+  showPipelineTypeChangeDialog.value = false;
+};
+
+// Pipeline duplication'
+const duplicateCurrentPipeline = () => {
+  useCameraSettingsStore().duplicatePipeline(useCameraSettingsStore().currentCameraSettings.currentPipelineIndex);
+};
+
+// Change Props whenever the pipeline settings are changed
+useCameraSettingsStore().$subscribe((mutation, state) => {
+  const currentCameraSettings = state.cameras[useStateStore().currentCameraIndex];
+
+  switch (currentCameraSettings.pipelineSettings.pipelineType) {
+    case PipelineType.Reflective:
+      pipelineType.value = WebsocketPipelineType.Reflective;
+      break;
+    case PipelineType.ColoredShape:
+      pipelineType.value = WebsocketPipelineType.ColoredShape;
+      break;
+    case PipelineType.AprilTag:
+      pipelineType.value = WebsocketPipelineType.AprilTag;
+      break;
+    case PipelineType.Aruco:
+      pipelineType.value = WebsocketPipelineType.Aruco;
+      break;
+  }
+});
+</script>
+
+<template>
+  <v-card color="primary">
+    <v-row style="padding: 12px 12px 0 24px">
+      <v-col cols="10" class="pa-0">
+        <pv-select
+          v-if="!isCameraNameEdit"
+          v-model="useStateStore().currentCameraIndex"
+          label="Camera"
+          :items="useCameraSettingsStore().cameraNames"
+          @input="changeCurrentCameraIndex"
+        />
+        <pv-input
+          v-else
+          v-model="currentCameraName"
+          class="pt-2"
+          :input-cols="12 - 3"
+          :rules="[(v) => checkCameraName(v)]"
+          label="Camera"
+          @onEnter="saveCameraNameEdit"
+          @onEscape="cancelCameraNameEdit"
+        />
+      </v-col>
+      <v-col cols="2" style="display: flex; align-items: center; justify-content: center">
+        <div v-if="isCameraNameEdit" style="display: flex; gap: 14px">
+          <pv-icon
+            icon-name="mdi-content-save"
+            color="#c5c5c5"
+            :disabled="checkCameraName(currentCameraName) !== true"
+            @click="() => saveCameraNameEdit(currentCameraName)"
+          />
+          <pv-icon icon-name="mdi-cancel" color="red darken-2" @click="cancelCameraNameEdit" />
+        </div>
+        <pv-icon
+          v-else
+          color="#c5c5c5"
+          icon-name="mdi-pencil"
+          tooltip="Edit Camera Name"
+          @click="startCameraNameEdit"
+        />
+      </v-col>
+    </v-row>
+    <v-row style="padding: 0 12px 0 24px">
+      <v-col cols="10" class="pa-0">
+        <pv-select
+          v-if="!isPipelineNameEdit"
+          :value="useCameraSettingsStore().currentCameraSettings.currentPipelineIndex"
+          label="Pipeline"
+          tooltip="Each pipeline runs on a camera output and stores a unique set of processing settings"
+          :disabled="useCameraSettingsStore().isDriverMode || useCameraSettingsStore().isCalibrationMode"
+          :items="pipelineNamesWrapper"
+          @input="(args) => useCameraSettingsStore().changeCurrentPipelineIndex(args, true)"
+        />
+        <pv-input
+          v-else
+          v-model="currentPipelineName"
+          :input-cols="12 - 3"
+          :rules="[(v) => checkPipelineName(v)]"
+          label="Pipeline"
+          @onEnter="(v) => savePipelineNameEdit(v)"
+          @onEscape="cancelPipelineNameEdit"
+        />
+      </v-col>
+      <v-col cols="2" class="pa-0" style="display: flex; align-items: center; justify-content: center">
+        <div v-if="isPipelineNameEdit" style="display: flex; gap: 14px">
+          <pv-icon
+            icon-name="mdi-content-save"
+            color="#c5c5c5"
+            :disabled="checkPipelineName(currentPipelineName) !== true"
+            @click="() => savePipelineNameEdit(currentPipelineName)"
+          />
+          <pv-icon icon-name="mdi-cancel" color="red darken-2" @click="cancelPipelineNameEdit" />
+        </div>
+        <v-menu v-else-if="!useCameraSettingsStore().isDriverMode" offset-y nudge-bottom="7" auto>
+          <template #activator="{ on }">
+            <v-icon color="#c5c5c5" v-on="on" @click="cancelPipelineNameEdit"> mdi-menu </v-icon>
+          </template>
+          <v-list dark dense color="primary">
+            <v-list-item @click="startPipelineNameEdit">
+              <v-list-item-title>
+                <pv-icon color="#c5c5c5" :right="true" icon-name="mdi-pencil" tooltip="Edit pipeline name" />
+              </v-list-item-title>
+            </v-list-item>
+            <v-list-item @click="showCreatePipelineDialog">
+              <v-list-item-title>
+                <pv-icon color="#c5c5c5" :right="true" icon-name="mdi-plus" tooltip="Add new pipeline" />
+              </v-list-item-title>
+            </v-list-item>
+            <v-list-item @click="showPipelineDeletionConfirmationDialog = true">
+              <v-list-item-title>
+                <pv-icon color="red darken-2" :right="true" icon-name="mdi-delete" tooltip="Delete pipeline" />
+              </v-list-item-title>
+            </v-list-item>
+            <v-list-item @click="duplicateCurrentPipeline">
+              <v-list-item-title>
+                <pv-icon color="#c5c5c5" :right="true" icon-name="mdi-content-copy" tooltip="Duplicate pipeline" />
+              </v-list-item-title>
+            </v-list-item>
+          </v-list>
+        </v-menu>
+        <pv-icon
+          v-else-if="useCameraSettingsStore().isDriverMode && useCameraSettingsStore().pipelineNames.length === 0"
+          color="#c5c5c5"
+          :right="true"
+          icon-name="mdi-plus"
+          tooltip="Add new pipeline"
+          @click="showCreatePipelineDialog"
+        />
+      </v-col>
+    </v-row>
+    <v-row style="padding: 0 12px 12px 24px">
+      <v-col cols="10" class="pa-0">
+        <pv-select
+          v-model="currentPipelineType"
+          label="Type"
+          tooltip="Changes the pipeline type, which changes the type of processing that will happen on input frames"
+          :disabled="useCameraSettingsStore().isDriverMode || useCameraSettingsStore().isCalibrationMode"
+          :items="pipelineTypesWrapper"
+          @input="showPipelineTypeChangeDialog = true"
+        />
+      </v-col>
+    </v-row>
+    <v-dialog v-model="showPipelineCreationDialog" dark persistent width="500">
+      <v-card dark color="primary">
+        <v-card-title> Create New Pipeline </v-card-title>
+        <v-card-text>
+          <pv-input
+            v-model="newPipelineName"
+            placeholder="Pipeline Name"
+            :label-cols="3"
+            :input-cols="12 - 3"
+            label="Pipeline Name"
+            :rules="[(v) => checkPipelineName(v)]"
+          />
+          <pv-select
+            v-model="newPipelineType"
+            :select-cols="12 - 3"
+            label="Tracking Type"
+            tooltip="Pipeline type, which changes the type of processing that will happen on input frames"
+            :items="[
+              { name: 'Reflective', value: WebsocketPipelineType.Reflective },
+              { name: 'Colored Shape', value: WebsocketPipelineType.ColoredShape },
+              { name: 'AprilTag', value: WebsocketPipelineType.AprilTag },
+              { name: 'Aruco', value: WebsocketPipelineType.Aruco }
+            ]"
+          />
+        </v-card-text>
+        <v-divider />
+        <v-card-actions>
+          <v-spacer />
+          <v-btn color="#ffd843" :disabled="checkPipelineName(newPipelineName) !== true" @click="createNewPipeline">
+            Save
+          </v-btn>
+          <v-btn color="error" @click="cancelPipelineCreation"> Cancel </v-btn>
+        </v-card-actions>
+      </v-card>
+    </v-dialog>
+    <v-dialog v-model="showPipelineDeletionConfirmationDialog" dark width="500">
+      <v-card dark color="primary">
+        <v-card-title> Pipeline Deletion Confirmation </v-card-title>
+        <v-card-text>
+          Are you sure you want to delete the pipeline
+          <b style="color: white; font-weight: bold">{{
+            useCameraSettingsStore().currentPipelineSettings.pipelineNickname
+          }}</b
+          >? This cannot be undone.
+        </v-card-text>
+        <v-divider />
+        <v-card-actions>
+          <v-spacer />
+          <v-btn color="error" @click="confirmDeleteCurrentPipeline"> Yes, I'm sure </v-btn>
+          <v-btn color="#ffd843" @click="showPipelineDeletionConfirmationDialog = false"> No, take me back </v-btn>
+        </v-card-actions>
+      </v-card>
+    </v-dialog>
+    <v-dialog v-model="showPipelineTypeChangeDialog" persistent width="600">
+      <v-card color="primary" dark>
+        <v-card-title>Change Pipeline Type</v-card-title>
+        <v-card-text>
+          Are you sure you want to change the current pipeline type? This will cause all the pipeline settings to be
+          overwritten and they will be lost. If this isn't what you want, duplicate this pipeline first or export
+          settings.
+        </v-card-text>
+        <v-divider />
+        <v-card-actions>
+          <v-spacer />
+          <v-btn color="error" @click="confirmChangePipelineType"> Yes, I'm sure </v-btn>
+          <v-btn color="#ffd843" @click="cancelChangePipelineType"> No, take me back </v-btn>
+        </v-card-actions>
+      </v-card>
+    </v-dialog>
+  </v-card>
+</template>

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

@@ -0,0 +1,111 @@
+<script setup lang="ts">
+import { computed } from "vue";
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { useStateStore } from "@/stores/StateStore";
+import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
+import { PipelineType } from "@/types/PipelineTypes";
+import PhotonCameraStream from "@/components/app/photon-camera-stream.vue";
+
+defineProps<{
+  // TODO fully update v-model usage in custom components on Vue3 update
+  value: number[];
+}>();
+
+const driverMode = computed<boolean>({
+  get: () => useCameraSettingsStore().isDriverMode,
+  set: (v) =>
+    useCameraSettingsStore().changeCurrentPipelineIndex(
+      v ? -1 : useCameraSettingsStore().currentCameraSettings.lastPipelineIndex || 0,
+      true
+    )
+});
+
+const fpsTooLow = computed<boolean>(() => {
+  const currFPS = useStateStore().currentPipelineResults?.fps || 0;
+  const targetFPS = useCameraSettingsStore().currentVideoFormat.fps;
+  const driverMode = useCameraSettingsStore().isDriverMode;
+  const gpuAccel = useSettingsStore().general.gpuAcceleration !== undefined;
+  const isReflective = useCameraSettingsStore().currentPipelineSettings.pipelineType === PipelineType.Reflective;
+
+  return currFPS - targetFPS < -5 && currFPS !== 0 && !driverMode && gpuAccel && isReflective;
+});
+
+const performanceRecommendation = computed<string>(() => {
+  if (
+    fpsTooLow.value &&
+    !useCameraSettingsStore().currentPipelineSettings.inputShouldShow &&
+    useCameraSettingsStore().currentPipelineSettings.pipelineType === PipelineType.Reflective
+  ) {
+    return "HSV thresholds are too broad; narrow them for better performance";
+  } else if (fpsTooLow.value && useCameraSettingsStore().currentPipelineSettings.inputShouldShow) {
+    return "Stop viewing the raw stream for better performance";
+  } else {
+    return `${Math.min(Math.round(useStateStore().currentPipelineResults?.latency || 0), 9999)} ms latency`;
+  }
+});
+</script>
+
+<template>
+  <v-card color="primary" height="100%" style="display: flex; flex-direction: column" dark>
+    <v-row>
+      <v-col class="align-self-center text-no-wrap">
+        <v-card-title>Cameras</v-card-title>
+      </v-col>
+      <v-col class="align-self-center" style="text-align: right; margin-right: 12px; padding-left: 24px">
+        <v-chip
+          label
+          :color="fpsTooLow ? 'error' : 'transparent'"
+          :text-color="fpsTooLow ? '#C7EA46' : '#ff4d00'"
+          style="font-size: 1rem; padding: 0; margin: 0"
+        >
+          <span class="pr-1"
+            >Processing @ {{ Math.round(useStateStore().currentPipelineResults?.fps || 0) }}&nbsp;FPS &ndash;</span
+          ><span>{{ performanceRecommendation }}</span>
+        </v-chip>
+      </v-col>
+      <v-col
+        class="align-self-center"
+        style="
+          width: min-content;
+          flex-grow: 0;
+          display: flex;
+          justify-content: flex-end;
+          margin-right: 24px;
+          padding: 0;
+        "
+      >
+        <v-switch
+          v-model="driverMode"
+          :disabled="useCameraSettingsStore().isCalibrationMode || useCameraSettingsStore().pipelineNames.length === 0"
+          label="Driver Mode"
+          style="margin: 0; padding: 0; padding-left: 18px; margin-top: 14px"
+          color="accent"
+        />
+      </v-col>
+    </v-row>
+    <v-divider style="border-color: white" />
+    <v-row class="stream-viewer-container pa-3">
+      <v-col v-show="value.includes(0)" class="stream-view">
+        <photon-camera-stream id="input-camera-stream" stream-type="Raw" style="width: 100%; height: auto" />
+      </v-col>
+      <v-col v-show="value.includes(1)" class="stream-view">
+        <photon-camera-stream id="output-camera-stream" stream-type="Processed" style="width: 100%; height: auto" />
+      </v-col>
+    </v-row>
+  </v-card>
+</template>
+
+<style scoped>
+.stream-viewer-container {
+  display: flex;
+  justify-content: center;
+}
+.stream-view {
+  max-width: 500px;
+}
+@media only screen and (max-width: 512px) {
+  .stream-view {
+    min-width: 80%;
+  }
+}
+</style>

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

@@ -0,0 +1,165 @@
+<script setup lang="ts">
+import type { Component } from "vue";
+import { computed, getCurrentInstance, onBeforeUpdate, ref } from "vue";
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { useStateStore } from "@/stores/StateStore";
+import InputTab from "@/components/dashboard/tabs/InputTab.vue";
+import ThresholdTab from "@/components/dashboard/tabs/ThresholdTab.vue";
+import ContoursTab from "@/components/dashboard/tabs/ContoursTab.vue";
+import AprilTagTab from "@/components/dashboard/tabs/AprilTagTab.vue";
+import ArucoTab from "@/components/dashboard/tabs/ArucoTab.vue";
+import OutputTab from "@/components/dashboard/tabs/OutputTab.vue";
+import TargetsTab from "@/components/dashboard/tabs/TargetsTab.vue";
+import PnPTab from "@/components/dashboard/tabs/PnPTab.vue";
+import Map3DTab from "@/components/dashboard/tabs/Map3DTab.vue";
+import { WebsocketPipelineType } from "@/types/WebsocketDataTypes";
+
+interface ConfigOption {
+  tabName: string;
+  component: Component;
+}
+
+const allTabs = Object.freeze({
+  inputTab: {
+    tabName: "Input",
+    component: InputTab
+  },
+  thresholdTab: {
+    tabName: "Threshold",
+    component: ThresholdTab
+  },
+  contoursTab: {
+    tabName: "Contours",
+    component: ContoursTab
+  },
+  apriltagTab: {
+    tabName: "AprilTag",
+    component: AprilTagTab
+  },
+  arucoTab: {
+    tabName: "Aruco",
+    component: ArucoTab
+  },
+  outputTab: {
+    tabName: "Output",
+    component: OutputTab
+  },
+  targetsTab: {
+    tabName: "Targets",
+    component: TargetsTab
+  },
+  pnpTab: {
+    tabName: "PnP",
+    component: PnPTab
+  },
+  map3dTab: {
+    tabName: "3D",
+    component: Map3DTab
+  }
+});
+
+const selectedTabs = ref([0, 0, 0, 0]);
+const getTabGroups = (): ConfigOption[][] => {
+  const smAndDown = getCurrentInstance()?.proxy.$vuetify.breakpoint.smAndDown || false;
+  const mdAndDown = getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false;
+  const lgAndDown = getCurrentInstance()?.proxy.$vuetify.breakpoint.lgAndDown || false;
+  const xl = getCurrentInstance()?.proxy.$vuetify.breakpoint.xl || false;
+
+  if (smAndDown || useCameraSettingsStore().isDriverMode || (mdAndDown && !useStateStore().sidebarFolded)) {
+    return [Object.values(allTabs)];
+  } else if (mdAndDown || !useStateStore().sidebarFolded) {
+    return [
+      [
+        allTabs.inputTab,
+        allTabs.thresholdTab,
+        allTabs.contoursTab,
+        allTabs.apriltagTab,
+        allTabs.arucoTab,
+        allTabs.outputTab
+      ],
+      [allTabs.targetsTab, allTabs.pnpTab, allTabs.map3dTab]
+    ];
+  } else if (lgAndDown) {
+    return [
+      [allTabs.inputTab],
+      [allTabs.thresholdTab, allTabs.contoursTab, allTabs.apriltagTab, allTabs.arucoTab, allTabs.outputTab],
+      [allTabs.targetsTab, allTabs.pnpTab, allTabs.map3dTab]
+    ];
+  } else if (xl) {
+    return [
+      [allTabs.inputTab],
+      [allTabs.thresholdTab],
+      [allTabs.contoursTab, allTabs.apriltagTab, allTabs.arucoTab, allTabs.outputTab],
+      [allTabs.targetsTab, allTabs.pnpTab, allTabs.map3dTab]
+    ];
+  }
+
+  return [];
+};
+const tabGroups = computed<ConfigOption[][]>(() => {
+  // Just return the input tab because we know that is always the case in driver mode
+  if (useCameraSettingsStore().isDriverMode) return [[allTabs.inputTab]];
+
+  const allow3d = useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled;
+  const isAprilTag = useCameraSettingsStore().currentWebsocketPipelineType === WebsocketPipelineType.AprilTag;
+  const isAruco = useCameraSettingsStore().currentWebsocketPipelineType === WebsocketPipelineType.Aruco;
+
+  return getTabGroups()
+    .map((tabGroup) =>
+      tabGroup.filter(
+        (tabConfig) =>
+          !(!allow3d && tabConfig.tabName === "3D") && //Filter out 3D tab any time 3D isn't calibrated
+          !((!allow3d || isAprilTag || isAruco) && tabConfig.tabName === "PnP") && //Filter out the PnP config tab if 3D isn't available, or we're doing AprilTags
+          !((isAprilTag || isAruco) && tabConfig.tabName === "Threshold") && //Filter out threshold tab if we're doing AprilTags
+          !((isAprilTag || isAruco) && tabConfig.tabName === "Contours") && //Filter out contours if we're doing AprilTags
+          !(!isAprilTag && tabConfig.tabName === "AprilTag") && //Filter out apriltag unless we actually are doing AprilTags
+          !(!isAruco && tabConfig.tabName === "Aruco") //Filter out aruco unless we actually are doing Aruco
+      )
+    )
+    .filter((it) => it.length); // Remove empty tab groups
+});
+
+onBeforeUpdate(() => {
+  // Force the current tab to the input tab on driver mode change
+  if (useCameraSettingsStore().isDriverMode) {
+    selectedTabs.value[0] = 0;
+  }
+});
+</script>
+
+<template>
+  <v-row no-gutters class="tabGroups">
+    <v-col
+      v-for="(tabGroupData, tabGroupIndex) in tabGroups"
+      :key="tabGroupIndex"
+      :class="tabGroupIndex !== tabGroups.length - 1 && 'pr-3'"
+    >
+      <v-card color="primary" height="100%" class="pr-4 pl-4">
+        <v-tabs
+          v-model="selectedTabs[tabGroupIndex]"
+          grow
+          background-color="primary"
+          dark
+          height="48"
+          slider-color="accent"
+        >
+          <v-tab v-for="(tabConfig, index) in tabGroupData" :key="index">
+            {{ tabConfig.tabName }}
+          </v-tab>
+        </v-tabs>
+        <div class="pl-4 pr-4 pt-4 pb-2">
+          <KeepAlive>
+            <Component :is="tabGroupData[selectedTabs[tabGroupIndex]].component" />
+          </KeepAlive>
+        </div>
+      </v-card>
+    </v-col>
+  </v-row>
+</template>
+
+<style>
+.v-slide-group__next--disabled,
+.v-slide-group__prev--disabled {
+  display: none !important;
+}
+</style>

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

@@ -0,0 +1,94 @@
+<script setup lang="ts">
+import { computed } from "vue";
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { useStateStore } from "@/stores/StateStore";
+
+const props = defineProps<{
+  // TODO fully update v-model usage in custom components on Vue3 update
+  value: number[];
+}>();
+
+const emit = defineEmits<{
+  (e: "input", value: number[]): void;
+}>();
+
+const localValue = computed({
+  get: () => props.value,
+  set: (v) => emit("input", v)
+});
+
+const processingMode = computed<number>({
+  get: () => (useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled ? 1 : 0),
+  set: (v) => {
+    if (useCameraSettingsStore().isCurrentVideoFormatCalibrated) {
+      useCameraSettingsStore().changeCurrentPipelineSetting({ solvePNPEnabled: v === 1 }, true);
+    }
+  }
+});
+</script>
+
+<template>
+  <v-card
+    :disabled="useCameraSettingsStore().isDriverMode || useStateStore().colorPickingMode"
+    class="mt-3"
+    color="primary"
+    style="height: 100%; display: flex; flex-direction: column"
+  >
+    <v-row align="center" class="pa-3 pb-0">
+      <v-col>
+        <p style="color: white">Processing Mode</p>
+        <v-btn-toggle v-model="processingMode" mandatory dark class="fill">
+          <v-btn color="secondary">
+            <v-icon left>mdi-square-outline</v-icon>
+            <span>2D</span>
+          </v-btn>
+          <v-btn color="secondary" :disabled="!useCameraSettingsStore().isCurrentVideoFormatCalibrated">
+            <v-icon left>mdi-cube-outline</v-icon>
+            <span>3D</span>
+          </v-btn>
+        </v-btn-toggle>
+      </v-col>
+    </v-row>
+    <v-row align="center" class="pa-3 pt-0">
+      <v-col>
+        <p style="color: white">Stream Display</p>
+        <v-btn-toggle v-model="localValue" :multiple="true" mandatory dark class="fill">
+          <v-btn color="secondary" class="fill">
+            <v-icon left class="mode-btn-icon">mdi-import</v-icon>
+            <span class="mode-btn-label">Raw</span>
+          </v-btn>
+          <v-btn color="secondary" class="fill">
+            <v-icon left class="mode-btn-icon">mdi-export</v-icon>
+            <span class="mode-btn-label">Processed</span>
+          </v-btn>
+        </v-btn-toggle>
+      </v-col>
+    </v-row>
+  </v-card>
+</template>
+
+<style scoped>
+.v-btn-toggle.fill {
+  width: 100%;
+  height: 100%;
+}
+
+.v-btn-toggle.fill > .v-btn {
+  width: 50%;
+  height: 100%;
+}
+
+th {
+  width: 80px;
+  text-align: center;
+}
+
+@media only screen and (max-width: 351px) {
+  .mode-btn-icon {
+    margin: 0 !important;
+  }
+  .mode-btn-label {
+    display: none;
+  }
+}
+</style>

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

@@ -0,0 +1,94 @@
+<script setup lang="ts">
+import { PipelineType } from "@/types/PipelineTypes";
+import PvSelect from "@/components/common/pv-select.vue";
+import PvSlider from "@/components/common/pv-slider.vue";
+import PvSwitch from "@/components/common/pv-switch.vue";
+import { computed, getCurrentInstance } from "vue";
+import { useStateStore } from "@/stores/StateStore";
+import type { ActivePipelineSettings } from "@/types/PipelineTypes";
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+
+// TODO fix pipeline typing in order to fix this, the store settings call should be able to infer that only valid pipeline type settings are exposed based on pre-checks for the entire config section
+// Defer reference to store access method
+const currentPipelineSettings = computed<ActivePipelineSettings>(
+  () => useCameraSettingsStore().currentPipelineSettings
+);
+
+const interactiveCols = computed(
+  () =>
+    (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
+    (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)
+)
+  ? 9
+  : 8;
+</script>
+
+<template>
+  <div v-if="currentPipelineSettings.pipelineType === PipelineType.AprilTag">
+    <pv-select
+      v-model="currentPipelineSettings.tagFamily"
+      label="Target family"
+      :items="['AprilTag 36h11 (6.5in)', 'AprilTag 25h9 (6in)', 'AprilTag 16h5 (6in)']"
+      :select-cols="interactiveCols"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ tagFamily: value }, false)"
+    />
+    <pv-slider
+      v-model="currentPipelineSettings.decimate"
+      class="pt-2"
+      :slider-cols="interactiveCols"
+      label="Decimate"
+      tooltip="Increases FPS at the expense of range by reducing image resolution initially"
+      :min="1"
+      :max="8"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ decimate: value }, false)"
+    />
+    <pv-slider
+      v-model="currentPipelineSettings.blur"
+      class="pt-2"
+      :slider-cols="interactiveCols"
+      label="Blur"
+      tooltip="Gaussian blur added to the image, high FPS cost for slightly decreased noise"
+      :min="0"
+      :max="5"
+      :step="0.1"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ blur: value }, false)"
+    />
+    <pv-slider
+      v-model="currentPipelineSettings.threads"
+      class="pt-2"
+      :slider-cols="interactiveCols"
+      label="Threads"
+      tooltip="Number of threads spawned by the AprilTag detector"
+      :min="1"
+      :max="8"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ threads: value }, false)"
+    />
+    <pv-switch
+      v-model="currentPipelineSettings.refineEdges"
+      class="pt-2"
+      label="Refine Edges"
+      tooltip="Further refines the AprilTag corner position initial estimate, suggested left on"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ refineEdges: value }, false)"
+    />
+    <pv-slider
+      v-model="currentPipelineSettings.decisionMargin"
+      class="pt-2 pb-4"
+      :slider-cols="interactiveCols"
+      label="Decision Margin Cutoff"
+      tooltip="Tags with a 'margin' (decoding quality score) less than this wil be rejected. Increase this to reduce the number of false positive detections"
+      :min="0"
+      :max="250"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ decisionMargin: value }, false)"
+    />
+    <pv-slider
+      v-model="currentPipelineSettings.numIterations"
+      class="pt-2 pb-4"
+      :slider-cols="interactiveCols"
+      label="Pose Estimation Iterations"
+      tooltip="Number of iterations the pose estimation algorithm will run, 50-100 is a good starting point"
+      :min="0"
+      :max="500"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ numIterations: value }, false)"
+    />
+  </div>
+</template>

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

@@ -0,0 +1,84 @@
+<script setup lang="ts">
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { PipelineType, type ActivePipelineSettings } from "@/types/PipelineTypes";
+import PvSlider from "@/components/common/pv-slider.vue";
+import PvSwitch from "@/components/common/pv-switch.vue";
+import PvRangeSlider from "@/components/common/pv-range-slider.vue";
+import PvSelect from "@/components/common/pv-select.vue";
+import { computed, getCurrentInstance } from "vue";
+import { useStateStore } from "@/stores/StateStore";
+
+// TODO fix pipeline typing in order to fix this, the store settings call should be able to infer that only valid pipeline type settings are exposed based on pre-checks for the entire config section
+// Defer reference to store access method
+const currentPipelineSettings = computed<ActivePipelineSettings>(
+  () => useCameraSettingsStore().currentPipelineSettings
+);
+
+const interactiveCols = computed(
+  () =>
+    (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
+    (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)
+)
+  ? 9
+  : 8;
+</script>
+
+<template>
+  <div v-if="currentPipelineSettings.pipelineType === PipelineType.Aruco">
+    <pv-select
+      v-model="currentPipelineSettings.tagFamily"
+      label="Target family"
+      :items="['AprilTag Family 36h11', 'AprilTag Family 25h9', 'AprilTag Family 16h5']"
+      :select-cols="interactiveCols"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ tagFamily: value }, false)"
+    />
+    <pv-switch
+      v-model="currentPipelineSettings.useCornerRefinement"
+      class="pt-2"
+      label="Refine Corners"
+      tooltip="Further refine the initial corners with subpixel accuracy."
+      :switch-cols="interactiveCols"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ useCornerRefinement: value }, false)"
+    />
+    <pv-range-slider
+      v-model="currentPipelineSettings.threshWinSizes"
+      label="Thresh Min/Max Size"
+      tooltip="The minimum and maximum adaptive threshold window size. Larger windows tend more towards global thresholding, but small windows can be weak to noise."
+      :min="3"
+      :max="255"
+      :slider-cols="interactiveCols"
+      :step="2"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ threshWinSizes: value }, false)"
+    />
+    <pv-slider
+      v-model="currentPipelineSettings.threshStepSize"
+      class="pt-2"
+      :slider-cols="interactiveCols"
+      label="Thresh Step Size"
+      tooltip="Smaller values will cause more steps between the min/max sizes. More, varied steps can improve detection robustness to lighting, but may decrease performance."
+      :min="2"
+      :max="128"
+      :step="1"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ threshStepSize: value }, false)"
+    />
+    <pv-slider
+      v-model="currentPipelineSettings.threshConstant"
+      class="pt-2"
+      :slider-cols="interactiveCols"
+      label="Thresh Constant"
+      tooltip="Affects the threshold window mean value cutoff for all steps. Higher values can improve performance, but may harm detection rate."
+      :min="0"
+      :max="128"
+      :step="1"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ threshConstant: value }, false)"
+    />
+    <pv-switch
+      v-model="currentPipelineSettings.debugThreshold"
+      class="pt-2"
+      label="Debug Threshold"
+      tooltip="Display the first threshold step to the color stream."
+      :switch-cols="interactiveCols"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ debugThreshold: value }, false)"
+    />
+  </div>
+</template>

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

@@ -0,0 +1,233 @@
+<script setup lang="ts">
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { type ActivePipelineSettings, PipelineType } from "@/types/PipelineTypes";
+import PvRangeSlider from "@/components/common/pv-range-slider.vue";
+import PvSelect from "@/components/common/pv-select.vue";
+import PvSlider from "@/components/common/pv-slider.vue";
+import { computed, getCurrentInstance } from "vue";
+import { useStateStore } from "@/stores/StateStore";
+
+// TODO fix pipeline typing in order to fix this, the store settings call should be able to infer that only valid pipeline type settings are exposed based on pre-checks for the entire config section
+// Defer reference to store access method
+const currentPipelineSettings = computed<ActivePipelineSettings>(
+  () => useCameraSettingsStore().currentPipelineSettings
+);
+
+// TODO fix pv-range-slider so that store access doesn't need to be deferred
+const contourArea = computed<[number, number]>({
+  get: () => Object.values(useCameraSettingsStore().currentPipelineSettings.contourArea) as [number, number],
+  set: (v) => (useCameraSettingsStore().currentPipelineSettings.contourArea = v)
+});
+const contourRatio = computed<[number, number]>({
+  get: () => Object.values(useCameraSettingsStore().currentPipelineSettings.contourRatio) as [number, number],
+  set: (v) => (useCameraSettingsStore().currentPipelineSettings.contourRatio = v)
+});
+const contourFullness = computed<[number, number]>({
+  get: () => Object.values(useCameraSettingsStore().currentPipelineSettings.contourFullness) as [number, number],
+  set: (v) => (useCameraSettingsStore().currentPipelineSettings.contourFullness = v)
+});
+const contourPerimeter = computed<[number, number]>({
+  get: () =>
+    currentPipelineSettings.value.pipelineType === PipelineType.ColoredShape
+      ? (Object.values(currentPipelineSettings.value.contourPerimeter) as [number, number])
+      : ([0, 0] as [number, number]),
+  set: (v) => {
+    if (currentPipelineSettings.value.pipelineType === PipelineType.ColoredShape) {
+      currentPipelineSettings.value.contourPerimeter = v;
+    }
+  }
+});
+const contourRadius = computed<[number, number]>({
+  get: () =>
+    currentPipelineSettings.value.pipelineType === PipelineType.ColoredShape
+      ? (Object.values(currentPipelineSettings.value.contourRadius) as [number, number])
+      : ([0, 0] as [number, number]),
+  set: (v) => {
+    if (currentPipelineSettings.value.pipelineType === PipelineType.ColoredShape) {
+      currentPipelineSettings.value.contourRadius = v;
+    }
+  }
+});
+
+const interactiveCols = computed(
+  () =>
+    (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
+    (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)
+)
+  ? 9
+  : 8;
+</script>
+
+<template>
+  <div>
+    <pv-range-slider
+      v-model="contourArea"
+      label="Area"
+      :min="0"
+      :max="100"
+      :slider-cols="interactiveCols"
+      :step="0.01"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourArea: value }, false)"
+    />
+    <pv-range-slider
+      v-if="useCameraSettingsStore().currentPipelineType !== PipelineType.ColoredShape"
+      v-model="contourRatio"
+      label="Ratio (W/H)"
+      tooltip="Min and max ratio between the width and height of a contour's bounding rectangle"
+      :min="0"
+      :max="100"
+      :slider-cols="interactiveCols"
+      :step="0.1"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourRatio: value }, false)"
+    />
+    <pv-select
+      v-model="useCameraSettingsStore().currentPipelineSettings.contourTargetOrientation"
+      label="Target Orientation"
+      tooltip="Used to determine how to calculate target landmarks, as well as aspect ratio"
+      :items="['Portrait', 'Landscape']"
+      :select-cols="interactiveCols"
+      @input="
+        (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourTargetOrientation: value }, false)
+      "
+    />
+    <pv-range-slider
+      v-if="useCameraSettingsStore().currentPipelineType === PipelineType.ColoredShape"
+      v-model="contourFullness"
+      label="Fullness"
+      tooltip="Min and max ratio between a contour's area and its bounding rectangle"
+      :min="0"
+      :max="100"
+      :slider-cols="interactiveCols"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourFullness: value }, false)"
+    />
+    <pv-range-slider
+      v-if="currentPipelineSettings.pipelineType === PipelineType.ColoredShape"
+      v-model="contourPerimeter"
+      label="Perimeter"
+      tooltip="Min and max perimeter of the shape, in pixels"
+      :min="0"
+      :max="4000"
+      :slider-cols="interactiveCols"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourPerimeter: value }, false)"
+    />
+    <pv-slider
+      v-model="useCameraSettingsStore().currentPipelineSettings.contourSpecklePercentage"
+      label="Speckle Rejection"
+      tooltip="Rejects contours whose average area is less than the given percentage of the average area of all the other contours"
+      :min="0"
+      :max="100"
+      :slider-cols="interactiveCols"
+      @input="
+        (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourSpecklePercentage: value }, false)
+      "
+    />
+    <template v-if="currentPipelineSettings.pipelineType === PipelineType.Reflective">
+      <pv-slider
+        v-model="currentPipelineSettings.contourFilterRangeX"
+        label="X Filter Tightness"
+        tooltip="Rejects contours whose center X is further than X standard deviations left/right of the mean X location"
+        :min="0.1"
+        :max="4"
+        :step="0.1"
+        :slider-cols="interactiveCols"
+        @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourFilterRangeX: value }, false)"
+      />
+      <pv-slider
+        v-model="currentPipelineSettings.contourFilterRangeY"
+        label="Y Filter Tightness"
+        tooltip="Rejects contours whose center Y is further than X standard deviations above/below the mean Y location"
+        :min="0.1"
+        :max="4"
+        :step="0.1"
+        :slider-cols="interactiveCols"
+        @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourFilterRangeY: value }, false)"
+      />
+      <pv-select
+        v-model="useCameraSettingsStore().currentPipelineSettings.contourGroupingMode"
+        label="Target Grouping"
+        tooltip="Whether or not every two targets are paired with each other (good for e.g. 2019 targets)"
+        :select-cols="interactiveCols"
+        :items="['Single', 'Dual', 'Two or More']"
+        @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourGroupingMode: value }, false)"
+      />
+      <pv-select
+        v-model="useCameraSettingsStore().currentPipelineSettings.contourIntersection"
+        label="Target Intersection"
+        tooltip="If target grouping is in dual mode it will use this dropdown to decide how targets are grouped with adjacent targets"
+        :select-cols="interactiveCols"
+        :items="['None', 'Up', 'Down', 'Left', 'Right']"
+        :disabled="useCameraSettingsStore().currentPipelineSettings.contourGroupingMode === 0"
+        @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourIntersection: value }, false)"
+      />
+    </template>
+    <template v-else-if="currentPipelineSettings.pipelineType === PipelineType.ColoredShape">
+      <v-divider class="mt-3" />
+      <pv-select
+        v-model="currentPipelineSettings.contourShape"
+        label="Target Shape"
+        tooltip="The shape of targets to look for"
+        :select-cols="interactiveCols"
+        :items="['Circle', 'Polygon', 'Triangle', 'Quadrilateral']"
+        @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourShape: value }, false)"
+      />
+      <pv-slider
+        v-model="currentPipelineSettings.accuracyPercentage"
+        :disabled="currentPipelineSettings.contourShape < 1"
+        label="Shape Simplification"
+        tooltip="How much we should simply the input contour before checking how many sides it has"
+        :min="0"
+        :max="100"
+        :slider-cols="interactiveCols"
+        @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ accuracyPercentage: value }, false)"
+      />
+      <pv-slider
+        v-model="currentPipelineSettings.circleDetectThreshold"
+        :disabled="currentPipelineSettings.contourShape !== 0"
+        label="Circle match distance"
+        tooltip="How close the centroid of a contour must be to the center of a circle in order for them to be matched"
+        :min="1"
+        :max="100"
+        :slider-cols="interactiveCols"
+        @input="
+          (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ circleDetectThreshold: value }, false)
+        "
+      />
+      <pv-range-slider
+        v-model="contourRadius"
+        :disabled="currentPipelineSettings.contourShape !== 0"
+        label="Radius"
+        :min="0"
+        :max="100"
+        :slider-cols="interactiveCols"
+        @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourRadius: value }, false)"
+      />
+      <pv-slider
+        v-model="currentPipelineSettings.maxCannyThresh"
+        :disabled="currentPipelineSettings.contourShape !== 0"
+        label="Max Canny Threshold"
+        :min="1"
+        :max="100"
+        :slider-cols="interactiveCols"
+        @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ maxCannyThresh: value }, false)"
+      />
+      <pv-slider
+        v-model="currentPipelineSettings.circleAccuracy"
+        :disabled="currentPipelineSettings.contourShape !== 0"
+        label="Circle Accuracy"
+        :min="1"
+        :max="100"
+        :slider-cols="interactiveCols"
+        @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ circleAccuracy: value }, false)"
+      />
+      <v-divider class="mt-3" />
+    </template>
+    <pv-select
+      v-model="useCameraSettingsStore().currentPipelineSettings.contourSortMode"
+      label="Target Sort"
+      tooltip="Chooses the sorting mode used to determine the 'best' targets to provide to user code"
+      :select-cols="interactiveCols"
+      :items="['Largest', 'Smallest', 'Highest', 'Lowest', 'Rightmost', 'Leftmost', 'Centermost']"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourSortMode: value }, false)"
+    />
+  </div>
+</template>

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

@@ -0,0 +1,159 @@
+<script setup lang="ts">
+import PvSlider from "@/components/common/pv-slider.vue";
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import PvSwitch from "@/components/common/pv-switch.vue";
+import PvSelect from "@/components/common/pv-select.vue";
+import { computed, getCurrentInstance } from "vue";
+import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
+import { useStateStore } from "@/stores/StateStore";
+import { getResolutionString } from "@/lib/PhotonUtils";
+
+// Due to something with libcamera or something else IDK much about, the 90° rotations need to be disabled if the libcamera drivers are being used.
+const cameraRotations = computed(() =>
+  ["Normal", "90° CW", "180°", "90° CCW"].map((v, i) => ({
+    name: v,
+    value: i,
+    disabled: useCameraSettingsStore().isCSICamera ? [1, 3].includes(i) : false
+  }))
+);
+
+const streamDivisors = [1, 2, 4, 6];
+const getFilteredStreamDivisors = (): number[] => {
+  const currentResolutionWidth = useCameraSettingsStore().currentVideoFormat.resolution.width;
+  return streamDivisors.filter(
+    (x) =>
+      useCameraSettingsStore().isDriverMode ||
+      !useSettingsStore().gpuAccelerationEnabled ||
+      currentResolutionWidth / x < 400
+  );
+};
+const getNumberOfSkippedDivisors = () => streamDivisors.length - getFilteredStreamDivisors().length;
+
+const cameraResolutions = computed(() =>
+  useCameraSettingsStore().currentCameraSettings.validVideoFormats.map(
+    (f) => `${getResolutionString(f.resolution)} at ${f.fps} FPS, ${f.pixelFormat}`
+  )
+);
+const handleResolutionChange = (value: number) => {
+  useCameraSettingsStore().changeCurrentPipelineSetting({ cameraVideoModeIndex: value }, false);
+
+  useCameraSettingsStore().changeCurrentPipelineSetting({ streamingFrameDivisor: getNumberOfSkippedDivisors() }, false);
+  useCameraSettingsStore().currentPipelineSettings.streamingFrameDivisor = 0;
+
+  if (!useCameraSettingsStore().isCurrentVideoFormatCalibrated) {
+    useCameraSettingsStore().changeCurrentPipelineSetting({ solvePNPEnabled: false }, true);
+  }
+};
+
+const streamResolutions = computed(() => {
+  const streamDivisors = getFilteredStreamDivisors();
+  const currentResolution = useCameraSettingsStore().currentVideoFormat.resolution;
+  return streamDivisors.map(
+    (x) =>
+      `${getResolutionString({
+        width: Math.floor(currentResolution.width / x),
+        height: Math.floor(currentResolution.height / x)
+      })}`
+  );
+});
+const handleStreamResolutionChange = (value: number) => {
+  useCameraSettingsStore().changeCurrentPipelineSetting(
+    { streamingFrameDivisor: value + getNumberOfSkippedDivisors() },
+    false
+  );
+};
+
+const interactiveCols = computed(
+  () =>
+    (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
+    (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)
+)
+  ? 9
+  : 8;
+</script>
+
+<template>
+  <div>
+    <pv-slider
+      v-model="useCameraSettingsStore().currentPipelineSettings.cameraExposure"
+      :disabled="useCameraSettingsStore().currentCameraSettings.pipelineSettings.cameraAutoExposure"
+      label="Exposure"
+      tooltip="Directly controls how much light is allowed to fall onto the sensor, which affects apparent brightness"
+      :min="0"
+      :max="100"
+      :slider-cols="interactiveCols"
+      :step="0.1"
+      @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraExposure: args }, false)"
+    />
+    <pv-slider
+      v-model="useCameraSettingsStore().currentPipelineSettings.cameraBrightness"
+      label="Brightness"
+      :min="0"
+      :max="100"
+      :slider-cols="interactiveCols"
+      @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraBrightness: args }, false)"
+    />
+    <pv-switch
+      v-model="useCameraSettingsStore().currentPipelineSettings.cameraAutoExposure"
+      class="pt-2"
+      label="Auto Exposure"
+      :switch-cols="interactiveCols"
+      tooltip="Enables or Disables camera automatic adjustment for current lighting conditions"
+      @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraAutoExposure: args }, false)"
+    />
+    <pv-slider
+      v-if="useCameraSettingsStore().currentPipelineSettings.cameraGain >= 0"
+      v-model="useCameraSettingsStore().currentPipelineSettings.cameraGain"
+      label="Camera Gain"
+      tooltip="Controls camera gain, similar to brightness"
+      :min="0"
+      :max="100"
+      :slider-cols="interactiveCols"
+      @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraGain: args }, false)"
+    />
+    <pv-slider
+      v-if="useCameraSettingsStore().currentPipelineSettings.cameraRedGain !== -1"
+      v-model="useCameraSettingsStore().currentPipelineSettings.cameraRedGain"
+      label="Red AWB Gain"
+      :min="0"
+      :max="100"
+      :slider-cols="interactiveCols"
+      tooltip="Controls red automatic white balance gain, which affects how the camera captures colors in different conditions"
+      @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraRedGain: args }, false)"
+    />
+    <pv-slider
+      v-if="useCameraSettingsStore().currentPipelineSettings.cameraBlueGain !== -1"
+      v-model="useCameraSettingsStore().currentPipelineSettings.cameraBlueGain"
+      label="Blue AWB Gain"
+      :min="0"
+      :max="100"
+      :slider-cols="interactiveCols"
+      tooltip="Controls blue automatic white balance gain, which affects how the camera captures colors in different conditions"
+      @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraBlueGain: args }, false)"
+    />
+    <pv-select
+      v-model="useCameraSettingsStore().currentPipelineSettings.inputImageRotationMode"
+      label="Orientation"
+      tooltip="Rotates the camera stream"
+      :items="cameraRotations"
+      :select-cols="interactiveCols"
+      @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ inputImageRotationMode: args }, false)"
+    />
+    <pv-select
+      v-model="useCameraSettingsStore().currentPipelineSettings.cameraVideoModeIndex"
+      label="Resolution"
+      tooltip="Resolution and FPS the camera should directly capture at"
+      :items="cameraResolutions"
+      :select-cols="interactiveCols"
+      @input="(args) => handleResolutionChange(args)"
+    />
+    <pv-select
+      v-model="useCameraSettingsStore().currentPipelineSettings.streamingFrameDivisor"
+      label="Stream Resolution"
+      tooltip="Resolution to which camera frames are downscaled for streaming to the dashboard"
+      :items="streamResolutions"
+      :select-cols="interactiveCols"
+      @input="(args) => handleStreamResolutionChange(args)"
+    />
+  </div>
+</template>

photon-client/src/components/dashboard/tabs/Map3DTab.vue

@@ -0,0 +1,23 @@
+<script setup lang="ts">
+import { computed } from "vue";
+import type { PhotonTarget } from "@/types/PhotonTrackingTypes";
+import { useStateStore } from "@/stores/StateStore";
+import Photon3dVisualizer from "@/components/app/photon-3d-visualizer.vue";
+
+const trackedTargets = computed<PhotonTarget[]>(() => useStateStore().currentPipelineResults?.targets || []);
+</script>
+
+<template>
+  <div>
+    <v-row style="width: 100%">
+      <v-col>
+        <span class="white--text">Target Visualization</span>
+      </v-col>
+    </v-row>
+    <v-row style="width: 100%">
+      <v-col style="display: flex; align-items: center; justify-content: center">
+        <photon3d-visualizer :targets="trackedTargets" />
+      </v-col>
+    </v-row>
+  </div>
+</template>

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

@@ -0,0 +1,225 @@
+<script setup lang="ts">
+import PvSelect from "@/components/common/pv-select.vue";
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { type ActivePipelineSettings, PipelineType, RobotOffsetPointMode } from "@/types/PipelineTypes";
+import PvSwitch from "@/components/common/pv-switch.vue";
+import { computed, getCurrentInstance } from "vue";
+import { RobotOffsetType } from "@/types/SettingTypes";
+import { useStateStore } from "@/stores/StateStore";
+
+const isTagPipeline = computed(
+  () =>
+    useCameraSettingsStore().currentPipelineType === PipelineType.AprilTag ||
+    useCameraSettingsStore().currentPipelineType === PipelineType.Aruco
+);
+
+interface MetricItem {
+  header: string;
+  value?: string;
+}
+
+const offsetPoints = computed<MetricItem[]>(() => {
+  switch (useCameraSettingsStore().currentPipelineSettings.offsetRobotOffsetMode) {
+    case RobotOffsetPointMode.Single:
+      const value = Object.values(useCameraSettingsStore().currentPipelineSettings.offsetSinglePoint);
+      return [{ header: "Offset Point", value: `(${value[0].toFixed(2)}°, ${value[1].toFixed(2)}°)` }];
+    case RobotOffsetPointMode.Dual:
+      const firstPoint = Object.values(useCameraSettingsStore().currentPipelineSettings.offsetDualPointA);
+      const firstPointArea = useCameraSettingsStore().currentPipelineSettings.offsetDualPointAArea;
+      const secondPoint = Object.values(useCameraSettingsStore().currentPipelineSettings.offsetDualPointB);
+      const secondPointArea = useCameraSettingsStore().currentPipelineSettings.offsetDualPointBArea;
+      return [
+        { header: "First Offset Point", value: `(${firstPoint[0].toFixed(2)}°, ${firstPoint[1].toFixed(2)}°)` },
+        { header: "First Offset Point Area", value: `${firstPointArea.toFixed(2)}%` },
+        { header: "Second Offset Point", value: `(${secondPoint[0].toFixed(2)}°, ${secondPoint[1].toFixed(2)}°)` },
+        { header: "Second Offset Point Area", value: `${secondPointArea.toFixed(2)}%` }
+      ];
+    default:
+    case RobotOffsetPointMode.None:
+      return [];
+  }
+});
+
+// TODO fix pipeline typing in order to fix this, the store settings call should be able to infer that only valid pipeline type settings are exposed based on pre-checks for the entire config section
+// Defer reference to store access method
+const currentPipelineSettings = computed<ActivePipelineSettings>(
+  () => useCameraSettingsStore().currentPipelineSettings
+);
+
+const interactiveCols = computed(
+  () =>
+    (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
+    (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)
+)
+  ? 9
+  : 8;
+</script>
+
+<template>
+  <div>
+    <pv-select
+      v-model="useCameraSettingsStore().currentPipelineSettings.contourTargetOffsetPointEdge"
+      label="Target Offset Point"
+      tooltip="Changes where the 'center' of the target is (used for calculating e.g. pitch and yaw)"
+      :items="['Center', 'Top', 'Bottom', 'Left', 'Right']"
+      :select-cols="interactiveCols"
+      @input="
+        (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourTargetOffsetPointEdge: value }, false)
+      "
+    />
+    <pv-select
+      v-if="!isTagPipeline"
+      v-model="useCameraSettingsStore().currentPipelineSettings.contourTargetOrientation"
+      label="Target Orientation"
+      tooltip="Used to determine how to calculate target landmarks (e.g. the top, left, or bottom of the target)"
+      :items="['Portrait', 'Landscape']"
+      :select-cols="interactiveCols"
+      @input="
+        (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourTargetOrientation: value }, false)
+      "
+    />
+    <pv-switch
+      v-model="useCameraSettingsStore().currentPipelineSettings.outputShowMultipleTargets"
+      label="Show Multiple Targets"
+      tooltip="If enabled, up to five targets will be displayed and sent via PhotonLib, instead of just one"
+      :disabled="isTagPipeline"
+      :switch-cols="interactiveCols"
+      @input="
+        (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ outputShowMultipleTargets: value }, false)
+      "
+    />
+    <pv-switch
+      v-if="
+        (currentPipelineSettings.pipelineType === PipelineType.AprilTag ||
+          currentPipelineSettings.pipelineType === PipelineType.Aruco) &&
+        useCameraSettingsStore().isCurrentVideoFormatCalibrated &&
+        useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled
+      "
+      v-model="currentPipelineSettings.doMultiTarget"
+      label="Do Multi-Target Estimation"
+      tooltip="If enabled, all visible fiducial targets will be used to provide a single pose estimate from their combined model."
+      :switch-cols="interactiveCols"
+      :disabled="!isTagPipeline"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ doMultiTarget: value }, false)"
+    />
+    <pv-switch
+      v-if="
+        (currentPipelineSettings.pipelineType === PipelineType.AprilTag ||
+          currentPipelineSettings.pipelineType === PipelineType.Aruco) &&
+        useCameraSettingsStore().isCurrentVideoFormatCalibrated &&
+        useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled
+      "
+      v-model="currentPipelineSettings.doSingleTargetAlways"
+      label="Always Do Single-Target Estimation"
+      tooltip="If disabled, visible fiducial targets used for multi-target estimation will not also be used for single-target estimation."
+      :switch-cols="interactiveCols"
+      :disabled="!isTagPipeline || !currentPipelineSettings.doMultiTarget"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ doSingleTargetAlways: value }, false)"
+    />
+    <v-divider />
+    <table
+      v-if="useCameraSettingsStore().currentPipelineSettings.offsetRobotOffsetMode !== RobotOffsetPointMode.None"
+      class="metrics-table mt-3 mb-3"
+    >
+      <tr>
+        <th v-for="(item, itemIndex) in offsetPoints" :key="itemIndex" class="metric-item metric-item-title">
+          {{ item.header }}
+        </th>
+      </tr>
+      <tr>
+        <td v-for="(item, itemIndex) in offsetPoints" :key="itemIndex" class="metric-item">
+          {{ item.value }}
+        </td>
+      </tr>
+    </table>
+    <pv-select
+      v-model="useCameraSettingsStore().currentPipelineSettings.offsetRobotOffsetMode"
+      label="Robot Offset Mode"
+      tooltip="Used to add an arbitrary offset to the location of the targeting crosshair"
+      :items="['None', 'Single Point', 'Dual Point']"
+      :select-cols="interactiveCols"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ offsetRobotOffsetMode: value }, false)"
+    />
+    <v-row
+      v-if="useCameraSettingsStore().currentPipelineSettings.offsetRobotOffsetMode !== RobotOffsetPointMode.None"
+      align="center"
+      justify="start"
+    >
+      <v-row
+        v-if="useCameraSettingsStore().currentPipelineSettings.offsetRobotOffsetMode === RobotOffsetPointMode.Single"
+      >
+        <v-col>
+          <v-btn
+            small
+            color="accent"
+            style="width: 100%"
+            class="black--text"
+            @click="useCameraSettingsStore().takeRobotOffsetPoint(RobotOffsetType.Single)"
+          >
+            Take Point
+          </v-btn>
+        </v-col>
+      </v-row>
+      <v-row
+        v-else-if="useCameraSettingsStore().currentPipelineSettings.offsetRobotOffsetMode === RobotOffsetPointMode.Dual"
+      >
+        <v-col>
+          <v-btn
+            small
+            color="accent"
+            style="width: 100%"
+            class="black--text"
+            @click="useCameraSettingsStore().takeRobotOffsetPoint(RobotOffsetType.DualFirst)"
+          >
+            Take First Point
+          </v-btn>
+        </v-col>
+        <v-col>
+          <v-btn
+            small
+            color="accent"
+            style="width: 100%"
+            class="black--text"
+            @click="useCameraSettingsStore().takeRobotOffsetPoint(RobotOffsetType.DualSecond)"
+          >
+            Take Second Point
+          </v-btn>
+        </v-col>
+      </v-row>
+      <v-col>
+        <v-btn
+          small
+          color="yellow darken-3"
+          style="width: 100%"
+          @click="useCameraSettingsStore().takeRobotOffsetPoint(RobotOffsetType.Clear)"
+        >
+          Clear All Points
+        </v-btn>
+      </v-col>
+    </v-row>
+  </div>
+</template>
+
+<style scoped>
+.metrics-table {
+  border-collapse: separate;
+  border-spacing: 0;
+  border-radius: 5px;
+  border: 1px solid white;
+  width: 100%;
+  text-align: center;
+}
+
+.metric-item {
+  padding: 1px 15px 1px 10px;
+  border-right: 1px solid;
+  font-weight: normal;
+  color: white;
+}
+
+.metric-item-title {
+  font-size: 18px;
+  text-decoration: underline;
+  text-decoration-color: #ffd843;
+}
+</style>

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

@@ -0,0 +1,48 @@
+<script setup lang="ts">
+import PvSelect from "@/components/common/pv-select.vue";
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { TargetModel } from "@/types/PipelineTypes";
+import PvSlider from "@/components/common/pv-slider.vue";
+import { computed, getCurrentInstance } from "vue";
+import { useStateStore } from "@/stores/StateStore";
+
+const interactiveCols = computed(
+  () =>
+    (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
+    (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)
+)
+  ? 9
+  : 8;
+</script>
+
+<template>
+  <div>
+    <pv-select
+      v-model="useCameraSettingsStore().currentPipelineSettings.targetModel"
+      label="Target Model"
+      :items="[
+        { name: '2016 High Goal', value: TargetModel.StrongholdHighGoal },
+        { name: '2019 Dual Target', value: TargetModel.DeepSpaceDualTarget },
+        { name: '2020 High Goal Outer', value: TargetModel.InfiniteRechargeHighGoalOuter },
+        { name: '2020 Power Cell (7in)', value: TargetModel.CircularPowerCell7in },
+        { name: '2022 Cargo Ball (9.5in)', value: TargetModel.RapidReactCircularCargoBall },
+        { name: '2023 AprilTag 6in (16h5)', value: TargetModel.AprilTag6in_16h5 },
+        { name: '2024 AprilTag 6.5in (36h11)', value: TargetModel.AprilTag6p5in_36h11 }
+      ]"
+      :select-cols="interactiveCols"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ targetModel: value }, false)"
+    />
+    <pv-slider
+      v-model="useCameraSettingsStore().currentPipelineSettings.cornerDetectionAccuracyPercentage"
+      class="pt-2"
+      :slider-cols="interactiveCols"
+      label="Contour simplification Percentage"
+      :min="0"
+      :max="100"
+      @input="
+        (value) =>
+          useCameraSettingsStore().changeCurrentPipelineSetting({ cornerDetectionAccuracyPercentage: value }, false)
+      "
+    />
+  </div>
+</template>

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

@@ -0,0 +1,298 @@
+<script setup lang="ts">
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { type ActivePipelineSettings, PipelineType } from "@/types/PipelineTypes";
+import { useStateStore } from "@/stores/StateStore";
+import { angleModulus, toDeg } from "@/lib/MathUtils";
+import { computed } from "vue";
+
+// TODO fix pipeline typing in order to fix this, the store settings call should be able to infer that only valid pipeline type settings are exposed based on pre-checks for the entire config section
+// Defer reference to store access method
+const currentPipelineSettings = computed<ActivePipelineSettings>(
+  () => useCameraSettingsStore().currentPipelineSettings
+);
+
+const calculateStdDev = (values: number[]): number => {
+  if (values.length < 2) return 0;
+
+  // Use mean of cosine/sine components to handle angle wrapping
+  const cosines = values.map((it) => Math.cos(it));
+  const sines = values.map((it) => Math.sin(it));
+  const cosmean = cosines.reduce((sum, number) => sum + number, 0) / values.length;
+  const sinmean = sines.reduce((sum, number) => sum + number, 0) / values.length;
+
+  // Borrowed from WPILib's Rotation2d
+  const hypot = Math.hypot(cosmean, sinmean);
+  const mean = hypot > 1e-6 ? Math.atan2(sinmean / hypot, cosmean / hypot) : 0;
+
+  return Math.sqrt(values.map((x) => Math.pow(angleModulus(x - mean), 2)).reduce((a, b) => a + b) / values.length);
+};
+const resetCurrentBuffer = () => {
+  // Need to clear the array in place
+  while (useStateStore().currentMultitagBuffer?.length != 0) useStateStore().currentMultitagBuffer?.pop();
+};
+</script>
+
+<template>
+  <div>
+    <v-row align="start" class="pb-4">
+      <v-simple-table dense class="pt-2 pb-12">
+        <template #default>
+          <thead>
+            <tr>
+              <th
+                v-if="
+                  currentPipelineSettings.pipelineType === PipelineType.AprilTag ||
+                  currentPipelineSettings.pipelineType === PipelineType.Aruco
+                "
+                class="text-center white--text"
+              >
+                Fiducial ID
+              </th>
+              <template v-if="!useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled">
+                <th class="text-center white--text">Pitch &theta;&deg;</th>
+                <th class="text-center white--text">Yaw &theta;&deg;</th>
+                <th class="text-center white--text">Skew &theta;&deg;</th>
+                <th class="text-center white--text">Area %</th>
+              </template>
+              <template v-else>
+                <th class="text-center white--text">X meters</th>
+                <th class="text-center white--text">Y meters</th>
+                <th class="text-center white--text">Z Angle &theta;&deg;</th>
+              </template>
+              <template
+                v-if="
+                  (currentPipelineSettings.pipelineType === PipelineType.AprilTag ||
+                    currentPipelineSettings.pipelineType === PipelineType.Aruco) &&
+                  useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled
+                "
+              >
+                <th class="text-center white--text">Ambiguity Ratio</th>
+              </template>
+            </tr>
+          </thead>
+          <tbody>
+            <tr
+              v-for="(target, index) in useStateStore().currentPipelineResults?.targets"
+              :key="index"
+              class="white--text"
+            >
+              <td
+                v-if="
+                  currentPipelineSettings.pipelineType === PipelineType.AprilTag ||
+                  currentPipelineSettings.pipelineType === PipelineType.Aruco
+                "
+                class="text-center"
+              >
+                {{ target.fiducialId }}
+              </td>
+              <template v-if="!useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled">
+                <td class="text-center">{{ target.pitch.toFixed(2) }}&deg;</td>
+                <td class="text-center">{{ target.yaw.toFixed(2) }}&deg;</td>
+                <td class="text-center">{{ target.skew.toFixed(2) }}&deg;</td>
+                <td class="text-center">{{ target.area.toFixed(2) }}&deg;</td>
+              </template>
+              <template v-else>
+                <td class="text-center">{{ target.pose?.x.toFixed(2) }}&nbsp;m</td>
+                <td class="text-center">{{ target.pose?.y.toFixed(2) }}&nbsp;m</td>
+                <td class="text-center">{{ toDeg(target.pose?.angle_z || 0).toFixed(2) }}&deg;</td>
+              </template>
+              <template
+                v-if="
+                  (currentPipelineSettings.pipelineType === PipelineType.AprilTag ||
+                    currentPipelineSettings.pipelineType === PipelineType.Aruco) &&
+                  useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled
+                "
+              >
+                <td class="text-center">
+                  {{ target.ambiguity >= 0 ? target.ambiguity.toFixed(2) : "(In Multi-Target)" }}
+                </td>
+              </template>
+            </tr>
+          </tbody>
+        </template>
+      </v-simple-table>
+    </v-row>
+    <v-container
+      v-if="
+        (currentPipelineSettings.pipelineType === PipelineType.AprilTag ||
+          currentPipelineSettings.pipelineType === PipelineType.Aruco) &&
+        currentPipelineSettings.doMultiTarget &&
+        useCameraSettingsStore().isCurrentVideoFormatCalibrated &&
+        useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled
+      "
+    >
+      <v-row class="pb-4 white--text">
+        <v-card-subtitle class="ma-0 pa-0 pb-4" style="font-size: 16px"
+          >Multi-tag pose, field-to-camera</v-card-subtitle
+        >
+        <v-simple-table dense>
+          <template #default>
+            <thead>
+              <tr class="white--text">
+                <th class="text-center white--text">X meters</th>
+                <th class="text-center white--text">Y meters</th>
+                <th class="text-center white--text">Z meters</th>
+                <th class="text-center white--text">X Angle &theta;&deg;</th>
+                <th class="text-center white--text">Y Angle &theta;&deg;</th>
+                <th class="text-center white--text">Z Angle &theta;&deg;</th>
+                <th class="text-center white--text">Tags</th>
+              </tr>
+            </thead>
+            <tbody v-show="useStateStore().currentPipelineResults?.multitagResult">
+              <tr>
+                <td class="text-center white--text">
+                  {{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.x.toFixed(2) }}&nbsp;m
+                </td>
+                <td class="text-center white--text">
+                  {{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.y.toFixed(2) }}&nbsp;m
+                </td>
+                <td class="text-center white--text">
+                  {{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.z.toFixed(2) }}&nbsp;m
+                </td>
+                <td class="text-center white--text">
+                  {{
+                    toDeg(useStateStore().currentPipelineResults?.multitagResult?.bestTransform.angle_x || 0).toFixed(
+                      2
+                    )
+                  }}&deg;
+                </td>
+                <td class="text-center white--text">
+                  {{
+                    toDeg(useStateStore().currentPipelineResults?.multitagResult?.bestTransform.angle_y || 0).toFixed(
+                      2
+                    )
+                  }}&deg;
+                </td>
+                <td class="text-center white--text">
+                  {{
+                    toDeg(useStateStore().currentPipelineResults?.multitagResult?.bestTransform.angle_z || 0).toFixed(
+                      2
+                    )
+                  }}&deg;
+                </td>
+                <td class="text-center white--text">
+                  {{ useStateStore().currentPipelineResults?.multitagResult?.fiducialIDsUsed }}
+                </td>
+              </tr>
+            </tbody>
+          </template>
+        </v-simple-table>
+      </v-row>
+      <v-row class="pb-4 white--text" style="display: flex; flex-direction: column">
+        <v-card-subtitle class="ma-0 pa-0 pb-4 pr-4" style="font-size: 16px"
+          >Multi-tag pose standard deviation over the last
+          {{ useStateStore().currentMultitagBuffer?.length || "NaN" }}/100 samples
+        </v-card-subtitle>
+        <v-btn color="secondary" class="mb-4 mt-1" style="width: min-content" depressed @click="resetCurrentBuffer"
+          >Reset Samples</v-btn
+        >
+        <v-simple-table dense>
+          <template #default>
+            <thead>
+              <tr>
+                <th class="text-center white--text">X meters</th>
+                <th class="text-center white--text">Y meters</th>
+                <th class="text-center white--text">Z meters</th>
+                <th class="text-center white--text">X Angle &theta;&deg;</th>
+                <th class="text-center white--text">Y Angle &theta;&deg;</th>
+                <th class="text-center white--text">Z Angle &theta;&deg;</th>
+              </tr>
+            </thead>
+            <tbody v-show="useStateStore().currentPipelineResults?.multitagResult">
+              <tr>
+                <td class="text-center white--text">
+                  {{
+                    calculateStdDev(useStateStore().currentMultitagBuffer?.map((v) => v.bestTransform.x) || []).toFixed(
+                      5
+                    )
+                  }}&nbsp;m
+                </td>
+                <td class="text-center white--text">
+                  {{
+                    calculateStdDev(useStateStore().currentMultitagBuffer?.map((v) => v.bestTransform.y) || []).toFixed(
+                      5
+                    )
+                  }}&nbsp;m
+                </td>
+                <td class="text-center white--text">
+                  {{
+                    calculateStdDev(useStateStore().currentMultitagBuffer?.map((v) => v.bestTransform.z) || []).toFixed(
+                      5
+                    )
+                  }}&nbsp;m
+                </td>
+                <td class="text-center white--text">
+                  {{
+                    calculateStdDev(
+                      useStateStore().currentMultitagBuffer?.map((v) => toDeg(v.bestTransform.angle_x)) || []
+                    ).toFixed(5)
+                  }}&deg;
+                </td>
+                <td class="text-center white--text">
+                  {{
+                    calculateStdDev(
+                      useStateStore().currentMultitagBuffer?.map((v) => toDeg(v.bestTransform.angle_y)) || []
+                    ).toFixed(5)
+                  }}&deg;
+                </td>
+                <td class="text-center white--text">
+                  {{
+                    calculateStdDev(
+                      useStateStore().currentMultitagBuffer?.map((v) => toDeg(v.bestTransform.angle_z)) || []
+                    ).toFixed(5)
+                  }}&deg;
+                </td>
+              </tr>
+            </tbody>
+          </template>
+        </v-simple-table>
+      </v-row>
+    </v-container>
+  </div>
+</template>
+
+<style scoped lang="scss">
+.v-data-table {
+  background-color: #006492 !important;
+  width: 100%;
+  font-size: 1rem !important;
+
+  thead {
+    tr {
+      th {
+        font-size: 1rem !important;
+        color: white !important;
+      }
+    }
+  }
+  tbody {
+    :hover {
+      td {
+        background-color: #005281 !important;
+      }
+    }
+    tr {
+      td {
+        font-size: 1rem !important;
+        color: white !important;
+      }
+    }
+  }
+
+  ::-webkit-scrollbar {
+    width: 0;
+    height: 0.55em;
+    border-radius: 5px;
+  }
+
+  ::-webkit-scrollbar-track {
+    -webkit-box-shadow: inset 0 0 6px rgba(0, 0, 0, 0.3);
+    border-radius: 10px;
+  }
+
+  ::-webkit-scrollbar-thumb {
+    background-color: #ffd843;
+    border-radius: 10px;
+  }
+}
+</style>

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

@@ -0,0 +1,249 @@
+<script setup lang="ts">
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { computed, getCurrentInstance, onBeforeUnmount, onMounted } from "vue";
+import PvRangeSlider from "@/components/common/pv-range-slider.vue";
+import PvSwitch from "@/components/common/pv-switch.vue";
+import { useStateStore } from "@/stores/StateStore";
+import { ColorPicker, type HSV } from "@/lib/ColorPicker";
+
+const averageHue = computed<number>(() => {
+  const isHueInverted = useCameraSettingsStore().currentPipelineSettings.hueInverted;
+  let val = Object.values(useCameraSettingsStore().currentPipelineSettings.hsvHue).reduce((a, b) => a + b, 0);
+
+  if (isHueInverted) val += 180;
+  if (val > 360) val -= 360;
+
+  return val;
+});
+
+// TODO fix pv-range-slider so that store access doesn't need to be deferred
+const hsvHue = computed<[number, number]>({
+  get: () => Object.values(useCameraSettingsStore().currentPipelineSettings.hsvHue) as [number, number],
+  set: (v) => (useCameraSettingsStore().currentPipelineSettings.hsvHue = v)
+});
+const hsvSaturation = computed<[number, number]>({
+  get: () => Object.values(useCameraSettingsStore().currentPipelineSettings.hsvSaturation) as [number, number],
+  set: (v) => (useCameraSettingsStore().currentPipelineSettings.hsvSaturation = v)
+});
+const hsvValue = computed<[number, number]>({
+  get: () => Object.values(useCameraSettingsStore().currentPipelineSettings.hsvValue) as [number, number],
+  set: (v) => (useCameraSettingsStore().currentPipelineSettings.hsvValue = v)
+});
+
+let selectedEventMode: 0 | 1 | 2 | 3 = 0;
+const handleStreamClick = (event: MouseEvent) => {
+  if (!useStateStore().colorPickingMode || selectedEventMode === 0) return;
+
+  const cameraStream = document.getElementById("input-camera-stream");
+  if (cameraStream === null) return;
+
+  const canvas = document.createElement("canvas");
+  canvas.width = cameraStream.clientWidth;
+  canvas.height = cameraStream.clientHeight;
+
+  // Get the (x, y) position of the click with (0, 0) in the top left corner
+  const rect = cameraStream.getBoundingClientRect();
+  const x = Math.round(((event.clientX - rect.left) / rect.width) * cameraStream.clientWidth);
+  const y = Math.round(((event.clientY - rect.top) / rect.height) * cameraStream.clientHeight);
+
+  const context = canvas.getContext("2d");
+  if (context === null) return;
+
+  context.drawImage(cameraStream as CanvasImageSource, 0, 0, cameraStream.clientWidth, cameraStream.clientHeight);
+  const colorPicker = new ColorPicker(context.getImageData(x, y, 1, 1).data);
+
+  // Calculate HSV values based on the mode
+  let selectedHSVData: [HSV, HSV] = [
+    [0, 0, 0],
+    [0, 0, 0]
+  ];
+  if (selectedEventMode === 1) {
+    selectedHSVData = colorPicker.selectedColorRange();
+  } else {
+    const currentHue = Object.values(useCameraSettingsStore().currentPipelineSettings.hsvHue);
+    const currentSaturation = Object.values(useCameraSettingsStore().currentPipelineSettings.hsvSaturation);
+    const currentValue = Object.values(useCameraSettingsStore().currentPipelineSettings.hsvValue);
+
+    const currentData: [HSV, HSV] = [
+      [currentHue[0], currentSaturation[0], currentValue[0]],
+      [currentHue[1], currentSaturation[1], currentValue[1]]
+    ];
+
+    if (selectedEventMode === 2) {
+      selectedHSVData = colorPicker.expandColorRange(currentData);
+    } else if (selectedEventMode === 3) {
+      selectedHSVData = colorPicker.shrinkColorRange(currentData);
+    }
+  }
+
+  // Update the store and backend with the new HSV values
+  useCameraSettingsStore().changeCurrentPipelineSetting(
+    {
+      hsvHue: [selectedHSVData[0][0], selectedHSVData[1][0]],
+      hsvSaturation: [selectedHSVData[0][1], selectedHSVData[1][1]],
+      hsvValue: [selectedHSVData[0][2], selectedHSVData[1][2]]
+    },
+    true
+  );
+
+  disableColorPicking();
+};
+
+// Put some default values in case color picking was enabled before the enableColorPicking method is called
+let inputShowing = true;
+let outputShowing = false;
+const enableColorPicking = (mode: 1 | 2 | 3) => {
+  useStateStore().colorPickingMode = true;
+  inputShowing = useCameraSettingsStore().currentPipelineSettings.inputShouldShow;
+  outputShowing = useCameraSettingsStore().currentPipelineSettings.outputShouldShow;
+  useCameraSettingsStore().changeCurrentPipelineSetting(
+    { outputShouldDraw: false, inputShouldShow: true, outputShouldShow: false },
+    true
+  );
+  selectedEventMode = mode;
+};
+const disableColorPicking = () => {
+  useStateStore().colorPickingMode = false;
+  useCameraSettingsStore().changeCurrentPipelineSetting(
+    { outputShouldDraw: true, inputShouldShow: inputShowing, outputShouldShow: outputShowing },
+    true
+  );
+  selectedEventMode = 0;
+};
+
+onMounted(() => {
+  const cameraStream = document.getElementById("input-camera-stream");
+  if (cameraStream === null) return;
+
+  cameraStream.addEventListener("click", handleStreamClick);
+});
+onBeforeUnmount(() => {
+  const cameraStream = document.getElementById("input-camera-stream");
+  if (cameraStream === null) return;
+
+  cameraStream.removeEventListener("click", handleStreamClick);
+});
+
+const interactiveCols = computed(
+  () =>
+    (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
+    (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)
+)
+  ? 9
+  : 8;
+</script>
+
+<template>
+  <div class="threshold-modifiers" :style="{ '--averageHue': averageHue }">
+    <pv-range-slider
+      id="hue-slider"
+      v-model="hsvHue"
+      :class="useCameraSettingsStore().currentPipelineSettings.hueInverted ? 'inverted-slider' : 'normal-slider'"
+      label="Hue"
+      tooltip="Describes color"
+      :min="0"
+      :max="180"
+      :slider-cols="interactiveCols"
+      :inverted="useCameraSettingsStore().currentPipelineSettings.hueInverted"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ hsvHue: value }, false)"
+    />
+    <pv-range-slider
+      id="sat-slider"
+      v-model="hsvSaturation"
+      class="normal-slider"
+      label="Saturation"
+      tooltip="Describes colorfulness; the smaller this value the 'whiter' the color becomes"
+      :min="0"
+      :max="255"
+      :slider-cols="interactiveCols"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ hsvSaturation: value }, false)"
+    />
+    <pv-range-slider
+      id="value-slider"
+      v-model="hsvValue"
+      class="normal-slider"
+      label="Value"
+      tooltip="Describes lightness; the smaller this value the 'blacker' the color becomes"
+      :min="0"
+      :max="255"
+      :slider-cols="interactiveCols"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ hsvValue: value }, false)"
+    />
+    <pv-switch
+      v-model="useCameraSettingsStore().currentPipelineSettings.hueInverted"
+      label="Invert Hue"
+      :switch-cols="interactiveCols"
+      tooltip="Selects the hue range outside of the hue slider bounds instead of inside"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ hueInverted: value }, false)"
+    />
+    <v-divider class="mt-3" />
+    <div>
+      <div class="pt-3 white--text">Color Picker</div>
+      <v-row justify="center" class="mt-3 mb-3">
+        <template v-if="!useStateStore().colorPickingMode">
+          <v-btn
+            color="accent"
+            class="ma-2 black--text"
+            small
+            @click="enableColorPicking(useCameraSettingsStore().currentPipelineSettings.hueInverted ? 2 : 3)"
+          >
+            <v-icon left> mdi-minus </v-icon>
+            Shrink Range
+          </v-btn>
+          <v-btn color="accent" class="ma-2 black--text" small @click="enableColorPicking(1)">
+            <v-icon left> mdi-plus-minus </v-icon>
+            {{ useCameraSettingsStore().currentPipelineSettings.hueInverted ? "Exclude" : "Set to" }} Average
+          </v-btn>
+          <v-btn
+            color="accent"
+            class="ma-2 black--text"
+            small
+            @click="enableColorPicking(useCameraSettingsStore().currentPipelineSettings.hueInverted ? 3 : 2)"
+          >
+            <v-icon left> mdi-plus </v-icon>
+            Expand Range
+          </v-btn>
+        </template>
+        <template v-else>
+          <v-btn color="accent" class="ma-2 black--text" style="width: 30%" small @click="disableColorPicking">
+            Cancel
+          </v-btn>
+        </template>
+      </v-row>
+    </div>
+  </div>
+</template>
+
+<style scoped lang="css">
+.threshold-modifiers {
+  --averageHue: 0;
+}
+#hue-slider >>> .v-slider {
+  background: linear-gradient(to right, #f00 0%, #ff0 17%, #0f0 33%, #0ff 50%, #00f 67%, #f0f 83%, #f00 100%);
+  border-radius: 10px;
+  /* prettier-ignore */
+  box-shadow: 0 0 5px #333, inset 0 0 3px #333;
+}
+#sat-slider >>> .v-slider {
+  background: linear-gradient(to right, #fff 0%, hsl(var(--averageHue), 100%, 50%) 100%);
+  border-radius: 10px;
+  /* prettier-ignore */
+  box-shadow: 0 0 5px #333, inset 0 0 3px #333;
+}
+#value-slider >>> .v-slider {
+  background: linear-gradient(to right, #000 0%, hsl(var(--averageHue), 100%, 50%) 100%);
+  border-radius: 10px;
+  /* prettier-ignore */
+  box-shadow: 0 0 5px #333, inset 0 0 3px #333;
+}
+>>> .v-slider__thumb {
+  outline: black solid thin;
+}
+.normal-slider >>> .v-slider__track-fill {
+  outline: black solid thin;
+}
+
+.inverted-slider >>> .v-slider__track-background {
+  outline: black solid thin;
+}
+</style>

photon-client/src/components/pipeline/3D/MiniMap.vue

@@ -1,154 +0,0 @@
-<template>
-  <div>
-    <v-row>
-      <v-col
-        align="center"
-        cols="12"
-      >
-        <span class="white--text">Target Location</span>
-        <canvas
-          id="canvasId"
-          class="mt-2"
-          width="800"
-          height="800"
-        />
-      </v-col>
-    </v-row>
-  </div>
-</template>
-
-<script>
-    import theme from "../../../theme";
-
-    export default {
-        name: "MiniMap",
-        props: {
-          // eslint-disable-next-line vue/require-default-prop
-          targets: Array,
-          // eslint-disable-next-line vue/require-default-prop
-          horizontalFOV: Number
-        },
-        data() {
-            return {
-                ctx: undefined,
-                canvas: undefined,
-                x: 0,
-                y: 0,
-                targetWidth: 40,
-                targetHeight: 6
-            }
-        },
-        computed: {
-            hLen: {
-                get() {
-                    return Math.tan(this.horizontalFOV / 2 * Math.PI / 180) * 150;
-                }
-            }
-        },
-        watch: {
-            targets: {
-                deep: true,
-                handler() {
-                    this.draw();
-                }
-            },
-            horizontalFOV() {
-                this.draw();
-            }
-        },
-        mounted: function () {
-            const canvas = document.getElementById("canvasId"); // getting the canvas element
-            const ctx = canvas.getContext("2d"); // getting the canvas context
-            this.canvas = canvas; // setting the canvas as a vue variable
-            this.ctx = ctx; // setting the canvas context as a vue variable
-            this.grad = this.ctx.createLinearGradient(400, 800, 400, 600);
-            this.grad.addColorStop(0, "rgb(119,119,119)");
-            this.grad.addColorStop(0.05, "rgba(14,92,22,0.96)");
-            this.grad.addColorStop(0.8, 'rgba(43,43,43,0.48)');
-
-            // setting canvas context values for drawing
-
-
-            this.ctx.font = "26px Arial";
-            this.ctx.strokeStyle = "whitesmoke";
-            this.ctx.lineWidth = 2;
-
-            this.$nextTick(function () {
-                this.drawPlayer();
-            });
-        },
-        methods: {
-            draw() {
-                this.clearBoard();
-                this.drawPlayer();
-                for (let index in this.targets) {
-                    this.drawTarget(index, this.targets[index].pose);
-                }
-            },
-            drawTarget(index, target) {
-                // first save the untranslated/unrotated context
-                let x = 800 - (160 * target.x); // getting meters as pixels
-                let y = 400 - (160 * target.y);
-                this.ctx.save();
-                this.ctx.beginPath();
-                // move the rotation point to the center of the rect
-                this.ctx.translate(y + this.targetWidth / 2, x + this.targetHeight / 2); // wpi lib makes x forward and back and y left to right
-                // rotate the rect
-                this.ctx.rotate(target.rot * -1 * Math.PI / 180.0);
-
-                // draw the rect on the transformed context
-                // Note: after transforming [0,0] is visually [x,y]
-                //       so the rect needs to be offset accordingly when drawn
-                this.ctx.rect(-this.targetWidth / 2, -this.targetHeight / 2, this.targetWidth, this.targetHeight);
-
-                this.ctx.fillStyle = theme.accent;
-                this.ctx.fill();
-
-                // restore the context to its untranslated/unrotated state
-                this.ctx.restore();
-                this.ctx.fillStyle = "whitesmoke";
-                this.ctx.beginPath();
-                this.ctx.arc(y + this.targetWidth / 2, x + this.targetHeight / 2, 3, 0, 2 * Math.PI, true);
-                this.ctx.fill();
-                this.ctx.fillText(index, y - 30, x - 5);
-
-            },
-            drawPlayer() {
-                this.ctx.beginPath();
-                this.ctx.moveTo(400, 820);
-                this.ctx.lineTo(400 + this.hLen, 650);
-                this.ctx.lineTo(400 - this.hLen, 650);
-                this.ctx.closePath();
-                this.ctx.fillStyle = this.grad;
-                this.ctx.fill();
-                this.ctx.beginPath();
-                this.ctx.moveTo(400, 820);
-                this.ctx.lineTo(400 + this.hLen, 650);
-                this.ctx.stroke();
-                this.ctx.moveTo(400, 820);
-                this.ctx.lineTo(400 - this.hLen, 650);
-                this.ctx.stroke();
-
-            },
-            clearBoard() {
-                this.ctx.clearRect(0, 0, this.canvas.width, this.canvas.height); // clearing the canvas
-            }
-        }
-    }
-</script>
-
-<style scoped>
-    #canvasId {
-        width: 400px;
-        height: 400px;
-        background-color: #232C37;
-        border-radius: 5px;
-        border: 2px solid grey;
-        box-shadow: 0 0 5px 1px;
-    }
-
-    th {
-        width: 80px;
-        text-align: center;
-    }
-</style>

photon-client/src/components/pipeline/CameraAndPipelineSelect.vue

@@ -1,375 +0,0 @@
-<template>
-  <div>
-    <v-row align="center">
-      <v-col
-        cols="10"
-        md="5"
-        lg="10"
-        class="pt-0 pb-0 pl-6"
-      >
-        <CVselect
-          v-if="isCameraNameEdit === false"
-          v-model="currentCameraIndex"
-          name="Camera"
-          :list="$store.getters.cameraList"
-          @input="handleInput('currentCamera',currentCameraIndex)"
-        />
-        <CVinput
-          v-else
-          v-model="newCameraName"
-          name="Camera"
-          input-cols="9"
-          :error-message="checkCameraName"
-          @Enter="saveCameraNameChange"
-        />
-      </v-col>
-      <v-col
-        cols="2"
-        md="1"
-        lg="2"
-      >
-        <CVicon
-          v-if="isCameraNameEdit === false"
-          color="#c5c5c5"
-          :hover="true"
-          text="edit"
-          tooltip="Edit camera name"
-          @click="changeCameraName"
-        />
-        <div v-else>
-          <CVicon
-            color="#c5c5c5"
-            style="display: inline-block;"
-            :hover="true"
-            text="save"
-            tooltip="Save Camera Name"
-            @click="saveCameraNameChange"
-          />
-          <CVicon
-            color="error"
-            style="display: inline-block;"
-            :hover="true"
-            text="close"
-            tooltip="Discard Changes"
-            @click="discardCameraNameChange"
-          />
-        </div>
-      </v-col>
-      <v-col
-        cols="10"
-        md="5"
-        lg="10"
-        class="pt-0 pb-0 pl-6"
-      >
-        <CVselect
-          v-model="currentPipelineIndex"
-          name="Pipeline"
-          tooltip="Each pipeline runs on a camera output and stores a unique set of processing settings"
-          :disabled="$store.getters.isDriverMode"
-          :list="($store.getters.isDriverMode ? ['Driver Mode'] : []).concat($store.getters.pipelineList)"
-          @input="handleInputWithIndex('currentPipeline', currentPipelineIndex)"
-        />
-      </v-col>
-      <v-col
-        cols="2"
-        md="1"
-        lg="2"
-      >
-        <v-menu
-          v-if="!$store.getters.isDriverMode"
-          offset-y
-          auto
-        >
-          <template v-slot:activator="{ on }">
-            <v-icon
-              color="#c5c5c5"
-              v-on="on"
-            >
-              menu
-            </v-icon>
-          </template>
-          <v-list dense>
-            <v-list-item @click="toPipelineNameChange">
-              <v-list-item-title>
-                <CVicon
-                  color="#c5c5c5"
-                  :right="true"
-                  text="edit"
-                  tooltip="Edit pipeline name"
-                />
-              </v-list-item-title>
-            </v-list-item>
-            <v-list-item @click="toCreatePipeline">
-              <v-list-item-title>
-                <CVicon
-                  color="#c5c5c5"
-                  :right="true"
-                  text="add"
-                  tooltip="Add new pipeline"
-                />
-              </v-list-item-title>
-            </v-list-item>
-            <v-list-item @click="deleteCurrentPipeline">
-              <v-list-item-title>
-                <CVicon
-                  color="red darken-2"
-                  :right="true"
-                  text="delete"
-                  tooltip="Delete pipeline"
-                />
-              </v-list-item-title>
-            </v-list-item>
-            <v-list-item @click="openDuplicateDialog">
-              <v-list-item-title>
-                <CVicon
-                  color="#c5c5c5"
-                  :right="true"
-                  text="mdi-content-copy"
-                  tooltip="Duplicate pipeline"
-                />
-              </v-list-item-title>
-            </v-list-item>
-          </v-list>
-        </v-menu>
-      </v-col>
-    </v-row>
-    <!--pipeline duplicate dialog-->
-    <v-dialog
-      v-model="duplicateDialog"
-      dark
-      width="500"
-      height="357"
-    >
-      <v-card dark>
-        <v-card-title
-          class="headline"
-          primary-title
-        >
-          Duplicate Pipeline
-        </v-card-title>
-        <v-card-text>
-          <CVselect
-            v-model="pipeIndexToDuplicate"
-            name="Pipeline"
-            :list="$store.getters.pipelineList"
-          />
-        </v-card-text>
-        <v-divider />
-        <v-card-actions>
-          <v-spacer />
-          <v-btn
-            color="#ffd843"
-            @click="duplicatePipeline"
-          >
-            Duplicate
-          </v-btn>
-          <v-btn
-            color="error"
-            @click="closeDuplicateDialog"
-          >
-            Cancel
-          </v-btn>
-        </v-card-actions>
-      </v-card>
-    </v-dialog>
-    <!--pipeline naming dialog-->
-    <v-dialog
-      v-model="namingDialog"
-      dark
-      width="500"
-      height="357"
-    >
-      <v-card dark>
-        <v-card-title
-          class="headline"
-          primary-title
-        >
-          Pipeline Name
-        </v-card-title>
-        <v-card-text>
-          <CVinput
-            v-model="newPipelineName"
-            name="Pipeline"
-            :error-message="checkPipelineName"
-            @Enter="savePipelineNameChange"
-          />
-        </v-card-text>
-        <v-divider />
-        <v-card-actions>
-          <v-spacer />
-          <v-btn
-            color="#ffd843"
-            :disabled="checkPipelineName !==''"
-            @click="savePipelineNameChange"
-          >
-            Save
-          </v-btn>
-          <v-btn
-            color="error"
-            @click="discardPipelineNameChange"
-          >
-            Cancel
-          </v-btn>
-        </v-card-actions>
-      </v-card>
-    </v-dialog>
-  </div>
-</template>
-
-<script>
-    import CVicon from '../common/cv-icon'
-    import CVselect from '../common/cv-select'
-    import CVinput from '../common/cv-input'
-
-    export default {
-        name: "CameraAndPipelineSelect",
-        components: {
-            CVicon,
-            CVselect,
-            CVinput
-        },
-        data: () => {
-            return {
-                re: RegExp("^[A-Za-z0-9 \\-)(]*[A-Za-z0-9][A-Za-z0-9 \\-)(.]*$"),
-                isCameraNameEdit: false,
-                newCameraName: "",
-                cameraNameError: "",
-                isPipelineNameEdit: false,
-                namingDialog: false,
-                newPipelineName: "",
-                duplicateDialog: false,
-                pipeIndexToDuplicate: undefined
-            }
-        },
-        computed: {
-            checkCameraName() {
-                if (this.newCameraName !== this.$store.getters.cameraList[this.currentCameraIndex]) {
-                    if (this.re.test(this.newCameraName)) {
-                        for (let cam in this.cameraList) {
-                            if (this.cameraList.hasOwnProperty(cam)) {
-                                if (this.newCameraName === this.cameraList[cam]) {
-                                    return "A camera by that name already Exists"
-                                }
-                            }
-                        }
-                    } else {
-                        return "A camera name can only contain letters, numbers and spaces"
-                    }
-                }
-                return "";
-            },
-            checkPipelineName() {
-                if (this.newPipelineName !== this.$store.getters.pipelineList[this.currentPipelineIndex - 1] || this.isPipelineNameEdit === false) {
-                    if (this.re.test(this.newPipelineName)) {
-                        for (let pipe in this.$store.getters.pipelineList) {
-                            if (this.$store.getters.pipelineList.hasOwnProperty(pipe)) {
-                                if (this.newPipelineName === this.$store.getters.pipelineList[pipe]) {
-                                    return "A pipeline with this name already exists"
-                                }
-                            }
-                        }
-                    } else {
-                        return "A pipeline name can only contain letters, numbers, and spaces"
-                    }
-                }
-                return ""
-            },
-            currentCameraIndex: {
-                get() {
-                    return this.$store.getters.currentCameraIndex;
-                },
-                set(value) {
-                    this.$store.commit('currentCameraIndex', value);
-                }
-            },
-            currentPipelineIndex: {
-                get() {
-                    return this.$store.getters.currentPipelineIndex + (this.$store.getters.isDriverMode ? 1 : 0);
-                },
-                set(value) {
-                    this.$store.commit('currentPipelineIndex', value - (this.$store.getters.isDriverMode ? 1 : 0));
-                }
-            }
-        },
-        methods: {
-            changeCameraName() {
-                this.newCameraName = this.$store.getters.cameraList[this.currentCameraIndex];
-                this.isCameraNameEdit = true;
-            },
-            saveCameraNameChange() {
-                if (this.checkCameraName === "") {
-                    // this.handleInputWithIndex("changeCameraName", this.newCameraName);
-                    this.axios.post('http://' + this.$address + '/api/setCameraNickname',
-                        {name: this.newCameraName, cameraIndex: this.$store.getters.currentCameraIndex})
-                        // eslint-disable-next-line
-                        .then(r => {
-                            this.$emit('camera-name-changed')
-                        })
-                        .catch(e => {
-                            console.log("HTTP error while changing camera name " + e);
-                            this.$emit('camera-name-changed')
-                        })
-                    this.discardCameraNameChange();
-                }
-            },
-            discardCameraNameChange() {
-                this.isCameraNameEdit = false;
-                this.newCameraName = "";
-            },
-            toPipelineNameChange() {
-                this.newPipelineName = this.$store.getters.pipelineList[this.currentPipelineIndex - 1];
-                this.isPipelineNameEdit = true;
-                this.namingDialog = true;
-            },
-            toCreatePipeline() {
-                this.newPipelineName = "New Pipeline";
-                this.isPipelineNameEdit = false;
-                this.namingDialog = true;
-            },
-            openDuplicateDialog() {
-                this.pipeIndexToDuplicate = this.currentPipelineIndex - 1;
-                this.duplicateDialog = true;
-            },
-            deleteCurrentPipeline() {
-                if (this.$store.getters.pipelineList.length > 1) {
-                    this.handleInputWithIndex('deleteCurrentPipeline', {});
-                } else {
-                    this.snackbar = true;
-                }
-            },
-            savePipelineNameChange() {
-                if (this.checkPipelineName === "") {
-                    if (this.isPipelineNameEdit) {
-                        this.handleInputWithIndex("changePipelineName", this.newPipelineName);
-                    } else {
-                        this.handleInputWithIndex("addNewPipeline", this.newPipelineName);
-                    }
-                    this.discardPipelineNameChange();
-                }
-            },
-            duplicatePipeline() {
-                // if (!this.anotherCamera) {
-                //     this.pipelineDuplicate.camera = -1
-                // }
-                this.handleInputWithIndex("duplicatePipeline", this.pipeIndexToDuplicate);
-                // this.axios.post("http://" + this.$address + "/api/vision/duplicate", this.pipeIndexToDuplicate);
-
-                this.closeDuplicateDialog();
-            },
-            closeDuplicateDialog() {
-                this.duplicateDialog = false;
-                this.pipeIndexToDuplicate = undefined;
-            },
-            discardPipelineNameChange() {
-                this.namingDialog = false;
-                this.isPipelineNameEdit = false;
-                this.newPipelineName = "";
-            },
-        }
-
-    }
-</script>
-
-<style scoped>
-
-</style>

photon-client/src/components/pipeline/OutputTab/DualCalibration.vue

@@ -1,63 +0,0 @@
-<template>
-  <div>
-    <v-row
-      align="center"
-      justify="start"
-    >
-      <v-col cols="4">
-        <v-btn
-          small
-          color="accent"
-          style="width: 100%;"
-          class="black--text"
-          @click="takePointA"
-        >
-          Take Point A
-        </v-btn>
-      </v-col>
-      <v-col cols="4">
-        <v-btn
-          small
-          color="accent"
-          style="width: 100%;"
-          class="black--text"
-          @click="takePointB"
-        >
-          Take Point B
-        </v-btn>
-      </v-col>
-      <v-col cols="4">
-        <v-btn
-          small
-          color="yellow darken-3"
-          style="width: 100%;"
-          @click="clearPoints"
-        >
-          Clear All Points
-        </v-btn>
-      </v-col>
-    </v-row>
-  </div>
-</template>
-
-<script>
-    export default {
-        name: "DualCalibration",
-
-        methods: {
-            clearPoints() {
-              this.handleInputWithIndex("robotOffsetPoint", 0, this.$store.state.currentCameraIndex)
-            },
-            takePointA() {
-              this.handleInputWithIndex("robotOffsetPoint", 2, this.$store.state.currentCameraIndex)
-            },
-            takePointB() {
-              this.handleInputWithIndex("robotOffsetPoint", 3, this.$store.state.currentCameraIndex)
-            }
-        }
-    }
-</script>
-
-<style scoped>
-
-</style>

photon-client/src/components/pipeline/OutputTab/SingleCalibration.vue

@@ -1,48 +0,0 @@
-<template>
-  <div>
-    <v-row
-      align="center"
-      justify="start"
-    >
-      <v-col cols="6">
-        <v-btn
-          small
-          color="accent"
-          class="black--text"
-          style="width: 100%;"
-          @click="takePoint"
-        >
-          Take Point
-        </v-btn>
-      </v-col>
-      <v-col cols="6">
-        <v-btn
-          small
-          color="yellow darken-3"
-          style="width: 100%;"
-          @click="clearPoint"
-        >
-          Clear Point
-        </v-btn>
-      </v-col>
-    </v-row>
-  </div>
-</template>
-
-<script>
-    export default {
-        name: "SingleCalibration",
-        methods: {
-            clearPoint() {
-              this.handleInputWithIndex("robotOffsetPoint", 0, this.$store.state.currentCameraIndex)
-            },
-            takePoint() {
-              this.handleInputWithIndex("robotOffsetPoint", 1, this.$store.state.currentCameraIndex)
-            }
-        }
-    }
-</script>
-
-<style scoped>
-
-</style>

photon-client/src/components/settings/ApriltagControlCard.vue

@@ -0,0 +1,93 @@
+<script setup lang="ts">
+import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
+import { Euler, Quaternion as ThreeQuat } from "three";
+import type { Quaternion } from "@/types/PhotonTrackingTypes";
+import { toDeg } from "@/lib/MathUtils";
+
+const quaternionToEuler = (rot_quat: Quaternion): { x: number; y: number; z: number } => {
+  const quat = new ThreeQuat(rot_quat.X, rot_quat.Y, rot_quat.Z, rot_quat.W);
+  const euler = new Euler().setFromQuaternion(quat, "ZYX");
+
+  return {
+    x: toDeg(euler.x),
+    y: toDeg(euler.y),
+    z: toDeg(euler.z)
+  };
+};
+</script>
+
+<template>
+  <v-card dark class="pr-6 pb-3" style="background-color: #006492">
+    <v-card-title>AprilTag Field Layout</v-card-title>
+    <div class="ml-5">
+      <p>Field width: {{ useSettingsStore().currentFieldLayout.field.width.toFixed(2) }} meters</p>
+      <p>Field length: {{ useSettingsStore().currentFieldLayout.field.length.toFixed(2) }} meters</p>
+
+      <!-- Simple table height must be set here and in the CSS for the fixed-header to work -->
+      <v-simple-table fixed-header height="100%" dense dark>
+        <template #default>
+          <thead style="font-size: 1.25rem">
+            <tr>
+              <th class="text-center">ID</th>
+              <th class="text-center">X meters</th>
+              <th class="text-center">Y meters</th>
+              <th class="text-center">Z meters</th>
+              <th class="text-center">θ<sub>x</sub>&deg;</th>
+              <th class="text-center">θ<sub>y</sub>&deg;</th>
+              <th class="text-center">θ<sub>z</sub>&deg;</th>
+            </tr>
+          </thead>
+          <tbody>
+            <tr v-for="(tag, index) in useSettingsStore().currentFieldLayout.tags" :key="index">
+              <td>{{ tag.ID }}</td>
+              <td v-for="(val, idx) in Object.values(tag.pose.translation)" :key="idx">{{ val.toFixed(2) }}&nbsp;m</td>
+              <td v-for="(val, idx) in Object.values(quaternionToEuler(tag.pose.rotation.quaternion))" :key="idx + 4">
+                {{ val.toFixed(2) }}&deg;
+              </td>
+            </tr>
+          </tbody>
+        </template>
+      </v-simple-table>
+    </div>
+  </v-card>
+</template>
+
+<style scoped lang="scss">
+.v-data-table {
+  width: 100%;
+  height: 100%;
+  text-align: center;
+  background-color: #006492 !important;
+
+  th,
+  td {
+    background-color: #006492 !important;
+    font-size: 1rem !important;
+    color: white !important;
+  }
+
+  td {
+    font-family: monospace !important;
+  }
+
+  tbody :hover td {
+    background-color: #005281 !important;
+  }
+
+  ::-webkit-scrollbar {
+    width: 0;
+    height: 0.55em;
+    border-radius: 5px;
+  }
+
+  ::-webkit-scrollbar-track {
+    -webkit-box-shadow: inset 0 0 6px rgba(0, 0, 0, 0.3);
+    border-radius: 10px;
+  }
+
+  ::-webkit-scrollbar-thumb {
+    background-color: #ffd843;
+    border-radius: 10px;
+  }
+}
+</style>

photon-client/src/components/settings/DeviceControlCard.vue

@@ -0,0 +1,344 @@
+<script setup lang="ts">
+import { inject, ref } from "vue";
+import { useStateStore } from "@/stores/StateStore";
+import PvSelect from "@/components/common/pv-select.vue";
+import axios from "axios";
+
+const restartProgram = () => {
+  axios
+    .post("/utils/restartProgram")
+    .then(() => {
+      useStateStore().showSnackbarMessage({
+        message: "Successfully sent program restart request",
+        color: "success"
+      });
+    })
+    .catch((error) => {
+      // This endpoint always return 204 regardless of outcome
+      if (error.request) {
+        useStateStore().showSnackbarMessage({
+          message: "Error while trying to process the request! The backend didn't respond.",
+          color: "error"
+        });
+      } else {
+        useStateStore().showSnackbarMessage({
+          message: "An error occurred while trying to process the request.",
+          color: "error"
+        });
+      }
+    });
+};
+const restartDevice = () => {
+  axios
+    .post("/utils/restartDevice")
+    .then(() => {
+      useStateStore().showSnackbarMessage({
+        message: "Successfully dispatched the restart command. It isn't confirmed if a device restart will occur.",
+        color: "success"
+      });
+    })
+    .catch((error) => {
+      if (error.response) {
+        useStateStore().showSnackbarMessage({
+          message: "The backend is unable to fulfil the request to restart the device.",
+          color: "error"
+        });
+      } else if (error.request) {
+        useStateStore().showSnackbarMessage({
+          message: "Error while trying to process the request! The backend didn't respond.",
+          color: "error"
+        });
+      } else {
+        useStateStore().showSnackbarMessage({
+          message: "An error occurred while trying to process the request.",
+          color: "error"
+        });
+      }
+    });
+};
+
+const address = inject<string>("backendHost");
+
+const offlineUpdate = ref();
+const openOfflineUpdatePrompt = () => {
+  offlineUpdate.value.click();
+};
+const handleOfflineUpdate = () => {
+  const files = offlineUpdate.value.files;
+  if (files.length === 0) return;
+
+  const formData = new FormData();
+  formData.append("jarData", files[0]);
+
+  useStateStore().showSnackbarMessage({
+    message: "New Software Upload in Progress...",
+    color: "secondary",
+    timeout: -1
+  });
+
+  axios
+    .post("/utils/offlineUpdate", formData, {
+      headers: { "Content-Type": "multipart/form-data" },
+      onUploadProgress: ({ progress }) => {
+        const uploadPercentage = (progress || 0) * 100.0;
+        if (uploadPercentage < 99.5) {
+          useStateStore().showSnackbarMessage({
+            message: "New Software Upload in Process, " + uploadPercentage.toFixed(2) + "% complete",
+            color: "secondary",
+            timeout: -1
+          });
+        } else {
+          useStateStore().showSnackbarMessage({
+            message: "Installing uploaded software...",
+            color: "secondary",
+            timeout: -1
+          });
+        }
+      }
+    })
+    .then((response) => {
+      useStateStore().showSnackbarMessage({
+        message: response.data.text || response.data,
+        color: "success"
+      });
+    })
+    .catch((error) => {
+      if (error.response) {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: error.response.data.text || error.response.data
+        });
+      } else if (error.request) {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: "Error while trying to process the request! The backend didn't respond."
+        });
+      } else {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: "An error occurred while trying to process the request."
+        });
+      }
+    });
+};
+
+const exportLogFile = ref();
+const openExportLogsPrompt = () => {
+  exportLogFile.value.click();
+};
+
+const exportSettings = ref();
+const openExportSettingsPrompt = () => {
+  exportSettings.value.click();
+};
+
+enum ImportType {
+  AllSettings,
+  HardwareConfig,
+  HardwareSettings,
+  NetworkConfig,
+  ApriltagFieldLayout
+}
+const showImportDialog = ref(false);
+const importType = ref<ImportType | number>(-1);
+const importFile = ref<File | null>(null);
+const handleSettingsImport = () => {
+  if (importType.value === -1 || importFile.value === null) return;
+
+  const formData = new FormData();
+  formData.append("data", importFile.value);
+
+  let settingsEndpoint: string;
+  switch (importType.value) {
+    case ImportType.HardwareConfig:
+      settingsEndpoint = "/hardwareConfig";
+      break;
+    case ImportType.HardwareSettings:
+      settingsEndpoint = "/hardwareSettings";
+      break;
+    case ImportType.NetworkConfig:
+      settingsEndpoint = "/networkConfig";
+      break;
+    case ImportType.ApriltagFieldLayout:
+      settingsEndpoint = "/aprilTagFieldLayout";
+      break;
+    default:
+    case ImportType.AllSettings:
+      settingsEndpoint = "";
+      break;
+  }
+
+  axios
+    .post(`/settings${settingsEndpoint}`, formData, {
+      headers: { "Content-Type": "multipart/form-data" }
+    })
+    .then((response) => {
+      useStateStore().showSnackbarMessage({
+        message: response.data.text || response.data,
+        color: "success"
+      });
+    })
+    .catch((error) => {
+      if (error.response) {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: error.response.data.text || error.response.data
+        });
+      } else if (error.request) {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: "Error while trying to process the request! The backend didn't respond."
+        });
+      } else {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: "An error occurred while trying to process the request."
+        });
+      }
+    });
+
+  showImportDialog.value = false;
+  importType.value = -1;
+  importFile.value = null;
+};
+</script>
+
+<template>
+  <v-card dark class="mb-3 pr-6 pb-3" style="background-color: #006492">
+    <v-card-title>Device Control</v-card-title>
+    <div class="ml-5">
+      <v-row>
+        <v-col cols="12" lg="4" md="6">
+          <v-btn color="red" @click="restartProgram">
+            <v-icon left class="open-icon"> mdi-restart </v-icon>
+            <span class="open-label">Restart PhotonVision</span>
+          </v-btn>
+        </v-col>
+        <v-col cols="12" lg="4" md="6">
+          <v-btn color="red" @click="restartDevice">
+            <v-icon left class="open-icon"> mdi-restart-alert </v-icon>
+            <span class="open-label">Restart Device</span>
+          </v-btn>
+        </v-col>
+        <v-col cols="12" lg="4">
+          <v-btn color="secondary" @click="openOfflineUpdatePrompt">
+            <v-icon left class="open-icon"> mdi-upload </v-icon>
+            <span class="open-label">Offline Update</span>
+          </v-btn>
+          <input ref="offlineUpdate" type="file" accept=".jar" style="display: none" @change="handleOfflineUpdate" />
+        </v-col>
+      </v-row>
+      <v-divider style="margin: 12px 0" />
+      <v-row>
+        <v-col cols="12" sm="6">
+          <v-btn color="secondary" @click="() => (showImportDialog = true)">
+            <v-icon left class="open-icon"> mdi-import </v-icon>
+            <span class="open-label">Import Settings</span>
+          </v-btn>
+          <v-dialog
+            v-model="showImportDialog"
+            width="600"
+            @input="
+              () => {
+                importType = -1;
+                importFile = null;
+              }
+            "
+          >
+            <v-card color="primary" dark>
+              <v-card-title>Import Settings</v-card-title>
+              <v-card-text>
+                Upload and apply previously saved or exported PhotonVision settings to this device
+                <v-row class="mt-6 ml-4">
+                  <pv-select
+                    v-model="importType"
+                    label="Type"
+                    tooltip="Select the type of settings file you are trying to upload"
+                    :items="[
+                      'All Settings',
+                      'Hardware Config',
+                      'Hardware Settings',
+                      'Network Config',
+                      'Apriltag Layout'
+                    ]"
+                    :select-cols="10"
+                    style="width: 100%"
+                  />
+                </v-row>
+                <v-row class="mt-6 ml-4 mr-8">
+                  <v-file-input
+                    v-model="importFile"
+                    :disabled="importType === -1"
+                    :error-messages="importType === -1 ? 'Settings type not selected' : ''"
+                    :accept="importType === ImportType.AllSettings ? '.zip' : '.json'"
+                  />
+                </v-row>
+                <v-row
+                  class="mt-12 ml-8 mr-8 mb-1"
+                  style="display: flex; align-items: center; justify-content: center"
+                  align="center"
+                >
+                  <v-btn color="secondary" :disabled="importFile === null" @click="handleSettingsImport">
+                    <v-icon left class="open-icon"> mdi-import </v-icon>
+                    <span class="open-label">Import Settings</span>
+                  </v-btn>
+                </v-row>
+              </v-card-text>
+            </v-card>
+          </v-dialog>
+        </v-col>
+        <v-col cols="12" sm="6">
+          <v-btn color="secondary" @click="openExportSettingsPrompt">
+            <v-icon left class="open-icon"> mdi-export </v-icon>
+            <span class="open-label">Export Settings</span>
+          </v-btn>
+          <a
+            ref="exportSettings"
+            style="color: black; text-decoration: none; display: none"
+            :href="`http://${address}/api/settings/photonvision_config.zip`"
+            download="photonvision-settings.zip"
+            target="_blank"
+          />
+        </v-col>
+        <v-col cols="12" sm="6">
+          <v-btn color="secondary" @click="openExportLogsPrompt">
+            <v-icon left class="open-icon"> mdi-download </v-icon>
+            <span class="open-label">Download Current Log</span>
+
+            <!-- Special hidden link that gets 'clicked' when the user exports journalctl logs -->
+            <a
+              ref="exportLogFile"
+              style="color: black; text-decoration: none; display: none"
+              :href="`http://${address}/api/utils/photonvision-journalctl.txt`"
+              download="photonvision-journalctl.txt"
+              target="_blank"
+            />
+          </v-btn>
+        </v-col>
+        <v-col cols="12" sm="6">
+          <v-btn color="secondary" @click="useStateStore().showLogModal = true">
+            <v-icon left class="open-icon"> mdi-eye </v-icon>
+            <span class="open-label">Show log viewer</span>
+          </v-btn>
+        </v-col>
+      </v-row>
+    </div>
+  </v-card>
+</template>
+
+<style scoped>
+.v-divider {
+  border-color: white !important;
+}
+.v-btn {
+  width: 100%;
+}
+@media only screen and (max-width: 351px) {
+  .open-icon {
+    margin: 0 !important;
+  }
+  .open-label {
+    display: none;
+  }
+}
+</style>