3d viewer cleanup (#490)

* WIP fiddling with 3js stuff for different viewpoints

* more wip viewer cleanup

* More cleanups - split out minimap

.github/workflows/main.yml

@@ -34,12 +34,13 @@ jobs:
 
     # Setup Node.js
     - name: Setup Node.js
-      uses: actions/setup-node@v1
+      uses: actions/setup-node@v3.4.1
       with:
-        node-version: 10
+        node-version: 14
 
     # Run npm
     - run: |
+        npm install -g npm
         npm ci
         npm run build --if-present
 

.gitignore

@@ -143,3 +143,9 @@ build/*
 build
 photon-lib/src/main/java/org/photonvision/PhotonVersion.java
 /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/*

.styleguide

@@ -11,8 +11,10 @@ cppSrcFileInclude {
 
 modifiableFileExclude {
   \.jpg$
+  \.jpeg$
   \.png$
   \.so$
+  \.dll$
 }
 
 includeProject {
@@ -25,7 +27,3 @@ includeOtherLibs {
   ^units/
   ^wpi/
 }
-
-licenseUpdateExclude {
-  \.java$
-}

build.gradle

@@ -28,9 +28,14 @@ ext {
     pubVersion = versionString
     isDev = pubVersion.startsWith("dev")
 
+    if(project.hasProperty('pionly')) {
+        jniPlatforms = ['linuxraspbian']
+    } else if(project.hasProperty('winonly')) {
+        jniPlatforms = ['windowsx86-64']
+    } else {
+        jniPlatforms = ['linuxaarch64bionic', 'linuxraspbian', 'linuxx86-64', 'osxx86-64', 'windowsx86-64']
 
-    jniPlatforms = project.hasProperty('pionly') ? ['linuxraspbian']
-        : ['linuxaarch64bionic', 'linuxraspbian', 'linuxx86-64', 'osxx86-64', 'windowsx86-64']
+    }
 
     println("Building for archs " + jniPlatforms)
 }
@@ -47,7 +52,6 @@ spotless {
     }
     java {
         target "**/*.java"
-        licenseHeaderFile "$rootDir/LicenseHeader.txt"
         targetExclude("photon-core/src/main/java/org/photonvision/PhotonVersion.java")
         targetExclude("photon-lib/src/main/java/org/photonvision/PhotonVersion.java")
     }

gradle/wrapper/gradle-wrapper.properties

@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.2-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists

gradlew

@@ -1,7 +1,7 @@
-#!/usr/bin/env sh
+#!/bin/sh
 
 #
-# Copyright 2015 the original author or authors.
+# Copyright <20> 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.
@@ -16,68 +16,58 @@
 # limitations under the License.
 #
 
-##############################################################################
-##
-##  Gradle start up script for UN*X
-##
 ##############################################################################
 
 # Attempt to set APP_HOME
+
 # Resolve links: $0 may be a link
-PRG="$0"
-# Need this for relative symlinks.
-while [ -h "$PRG" ] ; do
-    ls=`ls -ld "$PRG"`
-    link=`expr "$ls" : '.*-> \(.*\)$'`
-    if expr "$link" : '/.*' > /dev/null; then
-        PRG="$link"
-    else
-        PRG=`dirname "$PRG"`"/$link"
-    fi
+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
-SAVED="`pwd`"
-cd "`dirname \"$PRG\"`/" >/dev/null
-APP_HOME="`pwd -P`"
-cd "$SAVED" >/dev/null
+
+APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
 
 APP_NAME="Gradle"
-APP_BASE_NAME=`basename "$0"`
+APP_BASE_NAME=${0##*/}
 
 # 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"'
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
-MAX_FD="maximum"
+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
-    ;;
-  MINGW* )
-    msys=true
-    ;;
-  NONSTOP* )
-    nonstop=true
-    ;;
+case "$( uname )" in                #(
+  CYGWIN* )         cygwin=true  ;; #(
+  Darwin* )         darwin=true  ;; #(
+  MSYS* | MINGW* )  msys=true    ;; #(
+  NONSTOP* )        nonstop=true ;;
 esac
 
 CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
@@ -87,9 +77,9 @@ CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
 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="$JAVA_HOME/jre/sh/java"
+        JAVACMD=$JAVA_HOME/jre/sh/java
     else
-        JAVACMD="$JAVA_HOME/bin/java"
+        JAVACMD=$JAVA_HOME/bin/java
     fi
     if [ ! -x "$JAVACMD" ] ; then
         die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
@@ -98,7 +88,7 @@ Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
     fi
 else
-    JAVACMD="java"
+    JAVACMD=java
     which java >/dev/null 2>&1 || 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
@@ -106,80 +96,95 @@ location of your Java installation."
 fi
 
 # Increase the maximum file descriptors if we can.
-if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
-    MAX_FD_LIMIT=`ulimit -H -n`
-    if [ $? -eq 0 ] ; then
-        if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
-            MAX_FD="$MAX_FD_LIMIT"
-        fi
-        ulimit -n $MAX_FD
-        if [ $? -ne 0 ] ; then
-            warn "Could not set maximum file descriptor limit: $MAX_FD"
-        fi
-    else
-        warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
-    fi
-fi
-
-# For Darwin, add options to specify how the application appears in the dock
-if $darwin; then
-    GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
-fi
-
-# For Cygwin or MSYS, switch paths to Windows format before running java
-if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
-    APP_HOME=`cygpath --path --mixed "$APP_HOME"`
-    CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
-
-    JAVACMD=`cygpath --unix "$JAVACMD"`
-
-    # We build the pattern for arguments to be converted via cygpath
-    ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
-    SEP=""
-    for dir in $ROOTDIRSRAW ; do
-        ROOTDIRS="$ROOTDIRS$SEP$dir"
-        SEP="|"
-    done
-    OURCYGPATTERN="(^($ROOTDIRS))"
-    # Add a user-defined pattern to the cygpath arguments
-    if [ "$GRADLE_CYGPATTERN" != "" ] ; then
-        OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
-    fi
-    # Now convert the arguments - kludge to limit ourselves to /bin/sh
-    i=0
-    for arg in "$@" ; do
-        CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
-        CHECK2=`echo "$arg"|egrep -c "^-"`                                 ### Determine if an option
-
-        if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then                    ### Added a condition
-            eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
-        else
-            eval `echo args$i`="\"$arg\""
-        fi
-        i=`expr $i + 1`
-    done
-    case $i in
-        0) set -- ;;
-        1) set -- "$args0" ;;
-        2) set -- "$args0" "$args1" ;;
-        3) set -- "$args0" "$args1" "$args2" ;;
-        4) set -- "$args0" "$args1" "$args2" "$args3" ;;
-        5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
-        6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
-        7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
-        8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
-        9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
+if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
+    case $MAX_FD in #(
+      max*)
+        MAX_FD=$( ulimit -H -n ) ||
+            warn "Could not query maximum file descriptor limit"
+    esac
+    case $MAX_FD in  #(
+      '' | soft) :;; #(
+      *)
+        ulimit -n "$MAX_FD" ||
+            warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
 fi
 
-# Escape application args
-save () {
-    for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
-    echo " "
-}
-APP_ARGS=`save "$@"`
+# 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.
 
-# Collect all arguments for the java command, following the shell quoting and substitution rules
-eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
+# 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
+
+# Collect all arguments for the java command;
+#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
+#     shell script including quotes and variable substitutions, so put them in
+#     double quotes to make sure that they get re-expanded; and
+#   * put everything else in single quotes, so that it's not re-expanded.
+
+set -- \
+        "-Dorg.gradle.appname=$APP_BASE_NAME" \
+        -classpath "$CLASSPATH" \
+        org.gradle.wrapper.GradleWrapperMain \
+        "$@"
+
+# 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

@@ -1,89 +1,89 @@
-@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=.
-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%" == "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%"=="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!
-if  not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
-exit /b 1
-
-:mainEnd
-if "%OS%"=="Windows_NT" endlocal
-
-:omega
+@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=.
+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%" == "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%"=="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!
+if  not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
+exit /b 1
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega

photon-client/package.json

@@ -16,9 +16,10 @@
     "jspdf": "^2.4.0",
     "material-design-icons-iconfont": "^5.0.1",
     "msgpack5": "^4.2.1",
+    "three-full": "^28.0.2",
     "vue": "^2.6.12",
     "vue-axios": "^2.1.5",
-    "vue-native-websocket": "git+https://github.com/PhotonVision/vue-native-websocket.git#7a32791",
+    "vue-native-websocket": "git+https://git@github.com/PhotonVision/vue-native-websocket.git#5189f29",
     "vue-router": "^3.4.3",
     "vuetify": "^2.3.10",
     "vuex": "^3.5.1"

photon-client/src/App.vue

@@ -201,7 +201,7 @@
             class="accent--text"
             @click="switchToSettingsTab"
           >
-            vist the settings tab
+            visit the settings tab
           </router-link>
           and set your team number.
         </v-card-text>

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

@@ -18,10 +18,10 @@
           :mandatory="true"
         >
           <v-radio
-            v-for="(name,index) in list"
+            v-for="(radioName,index) in list"
             :key="index"
             color="#ffd843"
-            :label="name"
+            :label="radioName"
             :value="index"
             :disabled="disabled"
           />

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

@@ -19,7 +19,9 @@
           hide-details
           class="align-center"
           dark
-          color="accent"
+          :color="inverted ? 'rgba(255, 255, 255, 0.2)' : 'accent'"
+          :track-color="inverted ? 'accent' : undefined"
+          thumb-color="accent"
           :step="step"
           @input="handleInput"
           @mousedown="$emit('rollback', localValue)"
@@ -76,7 +78,7 @@ export default {
     TooltippedLabel,
   },
   // eslint-disable-next-line vue/require-prop-types
-  props: ["name", "min", "max", "value", "step", "tooltip", "disabled"],
+  props: ["name", "min", "max", "value", "step", "tooltip", "disabled", "inverted"],
   data() {
     return {
       prependFocused: false,

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

@@ -1,154 +1,268 @@
 <template>
-  <div>
+  <div
+    id="MapContainer"
+    style="flex-grow:1"
+  >
     <v-row>
       <v-col
         align="center"
         cols="12"
       >
         <span class="white--text">Target Location</span>
+      </v-col>
+    </v-row>
+    <v-row>
+      <v-col
+        align="center"
+        cols="12"
+        align-self="stretch"
+      >
         <canvas
           id="canvasId"
-          class="mt-2"
-          width="800"
-          height="800"
+          style="width:100%;height:100%"
         />
       </v-col>
+      <v-row>
+        <v-col>
+          <v-btn
+            class="ml-10"
+            color="secondary"
+            @click="resetCamFirstPerson"
+          >
+            First Person
+          </v-btn>
+        </v-col>
+        <v-col>
+          <v-btn
+            class="ml-10"
+            color="secondary"
+            @click="resetCamThirdPerson"
+          >
+            Third Person
+          </v-btn>
+        </v-col>
+      </v-row>
     </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)');
+import {
+  ArrowHelper,
+  BoxGeometry,
+  ConeGeometry,
+  Mesh,
+  MeshNormalMaterial,
+  PerspectiveCamera,
+  Quaternion,
+  Scene,
+  TrackballControls,
+  Vector3,
+    Color,
+  WebGLRenderer
+} from "three-full";
 
-            // setting canvas context values for drawing
+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 {
+      scene: undefined,
+      cubes: [],
 
-
-            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
-            }
-        }
     }
+  },
+  watch: {
+    targets: {
+      deep: true,
+      handler() {
+        this.drawTargets();
+      }
+    },
+  },
+
+  mounted() {
+    const scene = new Scene();
+    this.scene = scene;
+    const camera = new PerspectiveCamera(75, 800 / 800, 0.1, 1000);
+    this.camera = camera;
+
+    const canvas = document.getElementById("canvasId"); // getting the canvas element
+    this.canvas = canvas;
+    const renderer = new WebGLRenderer({"canvas": canvas});
+    this.renderer = renderer;
+    scene.background = new Color(0xa9a9a9)
+
+    //Set up resize handlers
+    this.onWindowResize();
+    window.addEventListener( 'resize', this.onWindowResize, false );
+
+    //Add the reference frame cues
+    this.refFrameCues = []
+    // coordinate system
+    this.refFrameCues.push(new ArrowHelper(new Vector3(1, 0, 0).normalize(), new Vector3(0, 0, 0),
+        1, // length
+        0xff0000,
+        0.1,
+        0.1,
+    ))
+    this.refFrameCues.push(new ArrowHelper(new Vector3(0, 1, 0).normalize(), new Vector3(0, 0, 0),
+        1, // length
+        0x00ff00,
+        0.1,
+        0.1,
+    ))
+    this.refFrameCues.push(new ArrowHelper(new Vector3(0, 0, 1).normalize(), new Vector3(0, 0, 0),
+        1, // length
+        0x0000ff,
+        0.1,
+        0.1,
+    ))
+
+    //something that looks vaguely like a camera
+    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);
+    this.refFrameCues.push(camBody)
+    this.refFrameCues.push(camLens)
+
+    var 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;
+    controls.keys = [65, 83, 68];
+    this.controls = controls;
+
+    this.scene.add(...this.refFrameCues)
+    this.resetCamFirstPerson();
+
+    controls.update();
+
+    function animate() {
+      requestAnimationFrame(animate);
+
+      controls.update();
+      renderer.render(scene, camera);
+
+      //camera.updateMatrixWorld();
+      //console.log("================")
+      //console.log(camera.position);
+      //console.log(camera.rotation);
+      //console.log(camera.up);
+
+    }
+
+    this.drawTargets()
+
+    animate();
+  },
+  methods: {
+    drawTargets() {
+      this.scene.remove(...this.cubes)
+      this.cubes = []
+
+      for (const target of this.targets) {
+        const geometry = new BoxGeometry(0.2, 0.2, 0.3 / 5);
+        const material = new MeshNormalMaterial();
+        let quat = (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(quat);
+        this.cubes.push(cube)
+
+        let arrow = (new ArrowHelper(new Vector3(1, 0, 0).normalize(), new Vector3(0, 0, 0),
+            1, // length
+            0xff0000,
+            0.1,
+            0.1,
+        ));
+        arrow.rotation.setFromQuaternion(quat)
+        arrow.rotateZ(-Math.PI / 2)
+        arrow.position.set(target.pose.x, target.pose.y, target.pose.z)
+        this.cubes.push(arrow);
+
+        arrow = (new ArrowHelper(new Vector3(1, 0, 0).normalize(), new Vector3(0, 0, 0),
+            1, // length
+            0x00ff00,
+            0.1,
+            0.1,
+        ));
+        arrow.rotation.setFromQuaternion(quat)
+        // arrow.rotateX(Math.PI / 2)
+        arrow.position.set(target.pose.x, target.pose.y, target.pose.z)
+        this.cubes.push(arrow);
+        arrow = (new ArrowHelper(new Vector3(1, 0, 0).normalize(), new Vector3(0, 0, 0),
+            1, // length
+            0x0000ff,
+            0.1,
+            0.1,
+        ));
+        arrow.setRotationFromQuaternion(quat)
+        arrow.rotateX(Math.PI / 2)
+        arrow.position.set(target.pose.x, target.pose.y, target.pose.z)
+        this.cubes.push(arrow);
+      }
+      if(this.cubes.length > 0)
+        this.scene.add(...this.cubes);
+    },
+
+    onWindowResize() {
+      var container = document.getElementById("MapContainer")
+      if(container){
+        this.canvas.width = container.clientWidth * 0.95;
+        this.canvas.height = container.clientWidth * 0.85;
+        this.camera.aspect = this.canvas.width / this.canvas.height;
+        this.camera.updateProjectionMatrix();
+        this.renderer.setSize( this.canvas.width, this.canvas.height );
+      }
+    },
+    resetCamThirdPerson(){
+      //Sets camera to third person position
+      this.controls.reset();
+      this.camera.position.set(-1.39,-1.09,1.17);
+      this.camera.up.set(0,0,1);
+      this.controls.target.set(4.0,0.0,0.0);
+      this.controls.update();
+      this.scene.add(...this.refFrameCues)
+    },
+    resetCamFirstPerson(){
+      //Sets camera to first person position
+      this.controls.reset();
+      this.camera.position.set(-0.1,0,0);
+      this.camera.up.set(0,0,1);
+      this.controls.target.set(0.0,0.0,0.0);
+      this.controls.update();
+      this.scene.remove(...this.refFrameCues)
+    },
+  }
+
+
+}
 </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

@@ -153,7 +153,7 @@
           v-model="currentPipelineType"
           name="Type"
           tooltip="Changes the pipeline type, which changes the type of processing that will happen on input frames"
-          :list="['Reflective Tape', 'Colored Shape']"
+          :list="['Reflective Tape', 'Colored Shape', 'AprilTag']"
           @input="e => showTypeDialog(e)"
         />
       </v-col>

photon-client/src/plugins/ColorPicker.js

@@ -6,8 +6,10 @@ function initColorPicker() {
         canvas = document.createElement('canvas');
 
     image = document.querySelector('#normal-stream');
-    canvas.width = image.width;
-    canvas.height = image.height;
+    if (image !== null) {
+      canvas.width = image.width;
+      canvas.height = image.height;
+    }
 }
 
 //Called on click of the image,

photon-client/src/store/index.js

@@ -19,6 +19,8 @@ export default new Vuex.Store({
             connected: false,
             address: "",
             clients: 0,
+        },
+        networkInfo: {
             possibleRios: ["Loading..."],
             deviceips: ["Loading..."],
         },
@@ -49,13 +51,15 @@ export default new Vuex.Store({
                 isFovConfigurable: true,
                 calibrated: false,
                 currentPipelineSettings: {
-                    pipelineType: 2, // One of "calib", "driver", "reflective", "shape"
+                    pipelineType: 4, // One of "calib", "driver", "reflective", "shape", "AprilTag"
                     // 2 is reflective
 
                     // Settings that apply to all pipeline types
                     cameraExposure: 1,
                     cameraBrightness: 2,
-                    cameraGain: 3,
+                    cameraAutoExposure: false,
+                    cameraRedGain: 3,
+                    cameraBlueGain: 4,
                     inputImageRotationMode: 0,
                     cameraVideoModeIndex: 0,
                     streamingFrameDivisor: 0,
@@ -64,10 +68,13 @@ export default new Vuex.Store({
                     hsvHue: [0, 15],
                     hsvSaturation: [0, 15],
                     hsvValue: [0, 25],
+                    hueInverted: false,
                     contourArea: [0, 12],
                     contourRatio: [0, 12],
                     contourFullness: [0, 12],
                     contourSpecklePercentage: 5,
+                    contourFilterRangeX: 5,
+                    contourFilterRangeY: 5,
                     contourGroupingMode: 0,
                     contourIntersection: 0,
                     contourSortMode: 0,
@@ -82,7 +89,14 @@ export default new Vuex.Store({
 
                     cornerDetectionAccuracyPercentage: 10,
 
-                    // Settings that apply to shape
+                    // Settings that apply to AprilTag
+                    tagFamily: 0,
+                    decimate: 1.0,
+                    blur: 0.0,
+                    threads: 1,
+                    debug: false,
+                    refineEdges: true,
+                    numIterations: 1,
                 }
             }
         ],
@@ -96,9 +110,18 @@ export default new Vuex.Store({
                     skew: 0,
                     area: 0,
                     // 3D only
-                    pose: {x: 0, y: 0, rot: 0},
-                }]
-            },
+                    pose: {x: 1, y: 1, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
+                },
+            {
+                // Available in both 2D and 3D
+                pitch: 0,
+                yaw: 0,
+                skew: 0,
+                area: 0,
+                // 3D only
+                pose: {x: 2, y: 3, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
+            }]
+        },
         settings: {
             general: {
                 version: "Unknown",
@@ -151,6 +174,7 @@ export default new Vuex.Store({
         calibrationData: set('calibrationData'),
         metrics: set('metrics'),
         ntConnectionInfo: set('ntConnectionInfo'),
+        networkInfo: set('networkInfo'),
         backendConnected: set('backendConnected'),
         logString: (state, newStr) => {
             const str = state.logMessages;

photon-client/src/views/CamerasView.vue

@@ -146,6 +146,24 @@
                             text="Standard Deviation"
                           />
                         </th>
+                        <th class="text-center">
+                          <tooltipped-label
+                            tooltip="Estimated Horizontal FOV, in degrees"
+                            text="Horizontal FOV"
+                          />
+                        </th>
+                        <th class="text-center">
+                          <tooltipped-label
+                            tooltip="Estimated Vertical FOV, in degrees"
+                            text="Vertical FOV"
+                          />
+                        </th>
+                        <th class="text-center">
+                          <tooltipped-label
+                            tooltip="Estimated Diagonal FOV, in degrees"
+                            text="Diagonal FOV"
+                          />
+                        </th>
                       </tr>
                     </thead>
                     <tbody>
@@ -158,6 +176,9 @@
                           {{ isCalibrated(value) ? value.mean.toFixed(2) + "px" : "—" }}
                         </td>
                         <td> {{ isCalibrated(value) ? value.standardDeviation.toFixed(2) + "px" : "—" }} </td>
+                        <td> {{ isCalibrated(value) ? value.horizontalFOV.toFixed(2) + "°" : "—" }} </td>
+                        <td> {{ isCalibrated(value) ? value.verticalFOV.toFixed(2) + "°" : "—" }} </td>
+                        <td> {{ isCalibrated(value) ? value.diagonalFOV.toFixed(2) + "°" : "—" }} </td>
                       </tr>
                     </tbody>
                   </v-simple-table>
@@ -196,13 +217,24 @@
                   @input="e => handlePipelineUpdate('cameraBrightness', e)"
                 />
                 <CVslider
-                  v-if="$store.getters.currentPipelineSettings.cameraGain !== -1"
-                  v-model="$store.getters.currentPipelineSettings.cameraGain"
-                  name="Gain"
-                  :min="0"
-                  :max="100"
-                  slider-cols="8"
-                  @input="e => handlePipelineUpdate('cameraGain', e)"
+                  v-if="$store.getters.currentPipelineSettings.cameraRedGain !== -1"
+                  v-model="$store.getters.currentPipelineSettings.cameraRedGain"
+                  name="Red AWB Gain"
+                  min="0"
+                  max="100"
+                  tooltip="Controls red automatic white balance gain, which affects how the camera captures colors in different conditions"
+                  :slider-cols="8"
+                  @input="e => handlePipelineData('cameraRedGain', e)"
+                />
+                <CVslider
+                  v-if="$store.getters.currentPipelineSettings.cameraBlueGain !== -1"
+                  v-model="$store.getters.currentPipelineSettings.cameraBlueGain"
+                  name="Blue AWB Gain"
+                  min="0"
+                  max="100"
+                  tooltip="Controls blue automatic white balance gain, which affects how the camera captures colors in different conditions"
+                  :slider-cols="8"
+                  @input="e => handlePipelineData('cameraBlueGain', e)"
                 />
               </v-col>
             </v-row>
@@ -385,6 +417,9 @@ export default {
                         if (calib != null) {
                             it['standardDeviation'] = calib.standardDeviation;
                             it['mean'] = calib.perViewErrors.reduce((a, b) => a + b) / calib.perViewErrors.length;
+                            it['horizontalFOV'] = 2 * Math.atan2(it.width/2,calib.intrinsics[0]) * (180/Math.PI);
+                            it['verticalFOV'] = 2 * Math.atan2(it.height/2,calib.intrinsics[4]) * (180/Math.PI);
+                            it['diagonalFOV'] = 2 * Math.atan2(Math.sqrt(it.width**2 + (it.height/(calib.intrinsics[4]/calib.intrinsics[0]))**2)/2,calib.intrinsics[0]) * (180/Math.PI);
                         }
                         filtered.push(it);
                     }

photon-client/src/views/PipelineView.vue

@@ -34,9 +34,9 @@
                 :text-color="fpsTooLow ? 'white' : 'grey'"
               >
                 <span class="pr-1">{{ Math.round($store.state.pipelineResults.fps) }}&nbsp;FPS &ndash;</span>
-                <span v-if="!fpsTooLow">{{ Math.min(Math.round($store.state.pipelineResults.latency), 100) }} ms latency</span>
+                <span v-if="!fpsTooLow">{{ Math.min(Math.round($store.state.pipelineResults.latency), 9999) }} ms latency</span>
                 <span v-else-if="!$store.getters.currentPipelineSettings.inputShouldShow">HSV thresholds are too broad; narrow them for better performance</span>
-                <span v-else>stop viewing the color stream for better performance</span>
+                <span v-else>stop viewing the raw stream for better performance</span>
               </v-chip>
               <v-switch
                 v-model="driverMode"
@@ -136,15 +136,15 @@
                     color="secondary"
                     class="fill"
                   >
-                    <v-icon>mdi-palette</v-icon>
-                    <span>Normal</span>
+                    <v-icon>mdi-import</v-icon>
+                    <span>Raw</span>
                   </v-btn>
                   <v-btn
                     color="secondary"
                     class="fill"
                   >
-                    <v-icon>mdi-compare</v-icon>
-                    <span>Threshold</span>
+                    <v-icon>mdi-export</v-icon>
+                    <span>Processed</span>
                   </v-btn>
                 </v-btn-toggle>
               </v-col>
@@ -175,7 +175,7 @@
               slider-color="accent"
             >
               <v-tab
-                v-for="(tab, i) in tabs.filter(it => it.name !== '3D' || $store.getters.currentPipelineSettings.solvePNPEnabled)"
+                v-for="(tab, i) in tabs"
                 :key="i"
               >
                 {{ tab.name }}
@@ -261,7 +261,9 @@ import ThresholdTab from './PipelineViews/ThresholdTab';
 import ContoursTab from './PipelineViews/ContoursTab';
 import OutputTab from './PipelineViews/OutputTab';
 import TargetsTab from "./PipelineViews/TargetsTab";
+import Map3DTab from './PipelineViews/Map3DTab';
 import PnPTab from './PipelineViews/PnPTab';
+import AprilTagTab from './PipelineViews/AprilTagTab';
 
 export default {
     name: 'Pipeline',
@@ -273,7 +275,9 @@ export default {
         ContoursTab,
         OutputTab,
         TargetsTab,
+        Map3DTab,
         PnPTab,
+        AprilTagTab,
     },
     data() {
         return {
@@ -308,20 +312,33 @@ export default {
                         name: "Contours",
                         component: "ContoursTab",
                     },
+                    apriltag: {
+                        name: "AprilTag",
+                        component: "AprilTagTab",
+                    },
                     output: {
                         name: "Output",
                         component: "OutputTab",
                     },
                     targets: {
-                        name: "Target Info",
+                        name: "Targets",
                         component: "TargetsTab",
                     },
                     pnp: {
-                        name: "3D",
+                        name: "PnP",
                         component: "PnPTab",
+                    },
+                    map3d: {
+                        name: "3D",
+                        component: "Map3DTab",
                     }
                 };
 
+                // If not in 3d, name "3D" is illegal
+                const allow3d = this.$store.getters.currentPipelineSettings.solvePNPEnabled;
+                // If in apriltag, "Threshold" and "Contours" are illegal -- otherwise "AprilTag" is
+                const isAprilTag = (this.$store.getters.currentPipelineSettings.pipelineType - 2) === 2;
+
                 // 2D array of tab names and component names; each sub-array is a separate tab group
                 let ret = [];
                 if (this.$vuetify.breakpoint.smAndDown || this.$store.getters.isDriverMode || (this.$vuetify.breakpoint.mdAndDown && !this.$store.state.compactMode)) {
@@ -329,22 +346,37 @@ export default {
                     ret[0] = Object.values(tabs);
                 } else if (this.$vuetify.breakpoint.mdAndDown || !this.$store.state.compactMode) {
                     // Two tab groups, one with "input, threshold, contours, output" and the other with "target info, 3D"
-                    ret[0] = [tabs.input, tabs.threshold, tabs.contours, tabs.output];
-                    ret[1] = [tabs.targets, tabs.pnp];
+                    ret[0] = [tabs.input, tabs.threshold, tabs.contours, tabs.apriltag, tabs.output];
+                    ret[1] = [tabs.targets, tabs.pnp, tabs.map3d];
                 } else if (this.$vuetify.breakpoint.lgAndDown) {
                     // Three tab groups, one with "input", one with "threshold, contours, output", and the other with "target info, 3D"
                     ret[0] = [tabs.input];
-                    ret[1] = [tabs.threshold, tabs.contours, tabs.output];
-                    ret[2] = [tabs.targets, tabs.pnp];
+                    ret[1] = [tabs.threshold, tabs.contours, tabs.apriltag, tabs.output];
+                    ret[2] = [tabs.targets, tabs.pnp, tabs.map3d];
                 } else if (this.$vuetify.breakpoint.xl) {
                     // Three tab groups, one with "input", one with "threshold, contours", and the other with "output, target info, 3D"
                     ret[0] = [tabs.input];
                     ret[1] = [tabs.threshold];
-                    ret[2] = [tabs.contours, tabs.output];
-                    ret[3] = [tabs.targets, tabs.pnp];
+                    ret[2] = [tabs.contours, tabs.apriltag, tabs.output];
+                    ret[3] = [tabs.targets, tabs.pnp, tabs.map3d];
                 }
 
-                return ret;
+                for(let i = 0; i < ret.length; i++) {
+                  const group = ret[i];
+
+                  // All the tabs we allow
+                  const filteredGroup = group.filter(it =>
+                          !(!allow3d && it.name === "3D") //Filter out 3D tab any time 3D isn't calibrated
+                       && !((!allow3d || isAprilTag) && it.name === "PnP") //Filter out the PnP config tab if 3D isn't available, or we're doing Apriltags
+                       && !(isAprilTag && (it.name === "Threshold")) //Filter out threshold tab if we're doing apriltags
+                       && !(isAprilTag && (it.name === "Contours")) //Filter out contours if we're doing Apriltag
+                       && !(!isAprilTag && it.name === "AprilTag") //Filter out apriltag unless we actually are doing Apriltags
+                      );
+                  ret[i] = filteredGroup;
+                }
+
+                // One last filter to remove empty lists
+                return ret.filter(it => it !== undefined && it.length > 0);
             }
         },
         processingMode: {

photon-client/src/views/PipelineViews/AprilTagTab.vue

@@ -0,0 +1,136 @@
+<template>
+  <div>
+    <v-select
+      v-model="selectedFamily"
+      dark
+      color="accent"
+      item-color="secondary"
+      label="Select target family"
+      :items="familyList"
+      @input="handlePipelineUpdate('tagFamily', targetList.indexOf(selectedModel))"
+    />
+    <CVslider
+      v-model="decimate"
+      class="pt-2"
+      slider-cols="8"
+      name="Decimate"
+      min="0"
+      max="3"
+      step=".5"
+      tooltip="Increases FPS at the expense of range by reducing image resolution initially"
+      @input="handlePipelineData('decimate')"
+    />
+    <CVslider
+      v-model="blur"
+      class="pt-2"
+      slider-cols="8"
+      name="Blur"
+      min="0"
+      max="5"
+      step=".01"
+      tooltip="Gaussian blur added to the image, high FPS cost for slightly decreased noise"
+      @input="handlePipelineData('blur')"
+    />
+    <CVslider
+      v-model="threads"
+      class="pt-2"
+      slider-cols="8"
+      name="Threads"
+      min="1"
+      max="8"
+      step="1"
+      tooltip="Number of threads spawned by the AprilTag detector"
+      @input="handlePipelineData('threads')"
+    />
+    <CVswitch
+      v-model="refineEdges"
+      class="pt-2"
+      slider-cols="8"
+      name="Refine Edges"
+      tooltip="Further refines the apriltag corner position initial estimate, suggested left on"
+      @input="handlePipelineData('refineEdges')"
+    />
+    <CVslider
+      v-model="numIterations"
+      class="pt-2 pb-4"
+      slider-cols="8"
+      name="Pose Estimation Iterations"
+      min="0"
+      max="500"
+      step="1"
+      tooltip="Number of iterations the pose estimation algorithm will run, 50-100 is a good starting point"
+      @input="handlePipelineData('numIterations')"
+    />
+  </div>
+</template>
+
+<script>
+    import CVslider from '../../components/common/cv-slider'
+    import CVswitch from '../../components/common/cv-switch'
+
+    export default {
+        name: "AprilTag",
+        components: {
+          CVslider,
+          CVswitch,
+        },
+        data() {
+            return {
+              familyList: ["tag36h11"],
+            }
+        },
+        computed: {
+          selectedFamily: {
+            get() {
+                let ret = this.$store.getters.currentPipelineSettings.tagFamily
+                return this.familyList[ret];
+            },
+            set(val) {
+                this.$store.commit("mutatePipeline", {"tagFamily": this.familyList.indexOf(val)})
+            }
+          },
+          decimate: {
+            get() {
+                return this.$store.getters.currentPipelineSettings.decimate
+            },
+            set(val) {
+                this.$store.commit("mutatePipeline", {"decimate": val});
+            }
+          },
+          numIterations: {
+            get() {
+                return this.$store.getters.currentPipelineSettings.numIterations
+            },
+            set(val) {
+                this.$store.commit("mutatePipeline", {"numIterations": val});
+            }
+          },
+          blur: {
+            get() {
+                return this.$store.getters.currentPipelineSettings.blur
+            },
+            set(val) {
+                this.$store.commit("mutatePipeline", {"blur": val});
+            }
+          },
+          threads: {
+            get() {
+                return this.$store.getters.currentPipelineSettings.threads
+            },
+            set(val) {
+                this.$store.commit("mutatePipeline", {"threads": val});
+            }
+          },
+          refineEdges: {
+            get() {
+                return this.$store.getters.currentPipelineSettings.refineEdges
+            },
+            set(val) {
+                this.$store.commit("mutatePipeline", {"refineEdges": val});
+            }
+          },
+        },
+        methods: {
+        }
+    }
+</script>

photon-client/src/views/PipelineViews/ContoursTab.vue

@@ -5,7 +5,7 @@
       name="Area"
       min="0"
       max="100"
-      step="0.1"
+      step="0.01"
       @input="handlePipelineData('contourArea')"
     />
     <CVrangeSlider
@@ -18,6 +18,14 @@
       step="0.1"
       @input="handlePipelineData('contourRatio')"
     />
+    <CVselect
+      v-model="contourTargetOrientation"
+      name="Target Orientation"
+      tooltip="Used to determine how to calculate target landmarks, as well as aspect ratio"
+      :list="['Portrait', 'Landscape']"
+      @input="handlePipelineData('contourTargetOrientation')"
+      @rollback="e=> rollback('contourTargetOrientation', e)"
+    />
     <CVrangeSlider
       v-if="currentPipelineType() !== 3"
       v-model="contourFullness"
@@ -46,6 +54,26 @@
       @input="handlePipelineData('contourSpecklePercentage')"
     />
     <template v-if="currentPipelineType() !== 3">
+      <CVslider
+        v-model="contourFilterRangeX"
+        name="X filter tightness"
+        tooltip="Rejects contours whose center X is further than X standard deviations above/below the mean X location"
+        min="0.1"
+        max="4"
+        step="0.1"
+        :slider-cols="largeBox"
+        @input="handlePipelineData('contourFilterRangeX')"
+      />
+      <CVslider
+        v-model="contourFilterRangeY"
+        name="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="largeBox"
+        @input="handlePipelineData('contourFilterRangeY')"
+      />
       <CVselect
         v-model="contourGroupingMode"
         name="Target Grouping"
@@ -121,7 +149,7 @@
         v-model="circleAccuracy"
         :disabled="currentPipelineSettings().contourShape !== 0"
         name="Circle Accuracy"
-        min="0"
+        min="1"
         max="100"
         :slider-cols="largeBox"
         @input="handlePipelineData('circleAccuracy')"
@@ -183,6 +211,14 @@ export default {
         this.$store.commit("mutatePipeline", {"contourRatio": val});
       }
     },
+    contourTargetOrientation: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.contourTargetOrientation
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"contourTargetOrientation": val});
+      }
+    },
     contourFullness: {
       get() {
         return this.$store.getters.currentPipelineSettings.contourFullness
@@ -207,6 +243,25 @@ export default {
         this.$store.commit("mutatePipeline", {"contourSpecklePercentage": val});
       }
     },
+    contourFilterRangeX: {
+      get() {
+        console.log(this.$store.getters.currentPipelineSettings.contourFilterRangeX)
+        return this.$store.getters.currentPipelineSettings.contourFilterRangeX
+      },
+      set(val) {
+        console.log("set")
+        console.log(val)
+        this.$store.commit("mutatePipeline", {"contourFilterRangeX": val});
+      }
+    },
+    contourFilterRangeY: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.contourFilterRangeY
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"contourFilterRangeY": val});
+      }
+    },
     contourGroupingMode: {
       get() {
         return this.$store.getters.currentPipelineSettings.contourGroupingMode

photon-client/src/views/PipelineViews/InputTab.vue

@@ -1,6 +1,7 @@
 <template>
   <div>
     <CVslider
+      :disabled="cameraAutoExposure"
       v-model="cameraExposure"
       name="Exposure"
       min="0"
@@ -21,16 +22,44 @@
       @input="handlePipelineData('cameraBrightness')"
       @rollback="e => rollback('cameraBrightness', e)"
     />
+    <CVswitch
+      v-model="cameraAutoExposure"
+      class="pt-2"
+      name="Auto exposure"
+      @input="handlePipelineData('cameraAutoExposure')"
+    />
     <CVslider
-      v-if="cameraGain !== -1"
+      v-if="cameraGain >= 0"
       v-model="cameraGain"
-      name="Gain"
+      name="Camera gain"
       min="0"
       max="100"
-      tooltip="Controls automatic white balance gain, which affects how the camera captures colors in different conditions"
+      tooltip="Controls camera gain, similar to brightness"
       :slider-cols="largeBox"
-      @input="handlePipelineData('cameraGain')"
-      @rollback="e => rollback('cameraGain', e)"
+      @input="handlePipelineData('cameraRedGain')"
+      @rollback="e => rollback('cameraRedGain', e)"
+    />
+    <CVslider
+      v-if="cameraRedGain !== -1"
+      v-model="cameraRedGain"
+      name="Red Balance"
+      min="0"
+      max="100"
+      tooltip="Controls red automatic white balance gain, which affects how the camera captures colors in different conditions"
+      :slider-cols="largeBox"
+      @input="handlePipelineData('cameraRedGain')"
+      @rollback="e => rollback('cameraRedGain', e)"
+    />
+    <CVslider
+      v-if="cameraBlueGain !== -1"
+      v-model="cameraBlueGain"
+      name="Blue Balance"
+      min="0"
+      max="100"
+      tooltip="Controls blue automatic white balance gain, which affects how the camera captures colors in different conditions"
+      :slider-cols="largeBox"
+      @input="handlePipelineData('cameraBlueGain')"
+      @rollback="e => rollback('cameraBlueGain', e)"
     />
     <CVselect
       v-model="inputImageRotationMode"
@@ -64,6 +93,7 @@
 <script>
     import CVslider from '../../components/common/cv-slider'
     import CVselect from '../../components/common/cv-select'
+    import CVswitch from '../../components/common/cv-switch'
 
     const unfilteredStreamDivisors = [1, 2, 4, 6];
 
@@ -72,6 +102,7 @@
         components: {
             CVslider,
             CVselect,
+            CVswitch,
         },
         // eslint-disable-next-line vue/require-prop-types
         props: ['value'],
@@ -97,6 +128,14 @@
                     this.$store.commit("mutatePipeline", {"cameraExposure": parseFloat(val)});
                 }
             },
+            cameraAutoExposure: {
+                get() {
+                    return this.$store.getters.currentPipelineSettings.cameraAutoExposure;
+                },
+                set(val) {
+                    this.$store.commit("mutatePipeline", {"cameraAutoExposure": val});
+                }
+            },
             cameraBrightness: {
                 get() {
                     return parseInt(this.$store.getters.currentPipelineSettings.cameraBrightness)
@@ -105,12 +144,20 @@
                     this.$store.commit("mutatePipeline", {"cameraBrightness": parseInt(val)});
                 }
             },
-            cameraGain: {
+            cameraRedGain: {
                 get() {
-                    return parseInt(this.$store.getters.currentPipelineSettings.cameraGain)
+                    return parseInt(this.$store.getters.currentPipelineSettings.cameraRedGain)
                 },
                 set(val) {
-                    this.$store.commit("mutatePipeline", {"cameraGain": parseInt(val)});
+                    this.$store.commit("mutatePipeline", {"cameraRedGain": parseInt(val)});
+                }
+            },
+            cameraBlueGain: {
+                get() {
+                    return parseInt(this.$store.getters.currentPipelineSettings.cameraBlueGain)
+                },
+                set(val) {
+                    this.$store.commit("mutatePipeline", {"cameraBlueGain": parseInt(val)});
                 }
             },
             inputImageRotationMode: {

photon-client/src/views/PipelineViews/Map3DTab.vue

@@ -0,0 +1,53 @@
+<template>
+  <div>
+    <mini-map
+      class="miniMapClass"
+      :targets="targets"
+      :horizontal-f-o-v="horizontalFOV"
+    />
+  </div>
+</template>
+
+<script>
+    import miniMap from '../../components/pipeline/3D/MiniMap';
+
+    export default {
+        name: "Map3D",
+        components: {
+            miniMap
+        },
+        data() {
+            return {
+            }
+        },
+        computed: {
+            targets: {
+                get() {
+                    return this.$store.getters.currentPipelineResults.targets;
+                }
+            },
+            horizontalFOV: {
+                get() {
+                    let index = this.$store.getters.currentPipelineSettings.cameraVideoModeIndex;
+                    let FOV = this.$store.getters.currentCameraSettings.fov;
+                    let resolution = this.$store.getters.videoFormatList[index];
+                    let diagonalView = FOV * (Math.PI / 180);
+                    let diagonalAspect = Math.hypot(resolution.width, resolution.height);
+                    return Math.atan(Math.tan(diagonalView / 2) * (resolution.width / diagonalAspect)) * 2 * (180 / Math.PI)
+                }
+            },
+        },
+        methods: {
+        }
+    }
+</script>
+
+<style scoped>
+    .miniMapClass {
+        width: 400px !important;
+        height: 100% !important;
+
+        margin-left: auto;
+        margin-right: auto;
+    }
+</style>

photon-client/src/views/PipelineViews/PnPTab.vue

@@ -6,7 +6,6 @@
       type="file"
       accept=".csv"
       style="display: none;"
-
       @change="readFile"
     >
 
@@ -32,11 +31,7 @@
       @input="handlePipelineData('cornerDetectionAccuracyPercentage')"
       @rollback="e => rollback('cornerDetectionAccuracyPercentage', e)"
     />
-    <mini-map
-      class="miniMapClass"
-      :targets="targets"
-      :horizontal-f-o-v="horizontalFOV"
-    />
+
     <v-snackbar
       v-model="snack"
       top
@@ -49,18 +44,16 @@
 
 <script>
     import Papa from 'papaparse';
-    import miniMap from '../../components/pipeline/3D/MiniMap';
     import CVslider from '../../components/common/cv-slider'
 
     export default {
         name: "PnP",
         components: {
-            CVslider,
-            miniMap
+            CVslider
         },
         data() {
             return {
-                targetList: ['2020 High Goal Outer', '2020 High Goal Inner', '2019 Dual Target', 'Power Cell (7in)', '2016 High Goal'], //Keep in sync with TargetModel.java
+                targetList: ['2020 High Goal Outer', '2020 High Goal Inner', '2019 Dual Target', '2020 Power Cell (7in)','2022 Cargo Ball (9.5in)', '2016 High Goal'], //Keep in sync with TargetModel.java
                 snackbar: {
                     color: "Success",
                     text: ""
@@ -87,21 +80,6 @@
                     this.$store.commit("mutatePipeline", {"cornerDetectionAccuracyPercentage": val});
                 }
             },
-            targets: {
-                get() {
-                    return this.$store.getters.currentPipelineResults.targets;
-                }
-            },
-            horizontalFOV: {
-                get() {
-                    let index = this.$store.getters.currentPipelineSettings.cameraVideoModeIndex;
-                    let FOV = this.$store.getters.currentCameraSettings.fov;
-                    let resolution = this.$store.getters.videoFormatList[index];
-                    let diagonalView = FOV * (Math.PI / 180);
-                    let diagonalAspect = Math.hypot(resolution.width, resolution.height);
-                    return Math.atan(Math.tan(diagonalView / 2) * (resolution.width / diagonalAspect)) * 2 * (180 / Math.PI)
-                }
-            },
         },
         methods: {
             readFile(event) {

photon-client/src/views/PipelineViews/TargetsTab.vue

@@ -18,29 +18,40 @@
               <th class="text-center">
                 Target
               </th>
+              <th
+                v-if="$store.getters.pipelineType === 4"
+                class="text-center"
+              >
+                Fiducial ID
+              </th>
               <template v-if="!$store.getters.currentPipelineSettings.solvePNPEnabled">
                 <th class="text-center">
-                  Pitch
+                  Pitch,&nbsp;&deg;
                 </th>
                 <th class="text-center">
-                  Yaw
+                  Yaw,&nbsp;&deg;
                 </th>
                 <th class="text-center">
-                  Skew
+                  Skew,&nbsp;&deg;
+                </th>
+                <th class="text-center">
+                  Area, %
                 </th>
               </template>
-              <th class="text-center">
-                Area
-              </th>
-              <template v-if="$store.getters.currentPipelineSettings.solvePNPEnabled">
+              <template v-else>
                 <th class="text-center">
-                  X
+                  X,&nbsp;m
                 </th>
                 <th class="text-center">
-                  Y
+                  Y,&nbsp;m
                 </th>
                 <th class="text-center">
-                  Angle
+                  Z Angle,&nbsp;&deg;
+                </th>
+              </template>
+              <template v-if="$store.getters.pipelineType === 4 && $store.getters.currentPipelineSettings.solvePNPEnabled">
+                <th class="text-center" >
+                  Ambiguity
                 </th>
               </template>
             </tr>
@@ -51,17 +62,29 @@
               :key="index"
             >
               <td>{{ index }}</td>
+              <td v-if="$store.getters.pipelineType === 4">
+                {{ parseInt(value.fiducialId) }}
+              </td>
               <template v-if="!$store.getters.currentPipelineSettings.solvePNPEnabled">
                 <td>{{ parseFloat(value.pitch).toFixed(2) }}</td>
                 <td>{{ parseFloat(value.yaw).toFixed(2) }}</td>
                 <td>{{ parseFloat(value.skew).toFixed(2) }}</td>
+                <td>{{ parseFloat(value.area).toFixed(2) }}</td>
               </template>
-              <td>{{ parseFloat(value.area).toFixed(2) }}</td>
-              <template v-if="$store.getters.currentPipelineSettings.solvePNPEnabled">
-                <!-- TODO: Make sure that units are correct -->
+              <template v-else-if="$store.getters.currentPipelineSettings.solvePNPEnabled && $store.getters.pipelineType === 4">
                 <td>{{ parseFloat(value.pose.x).toFixed(2) }}&nbsp;m</td>
                 <td>{{ parseFloat(value.pose.y).toFixed(2) }}&nbsp;m</td>
-                <td>{{ parseFloat(value.pose.rot).toFixed(2) }}&deg;</td>
+                <td>{{ (parseFloat(value.pose.angle_z) * 180 / Math.PI).toFixed(2) }}&deg;</td>
+              </template>
+              <template v-else-if="$store.getters.currentPipelineSettings.solvePNPEnabled">
+                <td>{{ parseFloat(value.pose.x).toFixed(2) }}&nbsp;m</td>
+                <td>{{ parseFloat(value.pose.y).toFixed(2) }}&nbsp;m</td>
+                <td>{{ (parseFloat(value.pose.angle_z) * 180 / Math.PI).toFixed(2) }}&deg;</td>
+              </template>
+              <template v-if="$store.getters.pipelineType === 4 && $store.getters.currentPipelineSettings.solvePNPEnabled">
+              <td>
+                {{ parseFloat(value.ambiguity).toFixed(2) }}
+              </td>
               </template>
             </tr>
           </tbody>

photon-client/src/views/PipelineViews/ThresholdTab.vue

@@ -1,16 +1,21 @@
 <template>
-  <div>
+  <div :style="{'--averageHue': averageHue}">
     <CVrangeSlider
+      id="hue-slider"
       v-model="hsvHue"
+      :class="hueInverted ? 'inverted-slider' : 'normal-slider'"
       name="Hue"
       tooltip="Describes color"
       :min="0"
       :max="180"
+      :inverted="hueInverted"
       @input="handlePipelineData('hsvHue')"
       @rollback="e => rollback('hue',e)"
     />
     <CVrangeSlider
+      id="sat-slider"
       v-model="hsvSaturation"
+      class="normal-slider"
       name="Saturation"
       tooltip="Describes colorfulness; the smaller this value the 'whiter' the color becomes"
       :min="0"
@@ -19,7 +24,9 @@
       @rollback="e => rollback('saturation',e)"
     />
     <CVrangeSlider
+      id="value-slider"
       v-model="hsvValue"
+      class="normal-slider"
       name="Value"
       tooltip="Describes lightness; the smaller this value the 'blacker' the color becomes"
       :min="0"
@@ -27,6 +34,13 @@
       @input="handlePipelineData('hsvValue')"
       @rollback="e => rollback('value',e)"
     />
+    <CVSwitch
+      v-model="hueInverted"
+      name="Invert hue"
+      tooltip="Selects the hue range outside of the hue slider bounds instead of inside"
+      @input="handlePipelineData('hueInverted')"
+      @rollback="e => rollback('hueInverted',e)"
+    />
     <template v-if="currentPipelineType() === 3">
       <CVSwitch
         v-model="erode"
@@ -59,7 +73,7 @@
           color="accent"
           class="ma-2 black--text"
           small
-          @click="setFunction(3)"
+          @click="setFunction(hueInverted ? 2 : 3)"
         >
           <v-icon left>
             mdi-minus
@@ -75,13 +89,13 @@
           <v-icon left>
             mdi-plus-minus
           </v-icon>
-          Set To Average
+          {{ hueInverted ? "Exclude" : "Set to" }} Average
         </v-btn>
         <v-btn
           color="accent"
           class="ma-2 black--text"
           small
-          @click="setFunction(2)"
+          @click="setFunction(hueInverted ? 3: 2)"
         >
           <v-icon left>
             mdi-plus
@@ -133,9 +147,41 @@ export default {
         this.$store.commit("mutatePipeline", {"hsvHue": val})
       }
     },
+    averageHue: {
+      get() {
+        var isInverted = this.$store.getters.currentPipelineSettings.hueInverted;
+        const arr = this.$store.getters.currentPipelineSettings.hsvHue;
+        var retVal = 0;
+
+        if (Array.isArray(arr)) {
+          retVal = (arr[0] + arr[1]);
+        } else {
+          retVal = (arr.first + arr.second);
+        }
+
+        if(isInverted){
+          retVal += 180;
+        }
+
+        if(retVal > 360){
+          retVal -= 360;
+        }
+
+        return retVal;
+
+      },
+    },
+    hueInverted: {
+      get() {
+        return this.$store.getters.currentPipelineSettings.hueInverted;
+      },
+      set(val) {
+        this.$store.commit("mutatePipeline", {"hueInverted": val});
+      }
+    },
     hsvSaturation: {
       get() {
-        return this.$store.getters.currentPipelineSettings.hsvSaturation
+        return this.$store.getters.currentPipelineSettings.hsvSaturation;
       },
       set(val) {
         this.$store.commit("mutatePipeline", {"hsvSaturation": val})
@@ -143,15 +189,15 @@ export default {
     },
     hsvValue: {
       get() {
-        return this.$store.getters.currentPipelineSettings.hsvValue
+        return this.$store.getters.currentPipelineSettings.hsvValue;
       },
       set(val) {
-        this.$store.commit("mutatePipeline", {"hsvValue": val})
+        this.$store.commit("mutatePipeline", {"hsvValue": val});
       }
     },
     erode: {
       get() {
-        return this.$store.getters.currentPipelineSettings.erode
+        return this.$store.getters.currentPipelineSettings.erode;
       },
       set(val) {
         this.$store.commit("mutatePipeline", {"erode": val});
@@ -159,7 +205,7 @@ export default {
     },
     dilate: {
       get() {
-        return this.$store.getters.currentPipelineSettings.dilate
+        return this.$store.getters.currentPipelineSettings.dilate;
       },
       set(val) {
         this.$store.commit("mutatePipeline", {"dilate": val});
@@ -233,3 +279,31 @@ export default {
 }
 
 </script>
+
+<style lang="css" scoped>
+#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;
+  box-shadow: 0px 0px 5px #333, inset 0px 0px 3px #333;
+}
+#sat-slider >>> .v-slider {
+  background: linear-gradient( to right, #fff 0%, hsl(var(--averageHue), 100%, 50%) 100% );
+  border-radius: 10px;
+  box-shadow: 0px 0px 5px #333, inset 0px 0px 3px #333;
+}
+#value-slider >>> .v-slider {
+  background: linear-gradient( to right, #000 0%, hsl(var(--averageHue), 100%, 50%) 100% );
+  border-radius: 10px;
+  box-shadow: 0px 0px 5px #333, inset 0px 0px 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/views/SettingsViews/Networking.vue

@@ -87,7 +87,7 @@
             </thead>
             <tbody>
               <tr
-                v-for="(value, index) in $store.state.ntConnectionInfo.deviceips"
+                v-for="(value, index) in $store.state.networkInfo.deviceips"
                 :key="index"
               >
                 <td>{{ value }}</td>
@@ -115,7 +115,7 @@
             </thead>
             <tbody>
               <tr
-                v-for="(value, index) in $store.state.ntConnectionInfo.possibleRios"
+                v-for="(value, index) in $store.state.networkInfo.possibleRios"
                 :key="index"
               >
                 <td>{{ value }}</td>

photon-core/.gitignore

@@ -9,5 +9,7 @@ build
 build/*
 photonvision/*
 photonvision_config/*
+photon-server/lib/*
+photon-server/package-lock.json
 
 src/main/java/org/photonvision/PhotonVersion.java

photon-core/build.gradle

@@ -25,7 +25,8 @@ dependencies {
 }
 
 task writeCurrentVersionJava {
-    writePhotonVersionFile(Path.of("$projectDir", "src", "main", "java", "org", "photonvision", "PhotonVersion.java"),
+    def versionFileIn = file("${rootDir}/shared/PhotonVersion.java.in")
+    writePhotonVersionFile(versionFileIn, Path.of("$projectDir", "src", "main", "java", "org", "photonvision", "PhotonVersion.java"),
             versionString)
 }
 

photon-core/src/main/java/org/photonvision/common/ProgramStatus.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common;
 
 public enum ProgramStatus {

photon-core/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java

@@ -14,12 +14,12 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.configuration;
 
 import com.fasterxml.jackson.annotation.JsonCreator;
 import com.fasterxml.jackson.annotation.JsonIgnore;
 import com.fasterxml.jackson.annotation.JsonProperty;
-import edu.wpi.first.math.geometry.Rotation2d;
 import java.util.ArrayList;
 import java.util.List;
 import org.photonvision.common.logging.LogGroup;
@@ -49,7 +49,6 @@ public class CameraConfiguration {
     public double FOV = 70;
     public final List<CameraCalibrationCoefficients> calibrations;
     public int currentPipelineIndex = 0;
-    public Rotation2d camPitch = new Rotation2d();
 
     public int streamIndex = 0; // 0 index means ports [1181, 1182], 1 means [1183, 1184], etc...
 
@@ -89,8 +88,7 @@ public class CameraConfiguration {
             @JsonProperty("path") String path,
             @JsonProperty("cameraType") CameraType cameraType,
             @JsonProperty("calibration") List<CameraCalibrationCoefficients> calibrations,
-            @JsonProperty("currentPipelineIndex") int currentPipelineIndex,
-            @JsonProperty("camPitch") Rotation2d camPitch) {
+            @JsonProperty("currentPipelineIndex") int currentPipelineIndex) {
         this.baseName = baseName;
         this.uniqueName = uniqueName;
         this.nickname = nickname;
@@ -99,7 +97,6 @@ public class CameraConfiguration {
         this.cameraType = cameraType;
         this.calibrations = calibrations != null ? calibrations : new ArrayList<>();
         this.currentPipelineIndex = currentPipelineIndex;
-        this.camPitch = camPitch;
 
         logger.debug(
                 "Creating camera configuration for "

photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.configuration;
 
 import com.fasterxml.jackson.core.JsonProcessingException;
@@ -31,7 +32,6 @@ import java.util.*;
 import java.util.stream.Collectors;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
-import org.photonvision.common.util.TimedTaskManager;
 import org.photonvision.common.util.file.FileUtils;
 import org.photonvision.common.util.file.JacksonUtils;
 import org.photonvision.vision.pipeline.CVPipelineSettings;
@@ -56,6 +56,7 @@ public class ConfigManager {
     final File configDirectoryFile;
 
     private long saveRequestTimestamp = -1;
+    private Thread settingsSaveThread;
 
     public static ConfigManager getInstance() {
         if (INSTANCE == null) {
@@ -96,7 +97,8 @@ public class ConfigManager {
                 new File(Path.of(configDirectoryFile.toString(), NET_SET_FNAME).toUri());
         this.camerasFolder = new File(Path.of(configDirectoryFile.toString(), "cameras").toUri());
 
-        TimedTaskManager.getInstance().addTask("ConfigManager", this::checkSaveAndWrite, 1000);
+        settingsSaveThread = new Thread(this::saveAndWriteTask);
+        settingsSaveThread.start();
     }
 
     public void load() {
@@ -424,12 +426,24 @@ public class ConfigManager {
         saveRequestTimestamp = System.currentTimeMillis();
     }
 
-    private void checkSaveAndWrite() {
+    private void saveAndWriteTask() {
         // Only save if 1 second has past since the request was made
-        if (saveRequestTimestamp > 0 && (System.currentTimeMillis() - saveRequestTimestamp) > 1000L) {
-            saveRequestTimestamp = -1;
-            logger.debug("Saving to disk...");
-            saveToDisk();
+        while (!Thread.currentThread().isInterrupted()) {
+            if (saveRequestTimestamp > 0 && (System.currentTimeMillis() - saveRequestTimestamp) > 1000L) {
+                saveRequestTimestamp = -1;
+                logger.debug("Saving to disk...");
+                saveToDisk();
+            }
+
+            try {
+                Thread.sleep(1000);
+            } catch (InterruptedException e) {
+                logger.error("Exception waiting for settings semaphor", e);
+            }
         }
     }
+
+    public void unloadCameraConfigs() {
+        this.config.getCameraConfigurations().clear();
+    }
 }

photon-core/src/main/java/org/photonvision/common/configuration/HardwareConfig.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.configuration;
 
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;

photon-core/src/main/java/org/photonvision/common/configuration/HardwareSettings.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.configuration;
 
 public class HardwareSettings {

photon-core/src/main/java/org/photonvision/common/configuration/NetworkConfig.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.configuration;
 
 import com.fasterxml.jackson.annotation.JsonCreator;

photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.configuration;
 
 import java.util.Collection;
@@ -127,7 +128,8 @@ public class PhotonConfiguration {
 
     public static class UICameraConfiguration {
         @SuppressWarnings("unused")
-        public double fov, tiltDegrees;
+        public double fov;
+
         public String nickname;
         public HashMap<String, Object> currentPipelineSettings;
         public int currentPipelineIndex;

photon-core/src/main/java/org/photonvision/common/dataflow/CVPipelineResultConsumer.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.dataflow;
 
 import java.util.function.Consumer;

photon-core/src/main/java/org/photonvision/common/dataflow/DataChangeDestination.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.dataflow;
 
 import java.util.ArrayList;

photon-core/src/main/java/org/photonvision/common/dataflow/DataChangeService.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.dataflow;
 
 import java.util.concurrent.BlockingQueue;

photon-core/src/main/java/org/photonvision/common/dataflow/DataChangeSource.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.dataflow;
 
 import java.util.ArrayList;

photon-core/src/main/java/org/photonvision/common/dataflow/DataChangeSubscriber.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.dataflow;
 
 import java.util.List;

photon-core/src/main/java/org/photonvision/common/dataflow/events/DataChangeEvent.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.dataflow.events;
 
 import org.photonvision.common.dataflow.DataChangeDestination;

photon-core/src/main/java/org/photonvision/common/dataflow/events/HTTPRequestEvent.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.dataflow.events;
 
 import org.photonvision.common.dataflow.DataChangeDestination;

photon-core/src/main/java/org/photonvision/common/dataflow/events/IncomingWebSocketEvent.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.dataflow.events;
 
 import io.javalin.websocket.WsContext;

photon-core/src/main/java/org/photonvision/common/dataflow/events/OutgoingUIEvent.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.dataflow.events;
 
 import io.javalin.websocket.WsContext;

photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataChangeListener.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.dataflow.networktables;
 
 import edu.wpi.first.networktables.EntryListenerFlags;

photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.dataflow.networktables;
 
 import edu.wpi.first.networktables.EntryNotification;
@@ -188,10 +189,17 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
             targetAreaEntry.forceSetDouble(bestTarget.getArea());
             targetSkewEntry.forceSetDouble(bestTarget.getSkew());
 
-            var poseX = bestTarget.getCameraToTarget().getTranslation().getX();
-            var poseY = bestTarget.getCameraToTarget().getTranslation().getY();
-            var poseRot = bestTarget.getCameraToTarget().getRotation().getDegrees();
-            targetPoseEntry.forceSetDoubleArray(new double[] {poseX, poseY, poseRot});
+            var pose = bestTarget.getCameraToTarget3d();
+            targetPoseEntry.forceSetDoubleArray(
+                    new double[] {
+                        pose.getTranslation().getX(),
+                        pose.getTranslation().getY(),
+                        pose.getTranslation().getZ(),
+                        pose.getRotation().getQuaternion().getW(),
+                        pose.getRotation().getQuaternion().getX(),
+                        pose.getRotation().getQuaternion().getY(),
+                        pose.getRotation().getQuaternion().getZ()
+                    });
 
             var targetOffsetPoint = bestTarget.getTargetOffsetPoint();
             bestTargetPosX.forceSetDouble(targetOffsetPoint.x);
@@ -223,7 +231,9 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
                             t.getPitch(),
                             t.getArea(),
                             t.getSkew(),
-                            t.getCameraToTarget(),
+                            t.getFiducialId(),
+                            t.getCameraToTarget3d(),
+                            t.getPoseAmbiguity(),
                             cornerList));
         }
         return ret;

photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java

@@ -14,22 +14,15 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.dataflow.networktables;
 
-import edu.wpi.first.cscore.CameraServerJNI;
 import edu.wpi.first.networktables.LogMessage;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableInstance;
-import java.io.IOException;
-import java.net.InetAddress;
-import java.net.UnknownHostException;
-import java.util.ArrayList;
-import java.util.Arrays;
 import java.util.HashMap;
-import java.util.List;
 import java.util.function.Consumer;
 import org.photonvision.PhotonVersion;
-import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.configuration.NetworkConfig;
 import org.photonvision.common.dataflow.DataChangeService;
 import org.photonvision.common.dataflow.events.OutgoingUIEvent;
@@ -86,6 +79,7 @@ public class NetworkTablesManager {
     private void broadcastConnectedStatusImpl() {
         HashMap<String, Object> map = new HashMap<>();
         var subMap = new HashMap<String, Object>();
+
         subMap.put("connected", ntInstance.isConnected());
         if (ntInstance.isConnected()) {
             var connections = getInstance().ntInstance.getConnections();
@@ -98,73 +92,6 @@ public class NetworkTablesManager {
         map.put("ntConnectionInfo", subMap);
         DataChangeService.getInstance()
                 .publishEvent(new OutgoingUIEvent<>("networkTablesConnected", map));
-
-        // Seperate from the above so we don't hold stuff up
-        System.setProperty("java.net.preferIPv4Stack", "true");
-        subMap.put(
-                "deviceips",
-                Arrays.stream(CameraServerJNI.getNetworkInterfaces())
-                        .filter(it -> !it.equals("0.0.0.0"))
-                        .toArray());
-        logger.info("Searching for rios");
-        List<String> possibleRioList = new ArrayList<>();
-        for (var ip : CameraServerJNI.getNetworkInterfaces()) {
-            logger.info("Trying " + ip);
-            var possibleRioAddr = getPossibleRioAddress(ip);
-            if (possibleRioAddr != null) {
-                logger.info("Maybe found " + ip);
-                searchForHost(possibleRioList, possibleRioAddr);
-            } else {
-                logger.info("Didn't match RIO IP");
-            }
-        }
-        String name =
-                "roboRIO-"
-                        + ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber
-                        + "-FRC.local";
-        searchForHost(possibleRioList, name);
-        name =
-                "roboRIO-"
-                        + ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber
-                        + "-FRC.lan";
-        searchForHost(possibleRioList, name);
-        name =
-                "roboRIO-"
-                        + ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber
-                        + "-FRC.frc-field.local";
-        searchForHost(possibleRioList, name);
-        subMap.put("possibleRios", possibleRioList.toArray());
-        DataChangeService.getInstance()
-                .publishEvent(new OutgoingUIEvent<>("networkTablesConnected", map));
-    }
-
-    String getPossibleRioAddress(String ip) {
-        try {
-            InetAddress addr = InetAddress.getByName(ip);
-            var address = addr.getAddress();
-            if (address[0] != (byte) (10 & 0xff)) return null;
-            address[3] = (byte) (2 & 0xff);
-            return InetAddress.getByAddress(address).getHostAddress();
-        } catch (UnknownHostException e) {
-            e.printStackTrace();
-        }
-        return null;
-    }
-
-    void searchForHost(List<String> list, String hostname) {
-        try {
-            logger.info("Looking up " + hostname);
-            InetAddress testAddr = InetAddress.getByName(hostname);
-            logger.info("Pinging " + hostname);
-            var canContact = testAddr.isReachable(500);
-            if (canContact) {
-                logger.info("Was able to connect to " + hostname);
-                if (!list.contains(hostname)) list.add(hostname);
-            } else {
-                logger.info("Unable to reach " + hostname);
-            }
-        } catch (IOException ignored) {
-        }
     }
 
     private void broadcastVersion() {

photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIDataPublisher.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.dataflow.websocket;
 
 import java.util.ArrayList;

photon-core/src/main/java/org/photonvision/common/hardware/GPIO/CustomGPIO.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.hardware.GPIO;
 
 import org.photonvision.common.configuration.HardwareConfig;

photon-core/src/main/java/org/photonvision/common/hardware/GPIO/GPIOBase.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.hardware.GPIO;
 
 import java.util.Arrays;

photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioCommand.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.hardware.GPIO.pi;
 
 @SuppressWarnings("SpellCheckingInspection")

photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioException.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.hardware.GPIO.pi;
 
 import java.util.HashMap;

photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioPin.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.hardware.GPIO.pi;
 
 import static org.photonvision.common.hardware.GPIO.pi.PigpioException.*;

photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioPulse.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.hardware.GPIO.pi;
 
 public class PigpioPulse {

photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocket.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.hardware.GPIO.pi;
 
 import static org.photonvision.common.hardware.GPIO.pi.PigpioException.*;

photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocketLock.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.hardware.GPIO.pi;
 
 import java.io.DataInputStream;

photon-core/src/main/java/org/photonvision/common/hardware/HardwareManager.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.hardware;
 
 import edu.wpi.first.networktables.NetworkTableEntry;

photon-core/src/main/java/org/photonvision/common/hardware/PiVersion.java

@@ -14,13 +14,14 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.hardware;
 
 public enum PiVersion {
     PI_B("Pi Model B"),
     COMPUTE_MODULE("Compute Module Rev"),
     ZERO_W("Pi Zero W Rev 1.1"),
-    ZERO_2_W("Raspberry Pi Zero 2 W"),
+    ZERO_2_W("Raspberry Pi Zero 2"),
     PI_3("Pi 3"),
     PI_4("Pi 4"),
     COMPUTE_MODULE_3("Compute Module 3"),

photon-core/src/main/java/org/photonvision/common/hardware/Platform.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.hardware;
 
 import edu.wpi.first.util.RuntimeDetector;
@@ -48,20 +49,20 @@ public enum Platform {
 
     // These are queried on init and should never change after
     public static final Platform currentPlatform = getCurrentPlatform();
-    protected static final String currentPiVersionStr = getPiVersionString();
+    static final String currentPiVersionStr = getPiVersionString();
     public static final PiVersion currentPiVersion = PiVersion.getPiVersion();
 
-    private static String UnknownPlatformString =
+    private static final String UnknownPlatformString =
             String.format("Unknown Platform. OS: %s, Architecture: %s", OS_NAME, OS_ARCH);
 
-    public boolean isWindows() {
-        return this == WINDOWS_64 || this == WINDOWS_32;
+    public static boolean isWindows() {
+        return currentPlatform == WINDOWS_64 || currentPlatform == WINDOWS_32;
     }
 
     public static boolean isLinux() {
-        return getCurrentPlatform() == LINUX_64
-                || getCurrentPlatform() == LINUX_RASPBIAN
-                || getCurrentPlatform() == LINUX_ARM64;
+        return currentPlatform == LINUX_64
+                || currentPlatform == LINUX_RASPBIAN
+                || currentPlatform == LINUX_ARM64;
     }
 
     public static boolean isRaspberryPi() {

photon-core/src/main/java/org/photonvision/common/hardware/StatusLED.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.hardware;
 
 import java.util.List;

photon-core/src/main/java/org/photonvision/common/hardware/VisionLED.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.hardware;
 
 import edu.wpi.first.networktables.EntryNotification;

photon-core/src/main/java/org/photonvision/common/hardware/metrics/CPUMetrics.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.hardware.metrics;
 
 public class CPUMetrics extends MetricsBase {

photon-core/src/main/java/org/photonvision/common/hardware/metrics/DiskMetrics.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.hardware.metrics;
 
 public class DiskMetrics extends MetricsBase {

photon-core/src/main/java/org/photonvision/common/hardware/metrics/GPUMetrics.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.hardware.metrics;
 
 public class GPUMetrics extends MetricsBase {

photon-core/src/main/java/org/photonvision/common/hardware/metrics/MetricsBase.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.hardware.metrics;
 
 import java.io.PrintWriter;

photon-core/src/main/java/org/photonvision/common/hardware/metrics/MetricsPublisher.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.hardware.metrics;
 
 import java.util.HashMap;

photon-core/src/main/java/org/photonvision/common/hardware/metrics/RAMMetrics.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.hardware.metrics;
 
 public class RAMMetrics extends MetricsBase {

photon-core/src/main/java/org/photonvision/common/logging/LogGroup.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.logging;
 
 public enum LogGroup {

photon-core/src/main/java/org/photonvision/common/logging/LogLevel.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.logging;
 
 public enum LogLevel {

photon-core/src/main/java/org/photonvision/common/logging/Logger.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.logging;
 
 import java.io.*;

photon-core/src/main/java/org/photonvision/common/networking/NetworkInterface.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.networking;
 
 import java.net.InterfaceAddress;

photon-core/src/main/java/org/photonvision/common/networking/NetworkManager.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.networking;
 
 import org.photonvision.common.configuration.ConfigManager;
@@ -45,7 +46,7 @@ public class NetworkManager {
 
         var config = ConfigManager.getInstance().getConfig().getNetworkConfig();
         logger.info("Setting " + config.connectionType + " with team team " + config.teamNumber);
-        if (Platform.isLinux()) {
+        if (Platform.isRaspberryPi()) {
             if (!Platform.isRoot) {
                 logger.error("Cannot manage network without root!");
                 return;

photon-core/src/main/java/org/photonvision/common/networking/NetworkMode.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.networking;
 
 public enum NetworkMode {

photon-core/src/main/java/org/photonvision/common/networking/RoborioFinder.java

@@ -0,0 +1,118 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.networking;
+
+import edu.wpi.first.cscore.CameraServerJNI;
+import java.io.IOException;
+import java.net.InetAddress;
+import java.net.UnknownHostException;
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.HashMap;
+import java.util.List;
+import org.photonvision.common.dataflow.DataChangeService;
+import org.photonvision.common.dataflow.events.OutgoingUIEvent;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
+
+public class RoborioFinder {
+    private static RoborioFinder instance;
+    private static final Logger logger = new Logger(RoborioFinder.class, LogGroup.General);
+
+    public static RoborioFinder getInstance() {
+        if (instance == null) instance = new RoborioFinder();
+        return instance;
+    }
+
+    public void findRios() {
+        HashMap<String, Object> map = new HashMap<>();
+        var subMap = new HashMap<String, Object>();
+        // Seperate from the above so we don't hold stuff up
+        System.setProperty("java.net.preferIPv4Stack", "true");
+        subMap.put(
+                "deviceips",
+                Arrays.stream(CameraServerJNI.getNetworkInterfaces())
+                        .filter(it -> !it.equals("0.0.0.0"))
+                        .toArray());
+        logger.info("Searching for rios");
+        List<String> possibleRioList = new ArrayList<>();
+        for (var ip : CameraServerJNI.getNetworkInterfaces()) {
+            logger.info("Trying " + ip);
+            var possibleRioAddr = getPossibleRioAddress(ip);
+            if (possibleRioAddr != null) {
+                logger.info("Maybe found " + ip);
+                searchForHost(possibleRioList, possibleRioAddr);
+            } else {
+                logger.info("Didn't match RIO IP");
+            }
+        }
+
+        //        String name =
+        //                "roboRIO-"
+        //                        +
+        // ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber
+        //                        + "-FRC.local";
+        //        searchForHost(possibleRioList, name);
+        //        name =
+        //                "roboRIO-"
+        //                        +
+        // ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber
+        //                        + "-FRC.lan";
+        //        searchForHost(possibleRioList, name);
+        //        name =
+        //                "roboRIO-"
+        //                        +
+        // ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber
+        //                        + "-FRC.frc-field.local";
+        //        searchForHost(possibleRioList, name);
+        //        subMap.put("possibleRios", possibleRioList.toArray());
+
+        subMap.put("possibleRios", possibleRioList.toArray());
+        map.put("networkInfo", subMap);
+        DataChangeService.getInstance().publishEvent(new OutgoingUIEvent<>("deviceIpInfo", map));
+    }
+
+    String getPossibleRioAddress(String ip) {
+        try {
+            InetAddress addr = InetAddress.getByName(ip);
+            var address = addr.getAddress();
+            if (address[0] != (byte) (10 & 0xff)) return null;
+            address[3] = (byte) (2 & 0xff);
+            return InetAddress.getByAddress(address).getHostAddress();
+        } catch (UnknownHostException e) {
+            e.printStackTrace();
+        }
+        return null;
+    }
+
+    void searchForHost(List<String> list, String hostname) {
+        try {
+            logger.info("Looking up " + hostname);
+            InetAddress testAddr = InetAddress.getByName(hostname);
+            logger.info("Pinging " + hostname);
+            var canContact = testAddr.isReachable(500);
+            if (canContact) {
+                logger.info("Was able to connect to " + hostname);
+                if (!list.contains(hostname)) list.add(hostname);
+            } else {
+                logger.info("Unable to reach " + hostname);
+            }
+        } catch (IOException ignored) {
+        }
+    }
+}

photon-core/src/main/java/org/photonvision/common/scripting/ScriptCommandType.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.scripting;
 
 public enum ScriptCommandType {

photon-core/src/main/java/org/photonvision/common/scripting/ScriptConfig.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.scripting;
 
 import com.fasterxml.jackson.annotation.JsonCreator;

photon-core/src/main/java/org/photonvision/common/scripting/ScriptEvent.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.scripting;
 
 import java.io.IOException;

photon-core/src/main/java/org/photonvision/common/scripting/ScriptEventType.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.scripting;
 
 public enum ScriptEventType {

photon-core/src/main/java/org/photonvision/common/scripting/ScriptManager.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.scripting;
 
 import java.io.IOException;

photon-core/src/main/java/org/photonvision/common/util/ColorHelper.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.util;
 
 import java.awt.*;

photon-core/src/main/java/org/photonvision/common/util/MemoryManager.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.util;
 
 public class MemoryManager {

photon-core/src/main/java/org/photonvision/common/util/NativeLibHelper.java

@@ -0,0 +1,40 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.util;
+
+import java.nio.file.Path;
+import java.nio.file.Paths;
+
+public class NativeLibHelper {
+    private static NativeLibHelper INSTANCE;
+
+    public static NativeLibHelper getInstance() {
+        if (INSTANCE == null) {
+            INSTANCE = new NativeLibHelper();
+        }
+
+        return INSTANCE;
+    }
+
+    public final Path NativeLibPath;
+
+    private NativeLibHelper() {
+        String home = System.getProperty("user.home");
+        NativeLibPath = Paths.get(home, ".pvlibs", "nativecache");
+    }
+}

photon-core/src/main/java/org/photonvision/common/util/ReflectionUtils.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.util;
 
 public class ReflectionUtils {

photon-core/src/main/java/org/photonvision/common/util/SerializationUtils.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.util;
 
 import java.util.HashMap;

photon-core/src/main/java/org/photonvision/common/util/ShellExec.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.util;
 
 import java.io.*;

photon-core/src/main/java/org/photonvision/common/util/TestUtils.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.util;
 
 import com.fasterxml.jackson.databind.ObjectMapper;
@@ -28,6 +29,15 @@ import org.opencv.highgui.HighGui;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 
 public class TestUtils {
+    public static void loadLibraries() {
+        try {
+            CameraServerCvJNI.forceLoad();
+            //        PicamJNI.forceLoad();
+        } catch (IOException ex) {
+            // ignored
+        }
+    }
+
     @SuppressWarnings("unused")
     public enum WPI2019Image {
         kCargoAngledDark48in(1.2192),
@@ -153,6 +163,23 @@ public class TestUtils {
         }
     }
 
+    public enum ApriltagTestImages {
+        kRobots,
+        kTag1_640_480;
+
+        public final Path path;
+
+        Path getPath() {
+            // Strip leading k
+            var filename = this.toString().substring(1).toLowerCase();
+            return Path.of("apriltag", filename + ".jpg");
+        }
+
+        ApriltagTestImages() {
+            this.path = getPath();
+        }
+    }
+
     private static Path getResourcesFolderPath(boolean testMode) {
         System.out.println("CWD: " + Path.of("").toAbsolutePath().toString());
         return Path.of("test-resources").toAbsolutePath();
@@ -176,6 +203,12 @@ public class TestUtils {
                 .resolve(WPI2022Image.kTerminal22ft6in.path);
     }
 
+    public static Path getTestModeApriltagPath() {
+        return getResourcesFolderPath(true)
+                .resolve("testimages")
+                .resolve(ApriltagTestImages.kRobots.path);
+    }
+
     public static Path getTestImagesPath(boolean testMode) {
         return getResourcesFolderPath(testMode).resolve("testimages");
     }
@@ -200,6 +233,10 @@ public class TestUtils {
         return getTestImagesPath(testMode).resolve(image.path);
     }
 
+    public static Path getApriltagImagePath(ApriltagTestImages image, boolean testMode) {
+        return getTestImagesPath(testMode).resolve(image.path);
+    }
+
     public static Path getPowercellImagePath(PowercellTestImages image, boolean testMode) {
         return getPowercellPath(testMode).resolve(image.path);
     }
@@ -242,12 +279,8 @@ public class TestUtils {
         return getCoeffs(LIFECAM_480P_CAL_FILE, testMode);
     }
 
-    public static void loadLibraries() {
-        try {
-            CameraServerCvJNI.forceLoad();
-        } catch (IOException e) {
-            // ignored
-        }
+    public static CameraCalibrationCoefficients getLaptop() {
+        return getCoeffs("laptop.json", true);
     }
 
     private static int DefaultTimeoutMillis = 5000;

photon-core/src/main/java/org/photonvision/common/util/TimedTaskManager.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.util;
 
 import java.util.concurrent.*;

photon-core/src/main/java/org/photonvision/common/util/file/FileUtils.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.util.file;
 
 import java.io.File;

photon-core/src/main/java/org/photonvision/common/util/file/JacksonUtils.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.util.file;
 
 import com.fasterxml.jackson.core.json.JsonReadFeature;
@@ -33,7 +34,7 @@ import java.nio.file.Path;
 
 public class JacksonUtils {
     public static <T> void serialize(Path path, T object) throws IOException {
-        serialize(path, object, false);
+        serialize(path, object, true);
     }
 
     public static <T> void serialize(Path path, T object, boolean forceSync) throws IOException {
@@ -79,7 +80,7 @@ public class JacksonUtils {
 
     public static <T> void serialize(Path path, T object, Class<T> ref, StdSerializer<T> serializer)
             throws IOException {
-        serialize(path, object, ref, serializer, false);
+        serialize(path, object, ref, serializer, true);
     }
 
     public static <T> void serialize(

photon-core/src/main/java/org/photonvision/common/util/file/ProgramDirectoryUtilities.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.util.file;
 
 import java.io.File;

photon-core/src/main/java/org/photonvision/common/util/java/TriConsumer.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.util.java;
 
 public interface TriConsumer<T, U, V> {

photon-core/src/main/java/org/photonvision/common/util/math/IPUtils.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.util.math;
 
 import java.util.ArrayList;

photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java

@@ -14,9 +14,22 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.util.math;
 
+import edu.wpi.first.math.MatBuilder;
+import edu.wpi.first.math.Nat;
+import edu.wpi.first.math.VecBuilder;
+import edu.wpi.first.math.geometry.CoordinateSystem;
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.math.geometry.Quaternion;
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.math.util.Units;
 import edu.wpi.first.util.WPIUtilJNI;
+import java.util.Arrays;
+import java.util.List;
+import org.opencv.core.Mat;
 
 public class MathUtils {
     MathUtils() {}
@@ -63,6 +76,58 @@ public class MathUtils {
         return (int) Math.floor(map((double) value, inMin, inMax, outMin, outMax) + 0.5);
     }
 
+    public static long wpiNanoTime() {
+        return microsToNanos(WPIUtilJNI.now());
+    }
+
+    /**
+     * Get the value of the nTh percentile of a list
+     *
+     * @param list The list to evaluate
+     * @param p The percentile, in [0,100]
+     * @return
+     */
+    public static double getPercentile(List<Double> list, double p) {
+        if ((p > 100) || (p <= 0)) {
+            throw new IllegalArgumentException("invalid quantile value: " + p);
+        }
+
+        if (list.size() == 0) {
+            return Double.NaN;
+        }
+        if (list.size() == 1) {
+            return list.get(0); // always return single value for n = 1
+        }
+
+        // Sort array.  We avoid a third copy here by just creating the
+        // list directly.
+        double[] sorted = new double[list.size()];
+        for (int i = 0; i < list.size(); i++) {
+            sorted[i] = list.get(i);
+        }
+        Arrays.sort(sorted);
+
+        return evaluateSorted(sorted, p);
+    }
+
+    private static double evaluateSorted(final double[] sorted, final double p) {
+        double n = sorted.length;
+        double pos = p * (n + 1) / 100;
+        double fpos = Math.floor(pos);
+        int intPos = (int) fpos;
+        double dif = pos - fpos;
+
+        if (pos < 1) {
+            return sorted[0];
+        }
+        if (pos >= n) {
+            return sorted[sorted.length - 1];
+        }
+        double lower = sorted[intPos - 1];
+        double upper = sorted[intPos];
+        return lower + dif * (upper - lower);
+    }
+
     /**
      * Linearly interpolates between two values.
      *
@@ -76,7 +141,54 @@ public class MathUtils {
         return startValue + (endValue - startValue) * t;
     }
 
-    public static long wpiNanoTime() {
-        return microsToNanos(WPIUtilJNI.now());
+    public static Pose3d EDNtoNWU(final Pose3d pose) {
+        // Change of basis matrix from EDN to NWU. Each column vector is one of the
+        // old basis vectors mapped to its representation in the new basis.
+        //
+        // E (+X) -> N (-Y), D (+Y) -> W (-Z), N (+Z) -> U (+X)
+        var R = new MatBuilder<>(Nat.N3(), Nat.N3()).fill(0, 0, 1, -1, 0, 0, 0, -1, 0);
+
+        // https://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/
+        double w = Math.sqrt(1.0 + R.get(0, 0) + R.get(1, 1) + R.get(2, 2)) / 2.0;
+        double x = (R.get(2, 1) - R.get(1, 2)) / (4.0 * w);
+        double y = (R.get(0, 2) - R.get(2, 0)) / (4.0 * w);
+        double z = (R.get(1, 0) - R.get(0, 1)) / (4.0 * w);
+        var rotationQuat = new Rotation3d(new Quaternion(w, x, y, z));
+
+        return new Pose3d(
+                pose.getTranslation().rotateBy(rotationQuat), pose.getRotation().rotateBy(rotationQuat));
+    }
+
+    // TODO: Refactor into new pipe?
+    public static Pose3d convertOpenCVtoPhotonPose(Transform3d cameraToTarget3d) {
+        // CameraToTarget _should_ be in opencv-land EDN
+        return CoordinateSystem.convert(
+                new Pose3d(cameraToTarget3d), CoordinateSystem.EDN(), CoordinateSystem.NWU());
+    }
+
+    /*
+     * The AprilTag pose rotation outputs are X left, Y down, Z away from the tag with the tag facing
+     * the camera upright and the camera facing the target parallel to the floor. But our OpenCV
+     * solvePNP code would have X left, Y up, Z towards the camera with the target facing the camera
+     * and both parallel to the floor. So we apply a base rotation to the rotation component of the
+     * apriltag pose to make it consistent with the EDN system that OpenCV uses, internally a 180
+     * rotation about the X axis
+     */
+    private static final Rotation3d APRILTAG_BASE_ROTATION =
+            new Rotation3d(VecBuilder.fill(1, 0, 0), Units.degreesToRadians(180));
+
+    /**
+     * Apply a 180 degree rotation about X to the rotation component of a given Apriltag pose. This
+     * aligns it with the OpenCV poses we use in other places.
+     */
+    public static Transform3d convertApriltagtoOpenCV(Transform3d pose) {
+        var ocvRotation = APRILTAG_BASE_ROTATION.rotateBy(pose.getRotation());
+        return new Transform3d(pose.getTranslation(), ocvRotation);
+    }
+
+    public static void rotationToOpencvRvec(Rotation3d rotation, Mat rvecOutput) {
+        var angle = rotation.getAngle();
+        var axis = rotation.getAxis().times(angle);
+        rvecOutput.put(0, 0, axis.getData());
     }
 }

photon-core/src/main/java/org/photonvision/common/util/numbers/DoubleCouple.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.util.numbers;
 
 import org.opencv.core.Point;

photon-core/src/main/java/org/photonvision/common/util/numbers/IntegerCouple.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.util.numbers;
 
 public class IntegerCouple extends NumberCouple<Integer> {

photon-core/src/main/java/org/photonvision/common/util/numbers/NumberCouple.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.util.numbers;
 
 import com.fasterxml.jackson.annotation.JsonIgnore;

photon-core/src/main/java/org/photonvision/common/util/numbers/NumberListUtils.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.common.util.numbers;
 
 import java.math.BigDecimal;

photon-core/src/main/java/org/photonvision/raspi/PicamJNI.java

@@ -14,6 +14,7 @@
  * You should have received a copy of the GNU General Public License
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
+
 package org.photonvision.raspi;
 
 import java.io.File;
@@ -29,6 +30,8 @@ import org.photonvision.common.logging.Logger;
 
 public class PicamJNI {
     private static boolean libraryLoaded = false;
+    private static boolean enabled =
+            false; // TODO once we've sorted out what apriltags needs to be doing, we can bring this back?
     private static Logger logger = new Logger(PicamJNI.class, LogGroup.Camera);
 
     public enum SensorModel {
@@ -85,7 +88,8 @@ public class PicamJNI {
 
     public static boolean isSupported() {
         return libraryLoaded
-                && !isVCSMSupported()
+                && enabled
+                && isVCSMSupported()
                 && getSensorModel() != SensorModel.Disconnected
                 && Platform.isRaspberryPi()
                 && (Platform.currentPiVersion == PiVersion.PI_3
@@ -133,12 +137,18 @@ public class PicamJNI {
     public static native void setThresholds(
             double hL, double sL, double vL, double hU, double sU, double vU);
 
+    public static native void setInvertHue(boolean shouldInvert);
+
     public static native boolean setExposure(int exposure);
 
     public static native boolean setBrightness(int brightness);
 
+    // This adjusts the analog gain (normalized to 0-100); ignores the digital gain
     public static native boolean setGain(int gain);
 
+    // Adjusts the auto white balance gains, which are normalized 0-100 in the native code
+    public static native boolean setAwbGain(int red, int blue);
+
     public static native boolean setRotation(int rotation);
 
     public static native void setShouldCopyColor(boolean shouldCopyColor);

photon-core/src/main/java/org/photonvision/vision/apriltag/AprilTagDetector.java

@@ -0,0 +1,92 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.vision.apriltag;
+
+import org.opencv.core.Mat;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
+import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
+
+public class AprilTagDetector {
+    private static final Logger logger = new Logger(AprilTagDetector.class, LogGroup.VisionModule);
+    private long m_detectorPtr = 0;
+    private AprilTagDetectorParams m_detectorParams = AprilTagDetectorParams.DEFAULT_36H11;
+
+    public AprilTagDetector() {
+        updateDetector();
+    }
+
+    private void updateDetector() {
+        if (m_detectorPtr != 0) {
+            // TODO: in JNI
+            AprilTagJNI.AprilTag_Destroy(m_detectorPtr);
+            m_detectorPtr = 0;
+        }
+
+        logger.debug("Creating detector with params " + m_detectorParams);
+        m_detectorPtr =
+                AprilTagJNI.AprilTag_Create(
+                        m_detectorParams.tagFamily.getNativeName(),
+                        m_detectorParams.decimate,
+                        m_detectorParams.blur,
+                        m_detectorParams.threads,
+                        m_detectorParams.debug,
+                        m_detectorParams.refineEdges);
+    }
+
+    public void updateParams(AprilTagDetectorParams newParams) {
+        if (!m_detectorParams.equals(newParams)) {
+            m_detectorParams = newParams;
+            updateDetector();
+        }
+    }
+
+    public DetectionResult[] detect(
+            Mat grayscaleImg,
+            CameraCalibrationCoefficients coeffs,
+            boolean useNativePoseEst,
+            int numIterations,
+            double tagWidthMeters) {
+        if (m_detectorPtr == 0) {
+            // Detector not set up (JNI issue? or similar?)
+            // No detection is possible.
+            return new DetectionResult[] {};
+        }
+
+        var cx = 0.0;
+        var cy = 0.0;
+        var fx = 0.0;
+        var fy = 0.0;
+        var doPoseEst = false;
+
+        if (coeffs != null && useNativePoseEst) {
+            final Mat cameraMatrix = coeffs.getCameraIntrinsicsMat();
+            if (cameraMatrix != null) {
+                // Camera calibration has been done, we should be able to do pose estimation
+                cx = cameraMatrix.get(0, 2)[0];
+                cy = cameraMatrix.get(1, 2)[0];
+                fx = cameraMatrix.get(0, 0)[0];
+                fy = cameraMatrix.get(1, 1)[0];
+                doPoseEst = true;
+            }
+        }
+
+        return AprilTagJNI.AprilTag_Detect(
+                m_detectorPtr, grayscaleImg, doPoseEst, tagWidthMeters, fx, fy, cx, cy, numIterations);
+    }
+}

photon-core/src/main/java/org/photonvision/vision/apriltag/AprilTagDetectorParams.java

@@ -0,0 +1,78 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.vision.apriltag;
+
+import java.util.Objects;
+
+public class AprilTagDetectorParams {
+    public static AprilTagDetectorParams DEFAULT_36H11 =
+            new AprilTagDetectorParams(AprilTagFamily.kTag36h11, 1.0, 0.0, 4, false, false);
+
+    public final AprilTagFamily tagFamily;
+    public final double decimate;
+    public final double blur;
+    public final int threads;
+    public final boolean debug;
+    public final boolean refineEdges;
+
+    public AprilTagDetectorParams(
+            AprilTagFamily tagFamily,
+            double decimate,
+            double blur,
+            int threads,
+            boolean debug,
+            boolean refineEdges) {
+        this.tagFamily = tagFamily;
+        this.decimate = decimate;
+        this.blur = blur;
+        this.threads = threads;
+        this.debug = debug;
+        this.refineEdges = refineEdges;
+    }
+
+    @Override
+    public boolean equals(Object o) {
+        if (this == o) return true;
+        if (o == null || getClass() != o.getClass()) return false;
+        AprilTagDetectorParams that = (AprilTagDetectorParams) o;
+        return Objects.equals(tagFamily, that.tagFamily)
+                && Double.compare(decimate, that.decimate) == 0
+                && Double.compare(blur, that.blur) == 0
+                && threads == that.threads
+                && debug == that.debug
+                && refineEdges == that.refineEdges;
+    }
+
+    @Override
+    public String toString() {
+        return "AprilTagDetectorParams{"
+                + "tagFamily="
+                + tagFamily.getNativeName()
+                + ", decimate="
+                + decimate
+                + ", blur="
+                + blur
+                + ", threads="
+                + threads
+                + ", debug="
+                + debug
+                + ", refineEdges="
+                + refineEdges
+                + '}';
+    }
+}