Remove redundant if check in OutputStreamPipeline (#660 )

Co-authored-by: Matt <matthew.morley.ca@gmail.com>
Add RobotPoseEstimator (#571 )
2026-06-27 02:01:40 +00:00 · 2022-12-30 02:00:14 -05:00 · 2022-12-30 01:40:13 -05:00 · 2022-12-28 13:32:38 -08:00 · 2022-12-28 14:21:41 -05:00 · 2022-12-28 13:41:29 -05:00
320 changed files with 13032 additions and 7814 deletions
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -22,27 +22,22 @@ jobs:
        working-directory: photon-client

    # The type of runner that the job will run on.
-    runs-on: ubuntu-latest
-
-    # Grab the docker container.
-    container:
-      image: docker://node:10
+    runs-on: ubuntu-22.04

    steps:
    # Checkout code.
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v3

    # Setup Node.js
    - name: Setup Node.js
-      uses: actions/setup-node@v3.4.1
+      uses: actions/setup-node@v3
      with:
-        node-version: 14
+        node-version: 16

    # Run npm
-    - run: |
-        npm install -g npm
-        npm ci
-        npm run build --if-present
+    - run: npm update -g npm
+    - run: npm ci
+    - run: npm run build --if-present

    # Upload client artifact.
    - uses: actions/upload-artifact@master
@@ -50,34 +45,80 @@ jobs:
        name: built-client
        path: photon-client/dist/

-  photon-build-all:
-    # The type of runner that the job will run on.
-    runs-on: ubuntu-latest
+  photon-build-examples:
+    runs-on: ubuntu-22.04
+    name: "Build Examples"

    steps:
      # Checkout code.
      - name: Checkout code
-        uses: actions/checkout@v1
+        uses: actions/checkout@v3
+        with:
+          fetch-depth: 0

      # Fetch tags.
      - name: Fetch tags
        run: git fetch --tags --force

-      # Install Java 11.
-      - name: Install Java 11
-        uses: actions/setup-java@v1
+      # Install Java 17.
+      - name: Install Java 17
+        uses: actions/setup-java@v3
        with:
-          java-version: 11
+          java-version: 17
+          distribution: temurin

-      # Run Gradle build.
+      # Need to publish to maven local first, so that C++ sim can pick it up
+      # Still haven't figure out how to make the vendordep file be copied before trying to build examples
+      - name: Publish photonlib to maven local
+        run: |
+          chmod +x gradlew
+          ./gradlew publishtomavenlocal -x check
+
+      - name: Build Java examples
+        working-directory: photonlib-java-examples
+        run: |
+          chmod +x gradlew
+          ./gradlew copyPhotonlib -x check
+          ./gradlew buildAllExamples -x check --max-workers 2
+
+      - name: Build C++ examples
+        working-directory: photonlib-cpp-examples
+        run: |
+          chmod +x gradlew
+          ./gradlew copyPhotonlib -x check
+          ./gradlew buildAllExamples -x check --max-workers 2
+
+  photon-build-all:
+    # The type of runner that the job will run on.
+    runs-on: ubuntu-22.04
+
+    steps:
+      # Checkout code.
+      - name: Checkout code
+        uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+
+      # Fetch tags.
+      - name: Fetch tags
+        run: git fetch --tags --force
+
+      # Install Java 17.
+      - name: Install Java 17
+        uses: actions/setup-java@v3
+        with:
+          java-version: 17
+          distribution: temurin
+
+      # Run only build tasks, no checks??
      - name: Gradle Build
        run: |
          chmod +x gradlew
-          ./gradlew build -x check --max-workers 1
+          ./gradlew photon-server:build photon-lib:build -x check --max-workers 2

      # Run Gradle Tests.
      - name: Gradle Tests
-        run: ./gradlew testHeadless -i --max-workers 1
+        run: ./gradlew testHeadless -i --max-workers 1 --stacktrace

      # Generate Coverage Report.
      - name: Gradle Coverage
@@ -85,29 +126,29 @@ jobs:

      # Publish Coverage Report.
      - name: Publish Server Coverage Report
-        uses: codecov/codecov-action@v1
+        uses: codecov/codecov-action@v3
        with:
          file: ./photon-server/build/reports/jacoco/test/jacocoTestReport.xml

      - name: Publish Core Coverage Report
-        uses: codecov/codecov-action@v1
+        uses: codecov/codecov-action@v3
        with:
          file: ./photon-core/build/reports/jacoco/test/jacocoTestReport.xml

  photonserver-build-offline-docs:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04

    steps:
      # Checkout docs.
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
        with:
          repository: 'PhotonVision/photonvision-docs.git'
          ref: master

      # Install Python.
-      - uses: actions/setup-python@v2
+      - uses: actions/setup-python@v4
        with:
-          python-version: '3.6'
+          python-version: '3.9'

      - name: Install dependencies
        run: |
@@ -132,24 +173,25 @@ jobs:

  photonserver-check-lint:
    # The type of runner that the job will run on.
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04

    steps:
      # Checkout code.
-      - uses: actions/checkout@v1
-
-      # Install Java 11.
-      - uses: actions/setup-java@v1
+      - uses: actions/checkout@v3
        with:
-          java-version: 11
+          fetch-depth: 0
+
+      # Install Java 17.
+      - uses: actions/setup-java@v3
+        with:
+          java-version: 17
+          distribution: temurin

      # Check server code with Spotless.
      - run: |
          chmod +x gradlew
          ./gradlew spotlessCheck

-
-
  #  Building photonlib
  photonlib-build-host:
    env:
@@ -158,22 +200,23 @@ jobs:
      fail-fast: false
      matrix:
        include:
-          - os: windows-latest
+          - os: windows-2022
            artifact-name: Win64
-          - os: macos-latest
+          - os: macos-11
            artifact-name: macOS
-          - os: ubuntu-latest
+          - os: ubuntu-22.04
            artifact-name: Linux

    runs-on: ${{ matrix.os }}
-    name: "Photonlib - Build - ${{ matrix.artifact-name }}"
+    name: "Photonlib - Build Host - ${{ matrix.artifact-name }}"
    steps:
-      - uses: actions/checkout@v2.3.4
+      - uses: actions/checkout@v3
        with:
          fetch-depth: 0
-      - uses: actions/setup-java@v1
+      - uses: actions/setup-java@v3
        with:
-          java-version: 11
+          java-version: 17
+          distribution: temurin
      - run: git fetch --tags --force
      - run: |
          chmod +x gradlew
@@ -189,27 +232,29 @@ jobs:
      fail-fast: false
      matrix:
        include:
-          - container: wpilib/roborio-cross-ubuntu:2022-18.04
+          - container: wpilib/roborio-cross-ubuntu:2023-22.04
            artifact-name: Athena
-          - container: wpilib/raspbian-cross-ubuntu:10-18.04
+          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
            artifact-name: Raspbian
-          - container: wpilib/aarch64-cross-ubuntu:bionic-18.04
+          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
            artifact-name: Aarch64

-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
    container: ${{ matrix.container }}
-    name: "Photonlib - Build - ${{ matrix.artifact-name }}"
+    name: "Photonlib - Build Docker - ${{ matrix.artifact-name }}"
    steps:
-      - uses: actions/checkout@v2.3.4
+      - uses: actions/checkout@v3
        with:
          fetch-depth: 0
-      - uses: actions/setup-java@v1
-        with:
-          java-version: 11
-      - run: |
+      - name: Config Git
+        run: |
+          git config --global --add safe.directory /__w/photonvision/photonvision
+      - name: Build PhotonLib
+        run: |
          chmod +x gradlew
          ./gradlew photon-lib:build --max-workers 1
-      - run: |
+      - name: Publish
+        run: |
          chmod +x gradlew
          ./gradlew photon-lib:publish
        env:
@@ -218,16 +263,16 @@ jobs:

  photonlib-wpiformat:
    name: "wpiformat"
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
    steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
      - name: Fetch all history and metadata
        run: |
          git fetch --prune --unshallow
          git checkout -b pr
          git branch -f master origin/master
      - name: Set up Python 3.8
-        uses: actions/setup-python@v2
+        uses: actions/setup-python@v4
        with:
          python-version: 3.8
      - name: Install clang-format
@@ -244,40 +289,78 @@ jobs:
      - name: Generate diff
        run: git diff HEAD > wpiformat-fixes.patch
        if: ${{ failure() }}
-      - uses: actions/upload-artifact@v2
+      - uses: actions/upload-artifact@v3
        with:
          name: wpiformat fixes
          path: wpiformat-fixes.patch
        if: ${{ failure() }}

  photon-build-package:
-    needs: [photonclient-build, photon-build-all, photonserver-build-offline-docs, photonlib-build-host, photonlib-build-docker]
+    needs: [photonclient-build, photon-build-all, photonserver-build-offline-docs]
+
+    strategy:
+        fail-fast: false
+        matrix:
+          include:
+            - os: windows-latest
+              artifact-name: Win64
+              architecture: x64
+              arch-override: none
+            - os: macos-latest
+              artifact-name: macOS
+              architecture: x64
+              arch-override: none
+            - os: ubuntu-latest
+              artifact-name: Linux
+              architecture: x64
+              arch-override: none
+            - os: macos-latest
+              artifact-name: macOSArm
+              architecture: x64
+              arch-override: macarm64
+            - os: ubuntu-latest
+              artifact-name: LinuxArm32
+              architecture: x64
+              arch-override: linuxarm32
+            - os: ubuntu-latest
+              artifact-name: LinuxArm64
+              architecture: x64
+              arch-override: linuxarm64

    # The type of runner that the job will run on.
-    runs-on: ubuntu-latest
+    runs-on: ${{ matrix.os }}
+    name: "Build fat JAR - ${{ matrix.artifact-name }}"

    steps:
      # Checkout code.
-      - uses: actions/checkout@v1
-
-      # Install Java 11.
-      - uses: actions/setup-java@v1
+      - uses: actions/checkout@v3
        with:
-          java-version: 11
+          fetch-depth: 0
+
+      # Install Java 17.
+      - uses: actions/setup-java@v3
+        with:
+          java-version: 17
+          distribution: temurin

      # Clear any existing web resources.
      - run: |
          rm -rf photon-server/src/main/resources/web/*
          mkdir -p photon-server/src/main/resources/web/docs
+        if: ${{ (matrix.os) != 'windows-latest' }}
+      - run: |
+          del photon-server\src\main\resources\web\*.*
+          mkdir photon-server\src\main\resources\web\docs
+        if: ${{ (matrix.os) == 'windows-latest' }}

      # Download client artifact to resources folder.
-      - uses: actions/download-artifact@v2
+      - uses: actions/download-artifact@v3
        with:
          name: built-client
          path: photon-server/src/main/resources/web/

      # Download docs artifact to resources folder.
-      - uses: actions/download-artifact@v2
+      - uses: actions/download-artifact@v3
        with:
          name: built-docs
          path: photon-server/src/main/resources/web/docs
@@ -285,54 +368,62 @@ jobs:
      # Build fat jar for both pi and everything
      - run: |
          chmod +x gradlew
-          ./gradlew photon-server:shadowJar --max-workers 1
-          ./gradlew photon-server:shadowJar --max-workers 1 -Ppionly
+          ./gradlew photon-server:shadowJar --max-workers 2 -PArchOverride=${{ matrix.arch-override }}
+        if: ${{ (matrix.arch-override != 'none') }}
+      - run: |
+          chmod +x gradlew
+          ./gradlew photon-server:shadowJar --max-workers 2
+        if: ${{ (matrix.arch-override == 'none') }}

-      # The image will only pull the Pi JAR in
+      # The image will only pull the Pi32 JAR in
      - name: Generate image
-        if: github.event_name != 'pull_request'
+        if: ${{ github.event_name != 'pull_request' && (matrix.artifact-name) == 'LinuxArm32' }}
        run: |
          chmod +x scripts/generatePiImage.sh
          ./scripts/generatePiImage.sh

      # Upload final fat jar as artifact.
-      - uses: actions/upload-artifact@master
+      - uses: actions/upload-artifact@v3
        with:
-          name: jar
+          name: jar-${{ matrix.artifact-name }}
          path: photon-server/build/libs
-      - uses: actions/upload-artifact@master
-        with:
-          name: image
-          path: photonvision*.zip

+      # Upload image as well
+
+      - uses: actions/upload-artifact@v3
+        if: ${{ github.event_name != 'pull_request' && (matrix.artifact-name) == 'LinuxArm32' }}
+        with:
+          name: image-${{ matrix.artifact-name }}
+          path: photonvision*.xz
+
+
+  photon-release:
+    needs: [photon-build-package]
+    runs-on: ubuntu-22.04
+    steps:
+      # Download literally every single artifact. This also downloads client and docs,
+      # but the filtering below won't pick these up (I hope)
+      - uses: actions/download-artifact@v2
+
+      - run: find
+
+      # Push to dev release
      - uses: pyTooling/Actions/releaser@r0
        with:
          token: ${{ secrets.GITHUB_TOKEN }}
          tag: 'Dev'
          rm: true
          files: |
-            photon-server/build/libs/*.jar
-            photonvision*.zip
+            **/*.xz
+            **/*.jar
        if: github.event_name == 'push'

-  photon-release:
-    if: startsWith(github.ref, 'refs/tags/v')
-    needs: [photon-build-package]
-    runs-on: ubuntu-latest
-    steps:
-      # This *should* pull in fat and pi-only jars
-      - uses: actions/download-artifact@v2
-        with:
-          name: jar
-
-      # And the image we made previously
-      - uses: actions/download-artifact@v2
-        with:
-          name: image
-
-      # All we've downloaded (ideally) is the fat jar, pi jar, and image. So just upload it all
+      # Upload all jars and xz archives
      - uses: softprops/action-gh-release@v1
        with:
-          files: '**/*'
+          files: |
+            **/*.xz
+            **/*.jar
+        if: startsWith(github.ref, 'refs/tags/v')
        env:
          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
--- a/.gitignore
+++ b/.gitignore
@@ -30,6 +30,7 @@ backend/settings/
 *.nar
 *.ear
 *.zip
+*.xz
 *.tar.gz
 *.rar

@@ -149,3 +150,6 @@ lib/*
 photon-server/lib/libapriltag.so
 photon-server/bin/main/nativelibraries/apriltag/*
 photon-server/src/main/resources/nativelibraries/apriltag/*
+
+photonlib-java-examples/*/vendordeps/*
+photonlib-cpp-examples/*/vendordeps/*
--- a/.styleguide
+++ b/.styleguide
@@ -13,6 +13,7 @@ modifiableFileExclude {
  \.jpg$
  \.jpeg$
  \.png$
+  \.gif$
  \.so$
  \.dll$
 }
--- a/LICENSE_MathUtils_orthogonalizeRotationMatrix.txt
+++ b/LICENSE_MathUtils_orthogonalizeRotationMatrix.txt
@@ -0,0 +1,23 @@
+Copyright (c) 2022 Photon Vision. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+   * Neither the name of FIRST, WPILib, nor the names of other WPILib
+     contributors may be used to endorse or promote products derived from
+     this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
--- a/README.md
+++ b/README.md
@@ -6,7 +6,7 @@ PhotonVision is the free, fast, and easy-to-use computer vision solution for the

 A copy of the latest Raspberry Pi image is available [here](https://github.com/PhotonVision/photon-pi-gen/releases). A copy of the latest standalone JAR is available [here](https://github.com/PhotonVision/photonvision/releases). If you are a Gloworm user you can find the latest Gloworm image [here](https://github.com/gloworm-vision/pi-gen/releases).

-If you are interested in contributing code or documentation to the project, please [read our getting started page for contributors](https://docs.photonvision.org/en/latest/docs/other/contributing/index.html) and **[join the Discord](https://discord.gg/wYxTwym) to introduce yourself!** We hope to provide a welcoming community to anyone who is interested in helping.
+If you are interested in contributing code or documentation to the project, please [read our getting started page for contributors](https://docs.photonvision.org/en/latest/docs/contributing/index.html) and **[join the Discord](https://discord.gg/wYxTwym) to introduce yourself!** We hope to provide a welcoming community to anyone who is interested in helping.

 ## Authors

@@ -18,10 +18,42 @@ If you are interested in contributing code or documentation to the project, plea

 Note that these are case sensitive!

-* `-Ppionly`: only builds for `linuxraspbian`, which reduces JAR size. The JAR name will have "-raspi" appended.
+* `-PArchOverride=foobar`: builds for a target system other than your current architecture. Valid overrides are winx32, winx64,
+macx64, macarm64, linuxx64, linuxarm64, linuxarm32, and linuxathena.
 - `-PtgtIp`: deploys (builds and copies the JAR) to the coprocessor at the specified IP
 - `-Pprofile`: enables JVM profiling

+## Building
+
+Gradle is used for all C++ and Java code, and NPM is used for the web UI. Instructions to compile PhotonVision yourself can be found [in our docs](https://docs.photonvision.org/en/latest/docs/contributing/photonvision/build-instructions.html?highlight=npm%20install#compiling-instructions).
+
+You can run one of the many built in examples straight from the command line, too! They contain a fully featured robot project, and some include simulation support. The projects can be found inside the `photonlib-java-examples` and `photonlib-cpp-examples` subdirectories, respectively. The projects currently available include:
+
+- photonlib-java-examples:
+  - aimandrange:simulateJava
+  - aimattarget:simulateJava
+  - getinrange:simulateJava
+  - simaimandrange:simulateJava
+  - simposeest:simulateJava
+- photonlib-cpp-examples:
+  - aimandrange:simulateNative
+  - getinrange:simulateNative
+
+To run them, use the commands listed below. Photonlib must first be published to your local maven repository, then the `copyPhotonlib` task will copy the generated vendordep json file into each example. After that, the simulateJava/simulateNative task can be used like a normal robot project. Robot simulation with attached debugger is technically possible by using simulateExternalJava and modifying the launch script it exports, though unsupported.
+
+```
+~/photonvision$ ./gradlew publishToMavenLocal
+
+~/photonvision$ cd photonlib-java-examples
+~/photonvision/photonlib-java-examples$ ./gradlew copyPhotonlib
+~/photonvision/photonlib-java-examples$ ./gradlew <example-name>:simulateJava
+
+~/photonvision$ cd photonlib-cpp-examples
+~/photonvision/photonlib-cpp-examples$ ./gradlew copyPhotonlib
+~/photonvision/photonlib-cpp-examples$ ./gradlew <example-name>:simulateNative
+```
+
+
 ## Acknowledgments
 PhotonVision was forked from [Chameleon Vision](https://github.com/Chameleon-Vision/chameleon-vision/). Thank you to everyone who worked on the original project.

--- a/build.gradle
+++ b/build.gradle
@@ -4,14 +4,18 @@ plugins {
    id "com.github.node-gradle.node" version "3.1.1" apply false
    id "edu.wpi.first.GradleJni" version "1.0.0"
    id "edu.wpi.first.GradleVsCode" version "1.1.0"
-    id "edu.wpi.first.NativeUtils" version "2022.8.1" apply false
+    id "edu.wpi.first.NativeUtils" version "2023.10.0" apply false
    id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
    id "org.hidetake.ssh" version "2.10.1"
+    id 'edu.wpi.first.WpilibTools' version '1.0.0'
 }

+import org.gradle.api.internal.artifacts.dependencies.DefaultExternalModuleDependency;
+
 allprojects {
    repositories {
-        jcenter()
+        mavenCentral()
+        mavenLocal()
        maven { url = "https://maven.photonvision.org/repository/internal/" }
    }
    wpilibRepositories.addAllReleaseRepositories(it)
@@ -22,24 +26,28 @@ allprojects {
 apply from: "versioningHelper.gradle"

 ext {
-    wpilibVersion = "2022.1.1"
-    opencvVersion = "4.5.2-1"
+    wpilibVersion = "2023.1.1-beta-7-15-g1e7fcd5"
+    opencvVersion = "4.6.0-4"
    joglVersion = "2.4.0-rc-20200307"
    pubVersion = versionString
    isDev = pubVersion.startsWith("dev")

    if(project.hasProperty('pionly')) {
-        jniPlatforms = ['linuxraspbian']
+        jniPlatforms = ['linuxarm32']
    } else if(project.hasProperty('winonly')) {
        jniPlatforms = ['windowsx86-64']
+    } else if(project.hasProperty('aarch64only')) {
+        jniPlatforms = ['linuxaarch64bionic']
    } else {
-        jniPlatforms = ['linuxaarch64bionic', 'linuxraspbian', 'linuxx86-64', 'osxx86-64', 'windowsx86-64']
-
+        jniPlatforms = ['linuxarm64', 'linuxarm32', 'linuxx86-64', 'osxuniversal', 'windowsx86-64']
    }

    println("Building for archs " + jniPlatforms)
+
 }

+wpilibTools.deps.wpilibVersion = wpilibVersion
+
 spotless {
    java {
        toggleOffOn()
--- a/photon-client/package-lock.json
+++ b/photon-client/package-lock.json
@@ -5,7 +5,6 @@
  "requires": true,
  "packages": {
    "": {
-      "name": "photon-client",
      "version": "3.0.0",
      "dependencies": {
        "@femessage/log-viewer": "^1.4.2",
@@ -19,7 +18,8 @@
        "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#5189f29",        "vue-router": "^3.4.3",
+        "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"
      },
@@ -2682,6 +2682,7 @@
        "thread-loader": "^2.1.3",
        "url-loader": "^2.2.0",
        "vue-loader": "^15.9.2",
+        "vue-loader-v16": "npm:vue-loader@^16.0.0-beta.3",
        "vue-style-loader": "^4.1.2",
        "webpack": "^4.0.0",
        "webpack-bundle-analyzer": "^3.8.0",
@@ -3115,6 +3116,7 @@
        "merge-source-map": "^1.1.0",
        "postcss": "^7.0.14",
        "postcss-selector-parser": "^6.0.2",
+        "prettier": "^1.18.2",
        "source-map": "~0.6.1",
        "vue-template-es2015-compiler": "^1.9.0"
      },
@@ -4701,6 +4703,7 @@
      "dependencies": {
        "anymatch": "~3.1.1",
        "braces": "~3.0.2",
+        "fsevents": "~2.1.2",
        "glob-parent": "~5.1.0",
        "is-binary-path": "~2.1.0",
        "is-glob": "~4.0.1",
@@ -9164,6 +9167,9 @@
      "version": "4.0.0",
      "dev": true,
      "license": "MIT",
+      "dependencies": {
+        "graceful-fs": "^4.1.6"
+      },
      "optionalDependencies": {
        "graceful-fs": "^4.1.6"
      }
@@ -9175,7 +9181,11 @@
        "@babel/runtime": "^7.14.0",
        "atob": "^2.1.2",
        "btoa": "^1.2.1",
-        "fflate": "^0.4.8"
+        "canvg": "^3.0.6",
+        "core-js": "^3.6.0",
+        "dompurify": "^2.2.0",
+        "fflate": "^0.4.8",
+        "html2canvas": "^1.0.0-rc.5"
      },
      "optionalDependencies": {
        "canvg": "^3.0.6",
@@ -14190,8 +14200,10 @@
      "dev": true,
      "license": "MIT",
      "dependencies": {
+        "chokidar": "^3.4.0",
        "graceful-fs": "^4.1.2",
-        "neo-async": "^2.5.0"
+        "neo-async": "^2.5.0",
+        "watchpack-chokidar2": "^2.0.0"
      },
      "optionalDependencies": {
        "chokidar": "^3.4.0",
@@ -14300,6 +14312,7 @@
        "anymatch": "^2.0.0",
        "async-each": "^1.0.1",
        "braces": "^2.3.2",
+        "fsevents": "^1.2.7",
        "glob-parent": "^3.1.0",
        "inherits": "^2.0.3",
        "is-binary-path": "^1.0.0",
@@ -14540,6 +14553,7 @@
        "anymatch": "^2.0.0",
        "async-each": "^1.0.1",
        "braces": "^2.3.2",
+        "fsevents": "^1.2.7",
        "glob-parent": "^3.1.0",
        "inherits": "^2.0.3",
        "is-binary-path": "^1.0.0",
@@ -25270,7 +25284,8 @@
    },
    "vue-native-websocket": {
      "version": "git+ssh://git@github.com/PhotonVision/vue-native-websocket.git#7a327918e03b215b6899b0d648c5130ece1fa912",
-      "from": "vue-native-websocket@git+https://github.com/PhotonVision/vue-native-websocket.git#7a32791"    },
+      "from": "vue-native-websocket@git+https://git@github.com/PhotonVision/vue-native-websocket.git#5189f29"
+    },
    "vue-router": {
      "version": "3.4.3"
    },
--- a/photon-client/public/loading.gif
+++ b/photon-client/public/loading.gif
--- a/photon-client/public/thinclient.html
+++ b/photon-client/public/thinclient.html
@@ -0,0 +1,317 @@
+<!DOCTYPE html>
+<html>
+
+<head>
+    <title>ThinClient</title>
+
+    <style>
+        * {
+            margin: 0;
+            padding: 0;
+        }
+        .imgbox {
+            display: grid;
+            height: 100%;
+            width: 100%;
+        }
+        .center-fit {
+
+            width: 90vw;
+            margin: auto;
+        }
+    </style>
+
+</head>
+
+<body>
+    <hr>
+        <div class="imgbox">
+            <img id="streamImg" class="center-fit" src=''>
+        </div>
+    <hr>
+
+    <form id="frm1">
+        Host <input type="text" id="host" value="photonvision.local"><br>
+        Port <input type="text" id="port" value="1181"><br>
+    </form>
+
+    <button>Start Stream</button>
+
+    <script type="module">
+        class WebsocketVideoStream{
+
+            constructor(drawDiv, streamPort, host) {
+
+                this.drawDiv = drawDiv;
+                this.image = document.getElementById(this.drawDiv);
+                this.streamPort = streamPort;
+                this.newStreamPortReq = null;
+                this.serverAddr = "ws://" + host + "/websocket_cameras";
+                this.dispNoStream();
+                this.ws_connect();
+                this.imgData = null;
+                this.imgDataTime = -1;
+                this.imgObjURL = null;
+                this.frameRxCount = 0;
+
+                //Display state machine
+                this.DSM_DISCONNECTED = "DISCONNECTED";
+                this.DSM_WAIT_FOR_VALID_PORT = "WAIT_FOR_VALID_PORT";
+                this.DSM_SUBSCRIBE = "SUBSCRIBE";
+                this.DSM_WAIT_FOR_FIRST_FRAME = "WAIT_FOR_FIRST_FRAME";
+                this.DSM_SHOWING = "SHOWING";
+                this.DSM_RESTART_UNSUBSCRIBE = "UNSUBSCRIBE";
+                this.DSM_RESTART_WAIT = "WAIT_BEFORE_SUBSCRIBE";
+
+                this.dsm_cur_state = this.DSM_DISCONNECTED;
+                this.dsm_prev_state = this.DSM_DISCONNECTED;
+                this.dsm_restart_start_time = window.performance.now();
+
+                requestAnimationFrame(()=>this.animationLoop());
+            }
+
+            dispImageData(){
+                //From https://stackoverflow.com/questions/67507616/set-image-src-from-image-blob/67507685#67507685
+                if(this.imgObjURL != null){
+                    URL.revokeObjectURL(this.imgObjURL)
+                }
+                this.imgObjURL = URL.createObjectURL(this.imgData);
+
+                //Update the image with the new mimetype and image
+                this.image.src = this.imgObjURL;
+            }
+
+            dispNoStream() {
+                this.image.src = "loading.gif";
+            }
+
+            animationLoop(){
+                // Update time metrics
+                var now = window.performance.now();
+                var timeInState  = now - this.dsm_restart_start_time;
+
+                // Save previous state
+                this.dsm_prev_state = this.dsm_cur_state;
+
+                // Evaluate state transitions
+                if(this.serverConnectionActive == false){
+                    //Any state - if the server connection goes false, always transition to disconnected
+                    this.dsm_cur_state = this.DSM_DISCONNECTED;
+                } else {
+                    //Conditional transitions
+                    switch(this.dsm_cur_state) {
+                        case this.DSM_DISCONNECTED:
+                            //Immediately transition to waiting for the first frame
+                            this.dsm_cur_state = this.DSM_WAIT_FOR_VALID_PORT;
+                            break;
+                        case this.DSM_WAIT_FOR_VALID_PORT:
+                            // Wait until the user has configured a valid port
+                            if(this.streamPort > 0){
+                                this.dsm_cur_state = this.DSM_SUBSCRIBE;
+                            } else {
+                                this.dsm_cur_state = this.DSM_WAIT_FOR_VALID_PORT;
+                            }
+                            break;
+                        case this.DSM_SUBSCRIBE:
+                            // Immediately transition after subscriptions is sent
+                            this.dsm_cur_state = this.DSM_WAIT_FOR_FIRST_FRAME;
+                            break;
+                        case this.DSM_WAIT_FOR_FIRST_FRAME:
+                            if(this.imgData != null){
+                                //we got some image data, start showing it
+                                this.dsm_cur_state = this.DSM_SHOWING;
+                            } else if (this.newStreamPortReq != null){
+                                //Stream port requested changed, unsubscribe and restart
+                                this.dsm_cur_state = this.DSM_RESTART_UNSUBSCRIBE;
+                            } else {
+                                this.dsm_cur_state = this.DSM_WAIT_FOR_FIRST_FRAME;
+                            }
+                            break;
+                        case this.DSM_SHOWING:
+                            if((now - this.imgDataTime) > 2500){
+                                //timeout, begin the restart sequence
+                                this.dsm_cur_state = this.DSM_RESTART_UNSUBSCRIBE;
+                            } else if (this.newStreamPortReq != null){
+                                //Stream port requested changed, unsubscribe and restart
+                                this.dsm_cur_state = this.DSM_RESTART_UNSUBSCRIBE;
+                            }  else {
+                                //stay in this state.
+                                this.dsm_cur_state = this.DSM_SHOWING;
+                            }
+                            break;
+                        case this.DSM_RESTART_UNSUBSCRIBE:
+                            //Only should spend one loop in Unsubscribe, immediately transition
+                            this.dsm_cur_state = this.DSM_RESTART_WAIT;
+                            break;
+                        case this.DSM_RESTART_WAIT:
+                            if (timeInState > 250) {
+                                //we've waited long enough, go to try to re-subscribe
+                                this.dsm_cur_state = this.DSM_WAIT_FOR_VALID_PORT;
+                            } else {
+                                //stay in this state.
+                                this.dsm_cur_state = this.DSM_RESTART_WAIT;
+                            }
+                            break;
+                        default:
+                            // Shouldn't get here, default back to init
+                            this.dsm_cur_state = this.DSM_DISCONNECTED;
+                    }
+                }
+
+                //take current-state or state-transition actions
+
+                if(this.dsm_cur_state != this.dsm_prev_state){
+                    //Any state transition
+                    console.log("State Change: " + this.dsm_prev_state + " -> " + this.dsm_cur_state);
+                }
+
+                if(this.dsm_cur_state == this.DSM_SHOWING){
+                    // Currently in SHOWING
+                    this.dispImageData();
+                }
+
+                if(this.dsm_cur_state != this.DSM_SHOWING && this.dsm_prev_state == this.DSM_SHOWING ){
+                    //Any transition out of showing - no stream
+                    this.dispNoStream();
+                }
+
+                if(this.dsm_cur_state == this.DSM_RESTART_UNSUBSCRIBE){
+                    // Currently in UNSUBSCRIBE, do the unsubscribe actions
+                    this.stopStream();
+                    this.dsm_restart_start_time = now;
+                }
+
+                if(this.dsm_cur_state == this.DSM_SUBSCRIBE){
+                    // Currently in SUBSCRIBE, do the subscribe actions
+                    this.startStream();
+                    this.dsm_restart_start_time = now;
+                }
+
+                if(this.dsm_cur_state == this.DSM_WAIT_FOR_VALID_PORT){
+                    // Currently waiting for a vaild port to be requested
+                    if(this.newStreamPortReq != null){
+                        this.streamPort = this.newStreamPortReq;
+                        this.newStreamPortReq = null;
+                    }
+                }
+
+                requestAnimationFrame(()=>this.animationLoop());
+            }
+
+            startStream() {
+                console.log("Subscribing to port " + this.streamPort);
+                this.imgData = null;
+                this.ws.send(JSON.stringify({"cmd": "subscribe", "port":this.streamPort}));
+            }
+
+            stopStream() {
+                console.log("Unsubscribing");
+                this.ws.send(JSON.stringify({"cmd": "unsubscribe"}));
+                this.imgData = null;
+            }
+
+            setPort(streamPort){
+                console.log("Port set to " + streamPort);
+                this.newStreamPortReq = streamPort;
+            }
+
+            ws_onOpen() {
+                // Set the flag allowing general server communication
+                this.serverConnectionActive = true;
+                console.log("Connected!");
+            }
+
+            ws_onClose(e) {
+                //Clear flags to stop server communication
+                this.ws = null;
+                this.serverConnectionActive = false;
+
+                console.log('Camera Socket is closed. Reconnect will be attempted in 0.5 second.', e.reason);
+                setTimeout(this.ws_connect.bind(this), 500);
+
+                if(!e.wasClean){
+                    console.error('Socket encountered error!');
+                }
+
+            }
+
+            ws_onError(e){
+                e; //prevent unused failure
+                this.ws.close();
+            }
+
+            ws_onMessage(e){
+                if(typeof e.data === 'string'){
+                    //string data from host
+                    //TODO - anything to recieve info here? Maybe "avaialble streams?"
+                } else {
+                    if(e.data.size > 0){
+                        //binary data - a frame
+                        this.imgData = e.data;
+                        this.imgDataTime = window.performance.now();
+                        this.frameRxCount++;
+                    } else {
+                        //TODO - server is sending empty frames?
+                    }
+
+                }
+
+            }
+
+            ws_connect() {
+                this.serverConnectionActive = false;
+                this.ws = new WebSocket(this.serverAddr);
+                this.ws.binaryType = "blob";
+                this.ws.onopen = this.ws_onOpen.bind(this);
+                this.ws.onmessage = this.ws_onMessage.bind(this);
+                this.ws.onclose = this.ws_onClose.bind(this);
+                this.ws.onerror = this.ws_onError.bind(this);
+                console.log("Connecting to server " + this.serverAddr);
+            }
+
+            ws_close(){
+                this.ws.close();
+            }
+
+        }
+
+        var stream = null;
+
+        function streamStartRequest() {
+            var host = document.getElementById("host").value + ":5800";
+            var port = document.getElementById("port").value;
+            if(stream == null){
+                stream = new WebsocketVideoStream("streamImg",port,host);
+            } else {
+                stream.setPort(port);
+            }
+
+        }
+
+        // Attach listener
+        document.querySelector('button').addEventListener('click', streamStartRequest);
+
+        // Deal with URLParams, validating inputs
+        const queryString = window.location.search;
+        const urlParams = new URLSearchParams(queryString);
+        const port_in = urlParams.get('port')
+        const host_in = urlParams.get('host')
+        if(port_in != ""){
+            document.getElementById("port").value = port_in;
+        }
+
+        if(host_in != ""){
+            document.getElementById("host").value = host_in;
+        }
+
+        if(port_in != "" & host_in != ""){
+            streamStartRequest(); //we got valid inputs, auto-start the stream
+        }
+
+
+    </script>
+
+</body>
+
+
+</html>
--- a/photon-client/src/App.vue
+++ b/photon-client/src/App.vue
@@ -1,35 +1,17 @@
 <template>
  <v-app>
    <!-- Although most of the app runs with the "light" theme, the navigation drawer needs to have white text and icons so it uses the dark theme-->
-    <v-navigation-drawer
-      dark
-      app
-      permanent
-      :mini-variant="compact"
-      color="primary"
-    >
+    <v-navigation-drawer dark app permanent :mini-variant="compact" color="primary">
      <v-list>
        <!-- List item for the heading; note that there are some tricks in setting padding and image width make things look right -->
        <v-list-item :class="compact ? 'pr-0 pl-0' : ''">
          <v-list-item-icon class="mr-0">
-            <img
-              v-if="!compact"
-              class="logo"
-              src="./assets/logoLarge.png"
-            >
-            <img
-              v-else
-              class="logo"
-              src="./assets/logoSmall.png"
-            >
+            <img v-if="!compact" class="logo" src="./assets/logoLarge.png">
+            <img v-else class="logo" src="./assets/logoSmall.png">
          </v-list-item-icon>
        </v-list-item>

-        <v-list-item
-          link
-          to="dashboard"
-          @click="rollbackPipelineIndex()"
-        >
+        <v-list-item link to="dashboard" @click="rollbackPipelineIndex()">
          <v-list-item-icon>
            <v-icon>mdi-view-dashboard</v-icon>
          </v-list-item-icon>
@@ -37,12 +19,7 @@
            <v-list-item-title>Dashboard</v-list-item-title>
          </v-list-item-content>
        </v-list-item>
-        <v-list-item
-          ref="camerasTabOpener"
-          link
-          to="cameras"
-          @click="switchToDriverMode()"
-        >
+        <v-list-item ref="camerasTabOpener" link to="cameras" @click="switchToDriverMode()">
          <v-list-item-icon>
            <v-icon>mdi-camera</v-icon>
          </v-list-item-icon>
@@ -50,11 +27,7 @@
            <v-list-item-title>Cameras</v-list-item-title>
          </v-list-item-content>
        </v-list-item>
-        <v-list-item
-          link
-          to="settings"
-          @click="switchToSettingsTab()"
-        >
+        <v-list-item link to="settings" @click="switchToSettingsTab()">
          <v-list-item-icon>
            <v-icon>mdi-settings</v-icon>
          </v-list-item-icon>
@@ -62,10 +35,7 @@
            <v-list-item-title>Settings</v-list-item-title>
          </v-list-item-content>
        </v-list-item>
-        <v-list-item
-          link
-          to="docs"
-        >
+        <v-list-item link to="docs">
          <v-list-item-icon>
            <v-icon>mdi-bookshelf</v-icon>
          </v-list-item-icon>
@@ -73,11 +43,7 @@
            <v-list-item-title>Documentation</v-list-item-title>
          </v-list-item-content>
        </v-list-item>
-        <v-list-item
-          v-if="this.$vuetify.breakpoint.mdAndUp"
-          link
-          @click.stop="toggleCompactMode"
-        >
+        <v-list-item v-if="this.$vuetify.breakpoint.mdAndUp" link @click.stop="toggleCompactMode">
          <v-list-item-icon>
            <v-icon v-if="compact">
              mdi-chevron-right
@@ -97,44 +63,24 @@
              <v-icon v-if="$store.state.settings.networkSettings.runNTServer">
                mdi-server
              </v-icon>
-              <img
-                v-else-if="$store.state.ntConnectionInfo.connected"
-                src="@/assets/robot.svg"
-                alt=""
-              >
-              <img
-                v-else
-                class="pulse"
-                style="border-radius: 100%"
-                src="@/assets/robot-off.svg"
-                alt=""
-              >
+              <img v-else-if="$store.state.ntConnectionInfo.connected" src="@/assets/robot.svg" alt="">
+              <img v-else class="pulse" style="border-radius: 100%" src="@/assets/robot-off.svg" alt="">
            </v-list-item-icon>
            <v-list-item-content>
-              <v-list-item-title
-                v-if="$store.state.settings.networkSettings.runNTServer"
-                class="text-wrap"
-              >
-                NetworkTables server running for {{ $store.state.ntConnectionInfo.clients ? $store.state.ntConnectionInfo.clients : 'zero' }} clients!
+              <v-list-item-title v-if="$store.state.settings.networkSettings.runNTServer" class="text-wrap">
+                NetworkTables server running for {{ $store.state.ntConnectionInfo.clients ?
+                    $store.state.ntConnectionInfo.clients : 'zero'
+                }} clients!
              </v-list-item-title>
-              <v-list-item-title
-                v-else-if="$store.state.ntConnectionInfo.connected && $store.state.backendConnected"
-                class="text-wrap"
-              >
+              <v-list-item-title v-else-if="$store.state.ntConnectionInfo.connected && $store.state.backendConnected"
+                class="text-wrap">
                Robot connected! {{ $store.state.ntConnectionInfo.address }}
              </v-list-item-title>
-              <v-list-item-title
-                v-else
-                class="text-wrap"
-              >
+              <v-list-item-title v-else class="text-wrap">
                Not connected to robot!
              </v-list-item-title>
-              <router-link
-                v-if="!$store.state.settings.networkSettings.runNTServer"
-                to="settings"
-                class="accent--text"
-                @click="switchToSettingsTab"
-              >
+              <router-link v-if="!$store.state.settings.networkSettings.runNTServer" to="settings" class="accent--text"
+                @click="switchToSettingsTab">
                Team number is {{ $store.state.settings.networkSettings.teamNumber }}
              </router-link>
            </v-list-item-content>
@@ -145,11 +91,7 @@
              <v-icon v-if="$store.state.backendConnected">
                mdi-wifi
              </v-icon>
-              <v-icon
-                v-else
-                class="pulse"
-                style="border-radius: 100%;"
-              >
+              <v-icon v-else class="pulse" style="border-radius: 100%;">
                mdi-wifi-off
              </v-icon>
            </v-list-item-icon>
@@ -163,10 +105,7 @@
      </v-list>
    </v-navigation-drawer>
    <v-main>
-      <v-container
-        fluid
-        fill-height
-      >
+      <v-container fluid fill-height>
        <v-layout>
          <v-flex>
            <router-view @switch-to-cameras="switchToDriverMode" />
@@ -175,32 +114,15 @@
      </v-container>
    </v-main>

-    <v-dialog
-      v-model="$store.state.logsOverlay"
-      width="1500"
-      dark
-    >
+    <v-dialog v-model="$store.state.logsOverlay" width="1500" dark>
      <logs />
    </v-dialog>
-    <v-dialog
-      v-model="needsTeamNumberSet"
-      width="500"
-      dark
-      persistent
-    >
-      <v-card
-        dark
-        color="primary"
-        flat
-      >
+    <v-dialog v-model="needsTeamNumberSet" width="500" dark persistent>
+      <v-card dark color="primary" flat>
        <v-card-title>No team number set!</v-card-title>
        <v-card-text>
          PhotonVision cannot connect to your robot! Please
-          <router-link
-            to="settings"
-            class="accent--text"
-            @click="switchToSettingsTab"
-          >
+          <router-link to="settings" class="accent--text" @click="switchToSettingsTab">
            visit the settings tab
          </router-link>
          and set your team number.
@@ -215,138 +137,152 @@ import Logs from "./views/LogsView"
 // import {mapState} from "vuex";

 export default {
-        name: 'App',
-        components: {
-            Logs
-        },
-        data: () => ({
-            // Used so that we can switch back to the previously selected pipeline after camera calibration
-            previouslySelectedIndices: [],
-            timer: undefined,
-            teamNumberDialog: true
-        }),
-        computed: {
-            needsTeamNumberSet: {
-              get() {
-                return this.$store.state.settings.networkSettings.teamNumber < 1
-                    && this.teamNumberDialog && this.$store.state.backendConnected
-                    && !this.$route.name.toLowerCase().includes("settings");
-              }
-            },
-            compact: {
-                get() {
-                    if (this.$store.state.compactMode === undefined) {
-                        return this.$vuetify.breakpoint.smAndDown;
-                    } else {
-                        return this.$store.state.compactMode || this.$vuetify.breakpoint.smAndDown;
-                    }
-                },
-                set(value) {
-                    // compactMode is the user's preference for compact mode; it overrides screen size
-                    this.$store.commit("compactMode", value);
-                    localStorage.setItem("compactMode", value);
-                },
-            },
-        },
-        created() {
-            document.addEventListener("keydown", e => {
-                switch (e.key) {
-                    case "`":
-                        this.$store.state.logsOverlay = !this.$store.state.logsOverlay;
-                        break;
-                    case "z":
-                        if (e.ctrlKey && this.$store.getters.canUndo) {
-                            this.$store.dispatch('undo', {vm: this});
-                        }
-                        break;
-                    case "y":
-                        if (e.ctrlKey && this.$store.getters.canRedo) {
-                            this.$store.dispatch('redo', {vm: this});
-                        }
-                        break;
-
-                }
-            });
-
-            this.$options.sockets.onmessage = (data) => {
-                try {
-                    let message = this.$msgPack.decode(data.data);
-                    for (let prop in message) {
-                        if (message.hasOwnProperty(prop)) {
-                            this.handleMessage(prop, message[prop]);
-                        }
-                    }
-                } catch (error) {
-                    console.error('error: ' + JSON.stringify(data.data) + " , " + error);
-                }
-            };
-            this.$options.sockets.onopen = () => {
-                this.$store.commit("backendConnected", true)
-                this.$store.state.connectedCallbacks.forEach(it => it())
-            };
-
-            let closed = () => {
-              this.$store.commit("backendConnected", false)
-            };
-            this.$options.sockets.onclose = closed;
-            this.$options.sockets.onerror = closed;
-
-            this.$connect();
-        },
-        methods: {
-            handleMessage(key, value) {
-                if (key === "logMessage") {
-                    this.logMessage(value["logMessage"], value["logLevel"]);
-                } else if(key === "log"){
-                    this.logMessage(value["logMessage"]["logMessage"], value["logMessage"]["logLevel"]);
-                } else if (key === "updatePipelineResult") {
-                    this.$store.commit('mutatePipelineResults', value)
-                } else if (this.$store.state.hasOwnProperty(key)) {
-                    this.$store.commit(key, value);
-                } else if (this.$store.getters.currentPipelineSettings.hasOwnProperty(key)) {
-                    this.$store.commit('mutatePipeline', {[key]: value});
-                } else if (this.$store.state.settings.hasOwnProperty(key)) {
-                    this.$store.commit('mutateSettings', {[key]: value});
-                } else {
-                    switch (key) {
-                        default: {
-                            console.error("Unknown message from backend: " + value);
-                        }
-                    }
-                }
-            },
-            toggleCompactMode() {
-                this.compact = !this.compact;
-            },
-            // eslint-disable-next-line no-unused-vars
-            logMessage(message, levelInt) {
-                this.$store.commit('logString', {
-                    ['level']: levelInt,
-                    ['message']: message
-                })
-            },
-            switchToDriverMode() {
-                if (!this.previouslySelectedIndices) this.previouslySelectedIndices = [];
-
-                for (const [i, cameraSettings] of this.$store.state.cameraSettings.entries()) {
-                  this.previouslySelectedIndices[i] = cameraSettings.currentPipelineIndex;
-                  this.handleInputWithIndex('currentPipeline', -1, i);
-                }
-            },
-            rollbackPipelineIndex()
-            {
-              if (this.previouslySelectedIndices !== null) {
-                for (const [i] of this.$store.state.cameraSettings.entries()) {
-                  this.handleInputWithIndex('currentPipeline', this.previouslySelectedIndices[i] || 0, i);
-                }
-              }
-              this.previouslySelectedIndices = null;
-            },
-            switchToSettingsTab() {
-                this.axios.post('http://' + this.$address + '/api/sendMetrics', {})
-            }
+  name: 'App',
+  components: {
+    Logs
+  },
+  data: () => ({
+    // Used so that we can switch back to the previously selected pipeline after camera calibration
+    previouslySelectedIndices: [],
+    timer: undefined,
+    teamNumberDialog: true
+  }),
+  computed: {
+    needsTeamNumberSet: {
+      get() {
+        return this.$store.state.settings.networkSettings.teamNumber < 1
+          && this.teamNumberDialog && this.$store.state.backendConnected
+          && !this.$route.name.toLowerCase().includes("settings");
+      }
+    },
+    compact: {
+      get() {
+        if (this.$store.state.compactMode === undefined) {
+          return this.$vuetify.breakpoint.smAndDown;
+        } else {
+          return this.$store.state.compactMode || this.$vuetify.breakpoint.smAndDown;
        }
-    };
+      },
+      set(value) {
+        // compactMode is the user's preference for compact mode; it overrides screen size
+        this.$store.commit("compactMode", value);
+        localStorage.setItem("compactMode", value);
+      },
+    },
+  },
+  created() {
+    document.addEventListener("keydown", e => {
+      switch (e.key) {
+        case "`":
+          this.$store.state.logsOverlay = !this.$store.state.logsOverlay;
+          break;
+        case "z":
+          if (e.ctrlKey && this.$store.getters.canUndo) {
+            this.$store.dispatch('undo', { vm: this });
+          }
+          break;
+        case "y":
+          if (e.ctrlKey && this.$store.getters.canRedo) {
+            this.$store.dispatch('redo', { vm: this });
+          }
+          break;
+
+      }
+    });
+
+    this.recreateWebsocket();
+  },
+  methods: {
+    recreateWebsocket() {
+      const wsDataURL = 'ws://' + this.$address + '/websocket_data';
+      let socket = new WebSocket(wsDataURL);
+      socket.binaryType = "arraybuffer";
+
+      socket.onmessage = (event) => {
+        try {
+          let message = this.$msgPack.decode(event.data);
+          for (let prop in message) {
+            if (message.hasOwnProperty(prop)) {
+              this.handleMessage(prop, message[prop]);
+            }
+          }
+        } catch (error) {
+          console.log(event)
+          console.error('error: ' + JSON.stringify(event.data) + " , " + error);
+        }
+      };
+
+      socket.onerror = () => {
+        socket.close();
+        this.$store.commit("backendConnected", false)
+      };
+
+
+      socket.onopen = () => {
+        clearInterval(this.timerId);
+
+        socket.onclose = () => {
+          this.$store.commit("backendConnected", false)
+          this.timerId = setInterval(() => {
+            this.recreateWebsocket();
+          }, 1000);
+        };
+
+
+        this.$store.commit("backendConnected", true)
+        this.$store.state.connectedCallbacks.forEach(it => it())
+      };
+
+      this.$store.commit("websocket", socket);
+    },
+    handleMessage(key, value) {
+      if (key === "logMessage") {
+        this.logMessage(value["logMessage"], value["logLevel"]);
+      } else if (key === "log") {
+        this.logMessage(value["logMessage"]["logMessage"], value["logMessage"]["logLevel"]);
+      } else if (key === "updatePipelineResult") {
+        this.$store.commit('mutatePipelineResults', value)
+      } else if (this.$store.state.hasOwnProperty(key)) {
+        this.$store.commit(key, value);
+      } else if (this.$store.getters.currentPipelineSettings.hasOwnProperty(key)) {
+        this.$store.commit('mutatePipeline', { [key]: value });
+      } else if (this.$store.state.settings.hasOwnProperty(key)) {
+        this.$store.commit('mutateSettings', { [key]: value });
+      } else {
+        console.error("Unknown message from backend: " + value);
+      }
+    },
+    toggleCompactMode() {
+      this.compact = !this.compact;
+    },
+    // eslint-disable-next-line no-unused-vars
+    logMessage(message, levelInt) {
+      this.$store.commit('logString', {
+        ['level']: levelInt,
+        ['message']: message
+      })
+    },
+    switchToDriverMode() {
+      if (!this.previouslySelectedIndices) this.previouslySelectedIndices = [];
+
+      for (const [i, cameraSettings] of this.$store.state.cameraSettings.entries()) {
+        this.previouslySelectedIndices[i] = cameraSettings.currentPipelineIndex;
+        this.handleInputWithIndex('currentPipeline', -1, i);
+      }
+    },
+    rollbackPipelineIndex() {
+      if (this.previouslySelectedIndices !== null) {
+        for (const [i] of this.$store.state.cameraSettings.entries()) {
+          this.handleInputWithIndex('currentPipeline', this.previouslySelectedIndices[i] || 0, i);
+        }
+      }
+      this.previouslySelectedIndices = null;
+    },
+    switchToSettingsTab() {
+      this.axios.post('http://' + this.$address + '/api/sendMetrics', {})
+    }
+  }
+};
 </script>

 <style lang="sass">
@@ -354,76 +290,77 @@ export default {
 </style>

 <style>
-    .pulse {
-        animation: pulse-animation 2s infinite;
-    }
+.pulse {
+  animation: pulse-animation 2s infinite;
+}

-    @keyframes pulse-animation {
-        0% {
-            box-shadow: 0 0 0 0px rgba(0, 0, 0, 0.2);
-            background-color: rgba(0, 0, 0, 0.2);
-        }
-        100% {
-            box-shadow: 0 0 0 20px rgba(0, 0, 0, 0);
-            background-color: rgba(0, 0, 0, 0);
-        }
-    }
+@keyframes pulse-animation {
+  0% {
+    box-shadow: 0 0 0 0px rgba(0, 0, 0, 0.2);
+    background-color: rgba(0, 0, 0, 0.2);
+  }

-    .logo {
-        width: 100%;
-        height: 70px;
-        object-fit: contain;
-    }
+  100% {
+    box-shadow: 0 0 0 20px rgba(0, 0, 0, 0);
+    background-color: rgba(0, 0, 0, 0);
+  }
+}

-    ::-webkit-scrollbar {
-        width: 0.5em;
-        border-radius: 5px;
-    }
+.logo {
+  width: 100%;
+  height: 70px;
+  object-fit: contain;
+}

-    ::-webkit-scrollbar-track {
-        -webkit-box-shadow: inset 0 0 6px rgba(0, 0, 0, 0.3);
-        border-radius: 10px;
-    }
+::-webkit-scrollbar {
+  width: 0.5em;
+  border-radius: 5px;
+}
+
+::-webkit-scrollbar-track {
+  -webkit-box-shadow: inset 0 0 6px rgba(0, 0, 0, 0.3);
+  border-radius: 10px;
+}


-    ::-webkit-scrollbar-thumb {
-        background-color: #ffd843;
-        border-radius: 10px;
-    }
+::-webkit-scrollbar-thumb {
+  background-color: #ffd843;
+  border-radius: 10px;
+}

-    .container {
-        background-color: #232c37;
-        padding: 0 !important;
-    }
+.container {
+  background-color: #232c37;
+  padding: 0 !important;
+}

-    #title {
-        color: #ffd843;
-    }
+#title {
+  color: #ffd843;
+}
 </style>

 <style>
-  /* Hacks */
+/* Hacks */

-  .v-divider {
-    border-color: white !important;
-  }
+.v-divider {
+  border-color: white !important;
+}

-  .v-input {
-      font-size: 1rem !important;
-  }
+.v-input {
+  font-size: 1rem !important;
+}

-  /* This is unfortunately the only way to override table background color */
-  .theme--dark.v-data-table > .v-data-table__wrapper > table > tbody > tr:hover:not(.v-data-table__expanded__content):not(.v-data-table__empty-wrapper) {
-    background: #005281 !important;
-  }
+/* This is unfortunately the only way to override table background color */
+.theme--dark.v-data-table>.v-data-table__wrapper>table>tbody>tr:hover:not(.v-data-table__expanded__content):not(.v-data-table__empty-wrapper) {
+  background: #005281 !important;
+}
 </style>

 <style lang="scss">
-    @import '~vuetify/src/styles/settings/_variables';
+@import '~vuetify/src/styles/settings/_variables';

-    @media #{map-get($display-breakpoints, 'md-and-down')} {
-        html {
-            font-size: 14px !important;
-        }
-    }
+@media #{map-get($display-breakpoints, 'md-and-down')} {
+  html {
+    font-size: 14px !important;
+  }
+}
 </style>
--- a/photon-client/src/assets/loading.gif
+++ b/photon-client/src/assets/loading.gif
--- a/photon-client/src/assets/noStream.jpg
+++ b/photon-client/src/assets/noStream.jpg
--- a/photon-client/src/components/common/cv-image.vue
+++ b/photon-client/src/components/common/cv-image.vue
@@ -5,8 +5,9 @@
    :style="styleObject"
    :src="src"
    alt=""
-    @click="e => $emit('click', e)"
-  >
+    @click="clickHandler"
+    @error="loadErrHandler"
+  />
 </template>

 <script>
@@ -26,13 +27,14 @@
                      "border-radius": "3px",
                      "display": "block",
                      "object-fit": "contain",
+                      "background-size:": "contain",
                      "object-position": "50% 50%",
                      "max-width": "100%",
                      "margin-left": "auto",
                      "margin-right": "auto",
                      "max-height": this.maxHeight,
                      height: `${this.scale}%`,
-                      cursor: (this.colorPicking ? `url(${require("../../assets/eyedropper.svg")}),` : "") + "default",
+                      cursor: (this.colorPicking ? `url(${require("../../assets/eyedropper.svg")}),` : "pointer") + "default",
                    };

                    if (this.$vuetify.breakpoint.xl) {
@@ -48,7 +50,14 @@
            },
            src: {
              get() {
-                return this.disconnected ? require("../../assets/noStream.jpg") : this.address + "?" + this.seed // This prevents caching
+                var port = this.getCurPort();
+                if(port <= 0){
+                  //Invalid port, keep it spinny
+                  return require("../../assets/loading.gif");
+                } else {
+                  //Valid port, connect
+                  return this.getSrcURLFromPort(port);
+                }
              },
            },
        },
@@ -56,6 +65,43 @@
            this.reload(); // Force reload image on creation
        },
        methods: {
+            getCurPort(){
+              var port = -1;
+              if(this.disconnected){
+                //Disconnected, port is unknown.
+                port = -1;
+              } else {
+                //Connected - get the port
+                if(this.id == 'raw-stream'){
+                  port = this.$store.state.cameraSettings[this.$store.state.currentCameraIndex].inputStreamPort
+                } else {
+                  port = this.$store.state.cameraSettings[this.$store.state.currentCameraIndex].outputStreamPort
+                }
+              }
+              return port;
+            },
+            getSrcURLFromPort(port){
+              return "http://" + location.hostname + ":" + port + "/stream.mjpg" + "?" + this.seed;
+            },
+            loadErrHandler(event) {
+                console.log(event);
+                console.log("Error loading image, attempting to do it again...");
+                this.reload();
+            },
+            clickHandler(event) {
+              if(this.colorPicking){
+                this.$emit('click', event);
+              } else {
+                var port = this.getCurPort();
+                if(port <= 0){
+                  console.log("No valid port, ignoring click.");
+                } else {
+                  //Valid port, connect
+                  window.open(this.getSrcURLFromPort(port), '_blank');
+                }
+              }
+
+            },
            reload() {
                this.seed = new Date().getTime();
            }
--- a/photon-client/src/components/common/cv-input.vue
+++ b/photon-client/src/components/common/cv-input.vue
@@ -26,7 +26,7 @@
    </v-row>
  </div>
 </template>
-s
+
 <script>
    import TooltippedLabel from "./cv-tooltipped-label";

--- a/photon-client/src/components/pipeline/3D/MiniMap.vue
+++ b/photon-client/src/components/pipeline/3D/MiniMap.vue
@@ -181,7 +181,7 @@ export default {
      this.cubes = []

      for (const target of this.targets) {
-        const geometry = new BoxGeometry(0.2, 0.2, 0.3 / 5);
+        const geometry = new BoxGeometry(0.3 / 5, 0.2, 0.2);
        const material = new MeshNormalMaterial();
        let quat = (new Quaternion(
            target.pose.qx,
--- a/photon-client/src/main.js
+++ b/photon-client/src/main.js
@@ -15,16 +15,15 @@ if (process.env.NODE_ENV === "production") {
    Vue.prototype.$address = location.hostname + ":5800";
 }

-const wsURL = '//' + Vue.prototype.$address + '/websocket';
+// const wsDataURL = '//' + Vue.prototype.$address + '/websocket_data';
+// import VueNativeSock from 'vue-native-websocket';
+// Vue.use(VueNativeSock, wsDataURL, {
+//     reconnection: true,
+//     reconnectionDelay: 100,
+//     connectManually: true,
+//     format: "arraybuffer",
+// });

-import VueNativeSock from 'vue-native-websocket';
-
-Vue.use(VueNativeSock, wsURL, {
-    reconnection: true,
-    reconnectionDelay: 100,
-    connectManually: true,
-    format: "arraybuffer",
-});
 Vue.use(VueAxios, axios);
 Vue.prototype.$msgPack = msgPack(true);

--- a/photon-client/src/mixins/global/dataHandleMixin.js
+++ b/photon-client/src/mixins/global/dataHandleMixin.js
@@ -2,14 +2,14 @@ export const dataHandleMixin = {
    methods: {
        handleInput(key, value) {
            let msg = this.$msgPack.encode({[key]: value});
-            this.$socket.send(msg);
+            this.$store.state.websocket.send(msg);
        },
        handleInputWithIndex(key, value, cameraIndex = this.$store.getters.currentCameraIndex) {
            let msg = this.$msgPack.encode({
                [key]: value,
                ["cameraIndex"]: cameraIndex,
            });
-            this.$socket.send(msg);
+            this.$store.state.websocket.send(msg);
        },
        handleData(val) {
            this.handleInput(val, this[val]);
@@ -22,7 +22,7 @@ export const dataHandleMixin = {
                    ["cameraIndex"]: this.$store.getters.currentCameraIndex
                }
            });
-            this.$socket.send(msg);
+            this.$store.state.websocket.send(msg);
            this.$emit('update')
        },
        handlePipelineUpdate(key, val) {
@@ -32,7 +32,7 @@ export const dataHandleMixin = {
                    ["cameraIndex"]: this.$store.getters.currentCameraIndex
                }
            });
-            this.$socket.send(msg);
+            this.$store.state.websocket.send(msg);
            this.$emit('update')
        },
        handleTruthyPipelineData(val) {
@@ -42,7 +42,7 @@ export const dataHandleMixin = {
                    ["cameraIndex"]: this.$store.getters.currentCameraIndex
                }
            });
-            this.$socket.send(msg);
+            this.$store.state.websocket.send(msg);
            this.$emit('update')
        },
        rollback(val, e) {
--- a/photon-client/src/plugins/ColorPicker.js
+++ b/photon-client/src/plugins/ColorPicker.js
@@ -5,7 +5,7 @@ function initColorPicker() {
    if (!canvas)
        canvas = document.createElement('canvas');

-    image = document.querySelector('#normal-stream');
+    image = document.querySelector('#raw-stream');
    if (image !== null) {
      canvas.width = image.width;
      canvas.height = image.height;
--- a/photon-client/src/plugins/WebsocketVideoStream.js
+++ b/photon-client/src/plugins/WebsocketVideoStream.js
@@ -0,0 +1,359 @@
+// Circular buffer storage. Externally-apparent 'length' increases indefinitely
+// while any items with indexes below length-n will be forgotten (undefined
+// will be returned if you try to get them, trying to set is an exception).
+// n represents the initial length of the array, not a maximum
+class StatsHistoryBuffer{
+    constructor (){
+        this.windowLen = 10;
+        this._array= new Array(this.windowLen);
+        this.headPtr = 0;
+        this.frameCount = 0;
+        this.bitAvgAccum = 0;
+
+        //calculated vals
+        this.bitRate_Mbps = 0;
+        this.framerate_fps = 0;
+    }
+
+    putAndPop(v){
+        this.headPtr++;
+        var idx = (this.headPtr)%this._array.length;
+        var poppedVal = this._array[idx];
+        this._array[idx] = v;
+        return poppedVal;
+    }
+
+    addSample(time, frameSize_bits, dispFrame_count) {
+        var oldVal = this.putAndPop([time, frameSize_bits, dispFrame_count]);
+
+        this.bitAvgAccum += frameSize_bits;
+
+        if(oldVal !=null){
+            var oldTime = oldVal[0];
+            var oldFrameSize = oldVal[1];
+            var oldFrameCount = oldVal[2];
+
+            var deltaTime_s = (time - oldTime);
+
+            this.bitAvgAccum -= oldFrameSize;
+
+            //bitrate - total bits transferred over the time period, divided by the period length
+            // converted to mbps
+            this.bitRate_Mbps = ( this.bitAvgAccum / deltaTime_s ) * (1.0/1048576.0);
+
+            //framerate - total frames displayed over the time period, divided by the period length
+            this.framerate_fps = (dispFrame_count - oldFrameCount) / deltaTime_s;
+        }
+
+
+    }
+
+    getText(){
+        return "Streaming @ " + this.framerate_fps.toFixed(1) + "FPS  " + this.bitRate_Mbps.toFixed(1) + "Mbps";
+    }
+
+}
+
+
+export class WebsocketVideoStream{
+
+    constructor(drawDiv, streamPort, host) {
+        console.log("host " + host + " port " + streamPort)
+
+        this.drawDiv = drawDiv;
+        this.image = document.getElementById(this.drawDiv);
+        this.streamPort = streamPort;
+        this.newStreamPortReq = null;
+        this.serverAddr = "ws://" + host + "/websocket_cameras";
+        this.imgData = null;
+        this.imgDataTime = -1;
+        this.prevImgDataTime = -1;
+        this.imgObjURL = null;
+        this.frameRxCount = 0;
+        this.dispFrameCount = 0;
+        this.stats = null;
+
+        //Set up div for stream stats info provided for users
+        this.statsTextDiv = this.image.parentNode.appendChild(document.createElement("div"));
+
+        //Centered over the image
+        this.statsTextDiv.style.position = "absolute";
+        this.statsTextDiv.style.left = "50%";
+        this.statsTextDiv.style.top = "50%";
+        this.statsTextDiv.style.transform = "translate(-50%, -50%)";
+
+        // Big enough for a line or two of text, with centered text
+        this.statsTextDiv.style.padding = "0.5em"
+        this.statsTextDiv.style.overflow = "hidden";
+        this.statsTextDiv.style.textAlign = "center";
+        this.statsTextDiv.style.verticalAlign = "middle";
+
+        // Styled to be black with grey text
+        this.statsTextDiv.style.backgroundColor = "black";
+        this.statsTextDiv.style.color = "#9E9E9E";
+        this.statsTextDiv.style.borderRadius = "3px";
+
+        //Default no text
+        this.statsTextDiv.innerHTML = "";
+
+        // Only show on mouseover, with opacity fade-in/fade-out
+        this.statsTextDiv.style.opacity = "0.0";
+        this.statsTextDiv.style.transition = "opacity 0.25s ease 0.25s";
+        this.statsTextDiv.style.transitionDelay = "opacity 0.5s";
+        this.image.addEventListener('mouseover', () => {this.statsTextDiv.style.opacity = "0.6";});
+        this.statsTextDiv.addEventListener('mouseover', () => {this.statsTextDiv.style.opacity = "0.6";});
+        this.image.addEventListener('mouseout', () => {this.statsTextDiv.style.opacity = "0.0";});
+
+        //Display state machine descriptions
+        this.DSM_DISCONNECTED = "Disconnected";
+        this.DSM_WAIT_FOR_VALID_PORT = "Waiting for valid port ID";
+        this.DSM_SUBSCRIBE = "Subscribing";
+        this.DSM_WAIT_FOR_FIRST_FRAME = "Waiting for frame data";
+        this.DSM_SHOWING = "Showing Frames";
+        this.DSM_RESTART_UNSUBSCRIBE = "Unsubscribing";
+        this.DSM_RESTART_WAIT = "Waiting before resubscribe";
+
+        this.dsm_cur_state = this.DSM_DISCONNECTED;
+        this.dsm_prev_state = this.DSM_DISCONNECTED;
+        this.dsm_restart_start_time = window.performance.now();
+
+        this.dispNoStream();
+        this.ws_connect();
+
+        requestAnimationFrame(()=>this.animationLoop());
+
+    }
+
+    dispImageData(){
+        if(this.prevImgDataTime != this.imgDataTime){
+            //From https://stackoverflow.com/questions/67507616/set-image-src-from-image-blob/67507685#67507685
+            //Ensure uniqueness by making the new one before revoking the old one.
+            var oldURL = this.imgObjURL
+            this.imgObjURL = URL.createObjectURL(this.imgData);
+            if(oldURL != null){
+                URL.revokeObjectURL(oldURL)
+            }
+
+            //Update the image with the new mimetype and image
+            this.image.src = this.imgObjURL;
+
+            this.dispFrameCount++;
+            this.prevImgDataTime = this.imgDataTime;
+        } // else no new image, don't update anything
+    }
+
+    dispNoStream() {
+        this.image.src = require("../assets/loading.gif");
+    }
+
+    animationLoop(){
+        // Update time metrics
+        var curTime_s = window.performance.now() / 1000.0;
+        var timeInState  = curTime_s - this.dsm_restart_start_time;
+
+        // Save previous state
+        this.dsm_prev_state = this.dsm_cur_state;
+
+        // Evaluate state transitions
+        if(this.serverConnectionActive == false){
+            //Any state - if the server connection goes false, always transition to disconnected
+            this.dsm_cur_state = this.DSM_DISCONNECTED;
+        } else {
+            //Conditional transitions
+            switch(this.dsm_cur_state) {
+                case this.DSM_DISCONNECTED:
+                    //Immediately transition to waiting for the first frame
+                    this.dsm_cur_state = this.DSM_WAIT_FOR_VALID_PORT;
+                    break;
+                case this.DSM_WAIT_FOR_VALID_PORT:
+                    // Wait until the user has configured a valid port
+                    if(this.streamPort > 0){
+                        this.dsm_cur_state = this.DSM_SUBSCRIBE;
+                    } else {
+                        this.dsm_cur_state = this.DSM_WAIT_FOR_VALID_PORT;
+                    }
+                    break;
+                case this.DSM_SUBSCRIBE:
+                    // Immediately transition after subscriptions is sent
+                    this.dsm_cur_state = this.DSM_WAIT_FOR_FIRST_FRAME;
+                    break;
+                case this.DSM_WAIT_FOR_FIRST_FRAME:
+                    if(this.imgData != null){
+                        //we got some image data, start showing it
+                        this.dsm_cur_state = this.DSM_SHOWING;
+                    } else if (this.newStreamPortReq != null){
+                        //Stream port requested changed, unsubscribe and restart
+                        this.dsm_cur_state = this.DSM_RESTART_UNSUBSCRIBE;
+                    } else {
+                        this.dsm_cur_state = this.DSM_WAIT_FOR_FIRST_FRAME;
+                    }
+                    break;
+                case this.DSM_SHOWING:
+                    if((curTime_s - this.imgDataTime) > 2.5){
+                        //timeout, begin the restart sequence
+                        this.dsm_cur_state = this.DSM_RESTART_UNSUBSCRIBE;
+                    } else if (this.newStreamPortReq != null){
+                        //Stream port requested changed, unsubscribe and restart
+                        this.dsm_cur_state = this.DSM_RESTART_UNSUBSCRIBE;
+                    }  else {
+                        //stay in this state.
+                        this.dsm_cur_state = this.DSM_SHOWING;
+                    }
+                    break;
+                case this.DSM_RESTART_UNSUBSCRIBE:
+                    //Only should spend one loop in Unsubscribe, immediately transition
+                    this.dsm_cur_state = this.DSM_RESTART_WAIT;
+                    break;
+                case this.DSM_RESTART_WAIT:
+                    if (timeInState > 0.25) {
+                        //we've waited long enough, go to try to re-subscribe
+                        this.dsm_cur_state = this.DSM_WAIT_FOR_VALID_PORT;
+                    } else {
+                        //stay in this state.
+                        this.dsm_cur_state = this.DSM_RESTART_WAIT;
+                    }
+                    break;
+                default:
+                    // Shouldn't get here, default back to init
+                    this.dsm_cur_state = this.DSM_DISCONNECTED;
+              }
+        }
+
+        //take current-state or state-transition actions
+
+        if(this.dsm_cur_state != this.dsm_prev_state){
+            //Any state transition
+            console.log("State Change: " + this.dsm_prev_state + " -> " + this.dsm_cur_state);
+        }
+
+        if(this.dsm_cur_state == this.DSM_SHOWING){
+            // Currently in SHOWING
+            // Show image and update status text
+            this.dispImageData();
+            this.statsTextDiv.innerHTML = this.stats.getText();
+        } else {
+            //Just show the state for debug
+            this.statsTextDiv.innerHTML = this.dsm_cur_state;
+        }
+
+        if(this.dsm_cur_state != this.DSM_SHOWING && this.dsm_prev_state == this.DSM_SHOWING ){
+            //Any transition out of showing - no stream
+            this.dispNoStream();
+        }
+
+        if(this.dsm_cur_state == this.DSM_RESTART_UNSUBSCRIBE){
+            // Currently in UNSUBSCRIBE, do the unsubscribe actions
+            this.stopStream();
+            this.dsm_restart_start_time = curTime_s;
+        }
+
+        if(this.dsm_cur_state == this.DSM_SUBSCRIBE){
+            // Currently in SUBSCRIBE, do the subscribe actions
+            this.startStream();
+            this.dsm_restart_start_time = curTime_s;
+        }
+
+        if(this.dsm_cur_state == this.DSM_WAIT_FOR_VALID_PORT){
+            // Currently waiting for a vaild port to be requested
+            if(this.newStreamPortReq != null){
+                this.streamPort = this.newStreamPortReq;
+                this.newStreamPortReq = null;
+            }
+        }
+
+        //Update status text
+
+        requestAnimationFrame(()=>this.animationLoop());
+    }
+
+    startStream() {
+        console.log("Subscribing to port " + this.streamPort);
+        this.imgData = null;
+        this.ws.send(JSON.stringify({"cmd": "subscribe", "port":this.streamPort}));
+    }
+
+    stopStream() {
+        console.log("Unsubscribing");
+        this.ws.send(JSON.stringify({"cmd": "unsubscribe"}));
+        this.imgData = null;
+    }
+
+    setPort(streamPort){
+        console.log("Port set to " + streamPort);
+        this.newStreamPortReq = streamPort;
+    }
+
+    ws_onOpen() {
+        // Set the flag allowing general server communication
+        this.serverConnectionActive = true;
+        console.log("Camera Websockets Connected!");
+
+        // New websocket connection, reset stats
+        this.frameRxCount = 0;
+        this.dispFrameCount = 0;
+        this.stats = new StatsHistoryBuffer();
+    }
+
+    ws_onClose(e) {
+        //Clear flags to stop server communication
+        this.ws = null;
+        this.serverConnectionActive = false;
+
+        console.log('Camera Socket is closed. Reconnect will be attempted in 0.5 second.', e.reason);
+        setTimeout(this.ws_connect.bind(this), 500);
+
+        if(!e.wasClean){
+            console.error('Socket encountered error!');
+        }
+
+    }
+
+    ws_onError(e){
+        e; //prevent unused failure
+        this.ws.close();
+    }
+
+    ws_onMessage(e){
+        //console.log("Got message from " + this.serverAddr)
+        var msgTime_s = window.performance.now() / 1000.0;
+        if(typeof e.data === 'string'){
+            //string data from host
+            //TODO - anything to receive info here? Maybe "available streams?"
+        } else {
+            if(e.data.size > 0){
+                //binary data - a frame!
+                //Save frame data for display in the next animation thread
+                this.imgData = e.data;
+                this.imgDataTime = msgTime_s;
+
+                //Count the incoming frame
+                this.frameRxCount++;
+
+                //keep the stats up to date
+                this.stats.addSample(msgTime_s,this.imgData.size * 8,this.dispFrameCount);
+            } else {
+                console.log("WS Stream Error: Server sent empty frame!");
+            }
+        }
+
+    }
+
+    ws_connect() {
+        this.serverConnectionActive = false;
+        this.ws = new WebSocket(this.serverAddr);
+        this.ws.binaryType = "blob";
+        this.ws.onopen = this.ws_onOpen.bind(this);
+        this.ws.onmessage = this.ws_onMessage.bind(this);
+        this.ws.onclose = this.ws_onClose.bind(this);
+        this.ws.onerror = this.ws_onError.bind(this);
+        console.log("Connecting to server " + this.serverAddr);
+    }
+
+    ws_close(){
+        this.ws.close();
+    }
+
+}
+
+
+export default {WebsocketVideoStream}
--- a/photon-client/src/store/index.js
+++ b/photon-client/src/store/index.js
@@ -15,6 +15,7 @@ export default new Vuex.Store({
    },
    state: {
        backendConnected: false,
+        websocket: null,
        ntConnectionInfo: {
            connected: false,
            address: "",
@@ -35,8 +36,8 @@ export default new Vuex.Store({
                tiltDegrees: 0.0,
                currentPipelineIndex: 0,
                pipelineNicknames: ["Unknown"],
-                outputStreamPort: 1181,
-                inputStreamPort: 1182,
+                outputStreamPort: 0,
+                inputStreamPort: 0,
                nickname: "Unknown",
                videoFormatList: [
                    {
@@ -97,6 +98,8 @@ export default new Vuex.Store({
                    debug: false,
                    refineEdges: true,
                    numIterations: 1,
+                    decisionMargin: 0,
+                    hammingDist: 0,
                }
            }
        ],
@@ -167,6 +170,7 @@ export default new Vuex.Store({
    },
    mutations: {
        compactMode: set('compactMode'),
+        websocket: set('websocket'),
        cameraSettings: set('cameraSettings'),
        currentCameraIndex: set('currentCameraIndex'),
        selectedOutputs: set('selectedOutputs'),
--- a/photon-client/src/views/CamerasView.vue
+++ b/photon-client/src/views/CamerasView.vue
@@ -31,14 +31,6 @@
              :label-cols="$vuetify.breakpoint.mdAndUp ? undefined : 7"
            />
            <br>
-            <CVnumberinput
-              v-model="cameraSettings.tiltDegrees"
-              name="Camera pitch"
-              tooltip="How many degrees above the horizontal the physical camera is tilted"
-              :step="0.01"
-              :label-cols="$vuetify.breakpoint.mdAndUp ? undefined : 7"
-            />
-            <br>
            <v-btn
              style="margin-top:10px"
              small
@@ -202,10 +194,13 @@
              >
                <CVslider
                  v-model="$store.getters.currentPipelineSettings.cameraExposure"
+                  :disabled="$store.getters.currentPipelineSettings.cameraAutoExposure"
                  name="Exposure"
                  :min="0"
                  :max="100"
                  slider-cols="8"
+                  step="0.1"
+                  tooltip="Directly controls how much light is allowed to fall onto the sensor, which affects apparent brightness"
                  @input="e => handlePipelineUpdate('cameraExposure', e)"
                />
                <CVslider
@@ -216,6 +211,24 @@
                  slider-cols="8"
                  @input="e => handlePipelineUpdate('cameraBrightness', e)"
                />
+                <CVswitch
+                  v-model="$store.getters.currentPipelineSettings.cameraAutoExposure"
+                  class="pt-2"
+                  name="Auto Exposure"
+                  tooltip="Enables or Disables camera automatic adjustment for current lighting conditions"
+                  @input="e => handlePipelineUpdate('cameraAutoExposure', e)"
+                />
+                <CVslider
+                  v-if="cameraGain >= 0"
+                  v-model="cameraGain"
+                  name="Camera Gain"
+                  min="0"
+                  max="100"
+                  tooltip="Controls camera gain, similar to brightness"
+                  :slider-cols="largeBox"
+                  @input="handlePipelineData('cameraGain')"
+                  @rollback="e => rollback('cameraGain', e)"
+                />
                <CVslider
                  v-if="$store.getters.currentPipelineSettings.cameraRedGain !== -1"
                  v-model="$store.getters.currentPipelineSettings.cameraRedGain"
@@ -289,7 +302,8 @@
      >
        <template>
          <CVimage
-            :address="$store.getters.streamAddress[1]"
+            :id="cameras-cal"
+            :idx=1
            :disconnected="!$store.state.backendConnected"
            scale="100"
            style="border-radius: 5px;"
@@ -360,6 +374,7 @@
 import CVselect from '../components/common/cv-select';
 import CVnumberinput from '../components/common/cv-number-input';
 import CVslider from '../components/common/cv-slider';
+import CVswitch from '../components/common/cv-switch';
 import CVimage from "../components/common/cv-image";
 import TooltippedLabel from "../components/common/cv-tooltipped-label";
 import jsPDF from "jspdf";
@@ -372,6 +387,7 @@ export default {
        CVselect,
        CVnumberinput,
        CVslider,
+        CVswitch,
        CVimage
    },
    data() {
@@ -405,6 +421,15 @@ export default {
            }
        },

+        cameraGain: {
+          get() {
+              return parseInt(this.$store.getters.currentPipelineSettings.cameraGain)
+          },
+          set(val) {
+              this.$store.commit("mutatePipeline", {"cameraGain": parseInt(val)});
+          }
+        },
+
        // Makes sure there's only one entry per resolution
        filteredResolutionList: {
            get() {
@@ -428,13 +453,11 @@ export default {
                return filtered
            }
        },
-
        stringResolutionList: {
            get() {
                return this.filteredResolutionList.map(res => `${res['width']} X ${res['height']}`);
            }
        },
-
        cameraSettings: {
            get() {
                return this.$store.getters.currentCameraSettings;
@@ -443,7 +466,6 @@ export default {
                this.$store.commit('cameraSettings', value);
            }
        },
-
        boardType: {
            get() {
                return this.calibrationData.boardType
@@ -625,8 +647,7 @@ export default {
            this.axios.post("http://" + this.$address + "/api/settings/camera", {
                "settings": this.cameraSettings,
                "index": this.$store.state.currentCameraIndex
-            }).then(
-                function (response) {
+            }).then(response => {
                    if (response.status === 200) {
                        this.$store.state.saveBar = true;
                    }
@@ -647,14 +668,15 @@ export default {
            if (this.isCalibrating === true) {
                data['takeCalibrationSnapshot'] = true
            } else {
+                // This store prevents an edge case of a user not selecting a different resolution, which causes the set logic to not be called
+                this.$store.commit('mutateCalibrationState', {['videoModeIndex']: this.filteredResolutionList[this.selectedFilteredResIndex].index});
                const calData = this.calibrationData;
                calData.isCalibrating = true;
                data['startPnpCalibration'] = calData;
-
                console.log("starting calibration with index " + calData.videoModeIndex);
            }
-
-            this.$socket.send(this.$msgPack.encode(data));
+            this.$store.commit('currentPipelineIndex', -2);
+            this.$store.state.websocket.send(this.$msgPack.encode(data));
        },
        sendCalibrationFinish() {
            console.log("finishing calibration for index " + this.$store.getters.currentCameraIndex);
--- a/photon-client/src/views/PipelineView.vue
+++ b/photon-client/src/views/PipelineView.vue
@@ -33,10 +33,10 @@
                :color="fpsTooLow ? 'error' : 'transparent'"
                :text-color="fpsTooLow ? 'white' : 'grey'"
              >
-                <span class="pr-1">{{ Math.round($store.state.pipelineResults.fps) }}&nbsp;FPS &ndash;</span>
-                <span v-if="!fpsTooLow">{{ Math.min(Math.round($store.state.pipelineResults.latency), 9999) }} ms latency</span>
-                <span v-else-if="!$store.getters.currentPipelineSettings.inputShouldShow">HSV thresholds are too broad; narrow them for better performance</span>
-                <span v-else>stop viewing the raw stream for better performance</span>
+                <span class="pr-1">Processing @ {{ Math.round($store.state.pipelineResults.fps) }}&nbsp;FPS &ndash;</span>
+                <span v-if="fpsTooLow && !$store.getters.currentPipelineSettings.inputShouldShow && $store.getters.pipelineType == 2">HSV thresholds are too broad; narrow them for better performance</span>
+                <span v-else-if="$fpsTooLow && getters.currentCameraSettings.inputShouldShow">stop viewing the raw stream for better performance</span>
+                <span v-else>{{ Math.min(Math.round($store.state.pipelineResults.latency), 9999) }} ms latency</span>
              </v-chip>
              <v-switch
                v-model="driverMode"
@@ -58,16 +58,16 @@
              >
                <div style="position: relative; width: 100%; height: 100%;">
                  <cv-image
-                    :id="idx === 0 ? 'normal-stream' : ''"
+                    :id="idx === 0 ? 'raw-stream' : 'processed-stream'"
                    ref="streams"
-                    :address="$store.getters.streamAddress[idx]"
+                    :idx=idx
                    :disconnected="!$store.state.backendConnected"
                    scale="100"
                    :max-height="$store.getters.isDriverMode ? '40vh' : '300px'"
                    :max-height-md="$store.getters.isDriverMode ? '50vh' : '380px'"
                    :max-height-lg="$store.getters.isDriverMode ? '55vh' : '390px'"
                    :max-height-xl="$store.getters.isDriverMode ? '60vh' : '450px'"
-                    :alt="'Stream' + idx"
+                    :alt="'Stream ' + idx"
                    :color-picking="$store.state.colorPicking && idx === 0"
                    @click="onImageClick"
                  />
@@ -85,7 +85,7 @@
          <v-card
            color="primary"
          >
-            <camera-and-pipeline-select @camera-name-changed="reloadStreams" />
+            <camera-and-pipeline-select />
          </v-card>
          <v-card
            :disabled="$store.getters.isDriverMode || $store.state.colorPicking"
--- a/photon-client/src/views/PipelineViews/AprilTagTab.vue
+++ b/photon-client/src/views/PipelineViews/AprilTagTab.vue
@@ -7,16 +7,27 @@
      item-color="secondary"
      label="Select target family"
      :items="familyList"
-      @input="handlePipelineUpdate('tagFamily', targetList.indexOf(selectedModel))"
+      @input="handlePipelineUpdate('tagFamily', familyList.indexOf(selectedFamily))"
+    />
+    <v-select
+      v-model="selectedModel"
+      dark
+      color="accent"
+      item-color="secondary"
+      label="Select a target model"
+      :items="targetList"
+      item-text="name"
+      item-value="data"
+      @input="handlePipelineUpdate('targetModel', targetList.indexOf(selectedModel) + 6)"
    />
    <CVslider
      v-model="decimate"
      class="pt-2"
      slider-cols="8"
      name="Decimate"
-      min="0"
-      max="3"
-      step=".5"
+      min="1"
+      max="8"
+      step="1.0"
      tooltip="Increases FPS at the expense of range by reducing image resolution initially"
      @input="handlePipelineData('decimate')"
    />
@@ -50,6 +61,28 @@
      tooltip="Further refines the apriltag corner position initial estimate, suggested left on"
      @input="handlePipelineData('refineEdges')"
    />
+    <CVslider
+      v-model="hammingDist"
+      class="pt-2 pb-4"
+      slider-cols="8"
+      name="Max error bits"
+      min="0"
+      max="10"
+      step="1"
+      tooltip="Maximum number of error bits to correct; potential tags with more will be thrown out. For smaller tags (like 16h5), set this as low as possible."
+      @input="handlePipelineData('hammingDist')"
+    />
+    <CVslider
+      v-model="decisionMargin"
+      class="pt-2 pb-4"
+      slider-cols="8"
+      name="Decision Margin Cutoff"
+      min="0"
+      max="250"
+      step="1"
+      tooltip="Tags with a 'margin' (decoding quality score) less than this wil be rejected. Increase this to reduce the number of false positive detections"
+      @input="handlePipelineData('decisionMargin')"
+    />
    <CVslider
      v-model="numIterations"
      class="pt-2 pb-4"
@@ -76,10 +109,21 @@
        },
        data() {
            return {
-              familyList: ["tag36h11"],
+              familyList: ["tag36h11", "tag25h9", "tag16h5"],
+              // Selected model is offset (ew) by 6 from the photon ordinal, as we only wanna show the 36h11 and 16h5 options
+              targetList: ['6.5in (36h11) AprilTag', '6in (16h5) AprilTag'], //Keep in sync with TargetModel.java
            }
        },
        computed: {
+          selectedModel: {
+              get() {
+                  let ret = this.$store.getters.currentPipelineSettings.targetModel - 6
+                  return this.targetList[ret];
+              },
+              set(val) {
+                  this.$store.commit("mutatePipeline", {"targetModel": this.targetList.indexOf(val) + 6})
+              }
+          },
          selectedFamily: {
            get() {
                let ret = this.$store.getters.currentPipelineSettings.tagFamily
@@ -97,6 +141,22 @@
                this.$store.commit("mutatePipeline", {"decimate": val});
            }
          },
+          hammingDist: {
+            get() {
+                return this.$store.getters.currentPipelineSettings.hammingDist
+            },
+            set(val) {
+                this.$store.commit("mutatePipeline", {"hammingDist": val});
+            }
+          },
+          decisionMargin: {
+            get() {
+                return this.$store.getters.currentPipelineSettings.decisionMargin
+            },
+            set(val) {
+                this.$store.commit("mutatePipeline", {"decisionMargin": val});
+            }
+          },
          numIterations: {
            get() {
                return this.$store.getters.currentPipelineSettings.numIterations
--- a/photon-client/src/views/PipelineViews/InputTab.vue
+++ b/photon-client/src/views/PipelineViews/InputTab.vue
@@ -1,13 +1,13 @@
 <template>
  <div>
    <CVslider
-      :disabled="cameraAutoExposure"
      v-model="cameraExposure"
+      :disabled="cameraAutoExposure"
      name="Exposure"
      min="0"
      max="100"
      step="0.1"
-      tooltip="Directly controls how much light is allowed to fall onto the sensor, which affects brightness"
+      tooltip="Directly controls how much light is allowed to fall onto the sensor, which affects apparent brightness"
      :slider-cols="largeBox"
      @input="handlePipelineData('cameraExposure')"
      @rollback="e => rollback('cameraExposure', e)"
@@ -25,19 +25,20 @@
    <CVswitch
      v-model="cameraAutoExposure"
      class="pt-2"
-      name="Auto exposure"
+      name="Auto Exposure"
+      tooltip="Enables or Disables camera automatic adjustment for current lighting conditions"
      @input="handlePipelineData('cameraAutoExposure')"
    />
    <CVslider
      v-if="cameraGain >= 0"
      v-model="cameraGain"
-      name="Camera gain"
+      name="Camera Gain"
      min="0"
      max="100"
      tooltip="Controls camera gain, similar to brightness"
      :slider-cols="largeBox"
-      @input="handlePipelineData('cameraRedGain')"
-      @rollback="e => rollback('cameraRedGain', e)"
+      @input="handlePipelineData('cameraGain')"
+      @rollback="e => rollback('cameraGain', e)"
    />
    <CVslider
      v-if="cameraRedGain !== -1"
@@ -106,11 +107,6 @@
        },
        // eslint-disable-next-line vue/require-prop-types
        props: ['value'],
-        data() {
-            return {
-              rawStreamDivisorIndex: 0,
-            }
-        },
        computed: {
            largeBox: {
              get() {
@@ -144,6 +140,14 @@
                    this.$store.commit("mutatePipeline", {"cameraBrightness": parseInt(val)});
                }
            },
+            cameraGain: {
+                get() {
+                    return parseInt(this.$store.getters.currentPipelineSettings.cameraGain)
+                },
+                set(val) {
+                    this.$store.commit("mutatePipeline", {"cameraGain": parseInt(val)});
+                }
+            },
            cameraRedGain: {
                get() {
                    return parseInt(this.$store.getters.currentPipelineSettings.cameraRedGain)
@@ -176,15 +180,22 @@
                    this.$store.commit("mutatePipeline", {"cameraVideoModeIndex": val});

                    this.handlePipelineUpdate("streamingFrameDivisor", this.getNumSkippedStreamDivisors());
-                    this.rawStreamDivisorIndex = 0;
+                    this.$store.commit("mutatePipeline", {"streamingFrameDivisor": 0});
+
+                    // If we don't have 3d mode calibrated at the new resolution either, we should disable it here
+                    // (TODO) This probably belongs in the backend (Matt)
+                    if (!this.$store.getters.isCalibrated) {
+                        this.handlePipelineUpdate("solvePNPEnabled", false);
+                        this.$store.commit("mutatePipeline", {"solvePNPEnabled": false});
+                    }
                }
            },
            streamingFrameDivisor: {
                get() {
-                    return this.rawStreamDivisorIndex;
+                    return this.$store.getters.currentPipelineSettings.streamingFrameDivisor;
                },
                set(val) {
-                    this.rawStreamDivisorIndex = val;
+                    this.$store.commit("mutatePipeline", {"streamingFrameDivisor": val});
                    this.handlePipelineUpdate("streamingFrameDivisor", this.getNumSkippedStreamDivisors() + val);
                }
            },
--- a/photon-client/src/views/PipelineViews/PnPTab.vue
+++ b/photon-client/src/views/PipelineViews/PnPTab.vue
@@ -53,7 +53,7 @@
        },
        data() {
            return {
-                targetList: ['2020 High Goal Outer', '2020 High Goal Inner', '2019 Dual Target', '2020 Power Cell (7in)','2022 Cargo Ball (9.5in)', '2016 High Goal'], //Keep in sync with TargetModel.java
+                targetList: ['2020 High Goal Outer', '2020 High Goal Inner', '2019 Dual Target', '2020 Power Cell (7in)','2022 Cargo Ball (9.5in)', '2016 High Goal', '6.5in (36h11) AprilTag', '6in (16h5) AprilTag'], //Keep in sync with TargetModel.java
                snackbar: {
                    color: "Success",
                    text: ""
@@ -65,7 +65,6 @@
            selectedModel: {
                get() {
                    let ret = this.$store.getters.currentPipelineSettings.targetModel
-                    console.log(ret)
                    return this.targetList[ret];
                },
                set(val) {
--- a/photon-client/src/views/PipelineViews/TargetsTab.vue
+++ b/photon-client/src/views/PipelineViews/TargetsTab.vue
@@ -50,7 +50,7 @@
                </th>
              </template>
              <template v-if="$store.getters.pipelineType === 4 && $store.getters.currentPipelineSettings.solvePNPEnabled">
-                <th class="text-center" >
+                <th class="text-center">
                  Ambiguity
                </th>
              </template>
@@ -82,9 +82,9 @@
                <td>{{ (parseFloat(value.pose.angle_z) * 180 / Math.PI).toFixed(2) }}&deg;</td>
              </template>
              <template v-if="$store.getters.pipelineType === 4 && $store.getters.currentPipelineSettings.solvePNPEnabled">
-              <td>
-                {{ parseFloat(value.ambiguity).toFixed(2) }}
-              </td>
+                <td>
+                  {{ parseFloat(value.ambiguity).toFixed(2) }}
+                </td>
              </template>
            </tr>
          </tbody>
--- a/photon-client/src/views/PipelineViews/ThresholdTab.vue
+++ b/photon-client/src/views/PipelineViews/ThresholdTab.vue
@@ -247,7 +247,7 @@ export default {
            'cameraIndex': this.$store.state.currentCameraIndex
          }
        });
-        this.$socket.send(msg);
+        this.$store.state.websocket.send(msg);
        this.$emit('update');
      }
    },
--- a/photon-client/src/views/SettingsViews/General.vue
+++ b/photon-client/src/views/SettingsViews/General.vue
@@ -49,22 +49,46 @@
          <th class="infoElem">
            Disk Usage
          </th>
+          <th class="infoElem">
+            <v-tooltip top>
+              <template v-slot:activator="{ on, attrs }">
+                <span
+                  v-bind="attrs"
+                  v-on="on"
+                >
+                ⓘ CPU Throttling
+                </span>
+              </template>
+              <span>
+                    Current or Previous Reason for the cpu being held back from maximum performance.
+              </span>
+            </v-tooltip>
+          </th>
+          <th class="infoElem">
+            CPU Uptime
+          </th>
        </tr>
        <tr v-if="metrics.cpuUtil !== 'N/A'">
          <td class="infoElem">
-            {{ metrics.cpuUtil.replace(" ", "") }}%
+            {{ metrics.cpuUtil }}%
          </td>
          <td class="infoElem">
            {{ parseInt(metrics.cpuTemp) }}&deg;&nbsp;C
          </td>
          <td class="infoElem">
-            {{ metrics.ramUtil.replace(" ", "") }}MB of {{ metrics.cpuMem }}MB
+            {{ metrics.ramUtil }}MB of {{ metrics.cpuMem }}MB
          </td>
          <td class="infoElem">
-            {{ metrics.gpuMemUtil.replace(" ", "") }}MB of {{ metrics.gpuMem }}MB
+            {{ metrics.gpuMemUtil }}MB of {{ metrics.gpuMem }}MB
          </td>
          <td class="infoElem">
-            {{ metrics.diskUtilPct.replace(" ", "") }}
+            {{ metrics.diskUtilPct }}
+          </td>
+          <td class="infoElem">
+            {{ metrics.cpuThr }}
+          </td>
+          <td class="infoElem">
+            {{ metrics.cpuUptime }}
          </td>
        </tr>
        <tr v-if="metrics.cpuUtil === 'N/A'">
@@ -83,6 +107,12 @@
          <td class="infoElem">
            ---
          </td>
+          <td class="infoElem">
+            ---
+          </td>
+          <td class="infoElem">
+            ---
+          </td>
        </tr>
      </table>
    </v-row>
--- a/photon-client/src/views/SettingsViews/Networking.vue
+++ b/photon-client/src/views/SettingsViews/Networking.vue
@@ -66,7 +66,16 @@
    >
      Save
    </v-btn>
+    <v-snackbar
+      v-model="snack"
+      top
+      :color="snackbar.color"
+      timeout="5000"
+    >
+      <span>{{ snackbar.text }}</span>
+    </v-snackbar>
    <v-divider class="mt-4 mb-4" />
+    <!-- TEMP - RIO finder is not currently enabled
    <v-row>
      <v-col
        cols="12"
@@ -125,6 +134,7 @@
        </v-simple-table>
      </v-col>
    </v-row>
+    -->
  </div>
 </template>

@@ -237,7 +247,7 @@ export default {
        },
        sendGeneralSettings() {
            this.axios.post("http://" + this.$address + "/api/settings/general", this.settings).then(
-                function (response) {
+                response => {
                    if (response.status === 200) {
                        this.snackbar = {
                            color: "success",
@@ -246,7 +256,7 @@ export default {
                        this.snack = true;
                    }
                },
-                function (error) {
+                error => {
                    this.snackbar = {
                        color: "error",
                        text: (error.response || {data: "Couldn't save settings"}).data
--- a/photon-core/build.gradle
+++ b/photon-core/build.gradle
@@ -1,3 +1,7 @@
+plugins {
+    id 'edu.wpi.first.WpilibTools' version '1.0.0'
+}
+
 import java.nio.file.Path

 apply from: "${rootDir}/shared/common.gradle"
@@ -10,9 +14,6 @@ dependencies {
    implementation 'org.msgpack:msgpack-core:0.9.0'
    implementation 'org.msgpack:jackson-dataformat-msgpack:0.9.0'

-    // wpiutil
-    jniPlatforms.each { implementation "edu.wpi.first.wpiutil:wpiutil-jni:$wpilibVersion:$it" }
-
    // JOGL stuff (currently we only distribute for aarch64, which is Pi 4)
    implementation "org.jogamp.gluegen:gluegen-rt:$joglVersion"
    implementation "org.jogamp.jogl:jogl-all:$joglVersion"
@@ -22,6 +23,8 @@ dependencies {

    // Zip
    implementation 'org.zeroturnaround:zt-zip:1.14'
+
+    implementation wpilibTools.deps.wpilibJava("apriltag")
 }

 task writeCurrentVersionJava {
@@ -31,3 +34,24 @@ task writeCurrentVersionJava {
 }

 build.dependsOn writeCurrentVersionJava
+
+def testNativeConfigName = 'wpilibTestNative'
+def testNativeConfig = configurations.create(testNativeConfigName)
+
+def folder = project.layout.buildDirectory.dir('NativeTest')
+
+def testNativeTasks = wpilibTools.createExtractionTasks {
+    taskPostfix = "Test"
+    configurationName = testNativeConfigName
+    rootTaskFolder.set(folder)
+}
+
+testNativeTasks.addToSourceSetResources(sourceSets.test)
+
+testNativeConfig.dependencies.add wpilibTools.deps.cscore()
+testNativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore")
+testNativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet")
+testNativeConfig.dependencies.add wpilibTools.deps.wpilib("hal")
+testNativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil")
+testNativeConfig.dependencies.add wpilibTools.deps.wpilib("apriltag")
+testNativeConfig.dependencies.add wpilibTools.deps.wpilib("wpimath")
--- a/photon-core/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java
@@ -21,6 +21,7 @@ import com.fasterxml.jackson.annotation.JsonCreator;
 import com.fasterxml.jackson.annotation.JsonIgnore;
 import com.fasterxml.jackson.annotation.JsonProperty;
 import java.util.ArrayList;
+import java.util.Arrays;
 import java.util.List;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
@@ -45,6 +46,8 @@ public class CameraConfiguration {
    /** Can be either path (ex /dev/videoX) or index (ex 1). */
    public String path = "";

+    @JsonIgnore public String[] otherPaths = {};
+
    public CameraType cameraType = CameraType.UsbCamera;
    public double FOV = 70;
    public final List<CameraCalibrationCoefficients> calibrations;
@@ -59,19 +62,22 @@ public class CameraConfiguration {
    public DriverModePipelineSettings driveModeSettings = new DriverModePipelineSettings();

    public CameraConfiguration(String baseName, String path) {
-        this(baseName, baseName, baseName, path);
+        this(baseName, baseName, baseName, path, new String[0]);
    }

-    public CameraConfiguration(String baseName, String uniqueName, String nickname, String path) {
+    public CameraConfiguration(
+            String baseName, String uniqueName, String nickname, String path, String[] alternates) {
        this.baseName = baseName;
        this.uniqueName = uniqueName;
        this.nickname = nickname;
        this.path = path;
        this.calibrations = new ArrayList<>();
+        this.otherPaths = alternates;

        logger.debug(
                "Creating USB camera configuration for "
                        + cameraType
+                        + " "
                        + baseName
                        + " (AKA "
                        + nickname
@@ -101,6 +107,7 @@ public class CameraConfiguration {
        logger.debug(
                "Creating camera configuration for "
                        + cameraType
+                        + " "
                        + baseName
                        + " (AKA "
                        + nickname
@@ -143,4 +150,33 @@ public class CameraConfiguration {
                .ifPresent(calibrations::remove);
        calibrations.add(calibration);
    }
+
+    @Override
+    public String toString() {
+        return "CameraConfiguration [baseName="
+                + baseName
+                + ", uniqueName="
+                + uniqueName
+                + ", nickname="
+                + nickname
+                + ", path="
+                + path
+                + ", otherPaths="
+                + Arrays.toString(otherPaths)
+                + ", cameraType="
+                + cameraType
+                + ", FOV="
+                + FOV
+                + ", calibrations="
+                + calibrations
+                + ", currentPipelineIndex="
+                + currentPipelineIndex
+                + ", streamIndex="
+                + streamIndex
+                + ", pipelineSettings="
+                + pipelineSettings
+                + ", driveModeSettings="
+                + driveModeSettings
+                + "]";
+    }
 }
--- a/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java
@@ -438,7 +438,7 @@ public class ConfigManager {
            try {
                Thread.sleep(1000);
            } catch (InterruptedException e) {
-                logger.error("Exception waiting for settings semaphor", e);
+                logger.error("Exception waiting for settings semaphore", e);
            }
        }
    }
--- a/photon-core/src/main/java/org/photonvision/common/configuration/HardwareConfig.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/HardwareConfig.java
@@ -41,6 +41,8 @@ public class HardwareConfig {
    public final String cpuTempCommand;
    public final String cpuMemoryCommand;
    public final String cpuUtilCommand;
+    public final String cpuThrottleReasonCmd;
+    public final String cpuUptimeCommand;
    public final String gpuMemoryCommand;
    public final String ramUtilCommand;
    public final String gpuMemUsageCommand;
@@ -65,6 +67,8 @@ public class HardwareConfig {
        cpuTempCommand = "";
        cpuMemoryCommand = "";
        cpuUtilCommand = "";
+        cpuThrottleReasonCmd = "";
+        cpuUptimeCommand = "";
        gpuMemoryCommand = "";
        ramUtilCommand = "";
        ledBlinkCommand = "";
@@ -91,6 +95,8 @@ public class HardwareConfig {
            String cpuTempCommand,
            String cpuMemoryCommand,
            String cpuUtilCommand,
+            String cpuThrottleReasonCmd,
+            String cpuUptimeCommand,
            String gpuMemoryCommand,
            String ramUtilCommand,
            String gpuMemUsageCommand,
@@ -111,6 +117,8 @@ public class HardwareConfig {
        this.cpuTempCommand = cpuTempCommand;
        this.cpuMemoryCommand = cpuMemoryCommand;
        this.cpuUtilCommand = cpuUtilCommand;
+        this.cpuThrottleReasonCmd = cpuThrottleReasonCmd;
+        this.cpuUptimeCommand = cpuUptimeCommand;
        this.gpuMemoryCommand = gpuMemoryCommand;
        this.ramUtilCommand = ramUtilCommand;
        this.gpuMemUsageCommand = gpuMemUsageCommand;
@@ -120,7 +128,22 @@ public class HardwareConfig {
        this.blacklistedResIndices = blacklistedResIndices;
    }

+    /** @return True if the FOV has been preset to a sane value, false otherwise */
    public final boolean hasPresetFOV() {
        return vendorFOV > 0;
    }
+
+    /** @return True if any command has been configured to a non-default empty, false otherwise */
+    public final boolean hasCommandsConfigured() {
+        return cpuTempCommand != ""
+                || cpuMemoryCommand != ""
+                || cpuUtilCommand != ""
+                || cpuThrottleReasonCmd != ""
+                || cpuUptimeCommand != ""
+                || gpuMemoryCommand != ""
+                || ramUtilCommand != ""
+                || ledBlinkCommand != ""
+                || gpuMemUsageCommand != ""
+                || diskUsageCommand != "";
+    }
 }
--- a/photon-core/src/main/java/org/photonvision/common/configuration/NetworkConfig.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/NetworkConfig.java
@@ -81,11 +81,11 @@ public class NetworkConfig {

    @JsonGetter("shouldManage")
    public boolean shouldManage() {
-        return this.shouldManage || Platform.isRaspberryPi();
+        return this.shouldManage || Platform.isLinux();
    }

    @JsonSetter("shouldManage")
    public void setShouldManage(boolean shouldManage) {
-        this.shouldManage = shouldManage || Platform.isRaspberryPi();
+        this.shouldManage = shouldManage || Platform.isLinux();
    }
 }
--- a/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
@@ -25,7 +25,7 @@ import java.util.stream.Collectors;
 import org.photonvision.PhotonVersion;
 import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.util.SerializationUtils;
-import org.photonvision.raspi.PicamJNI;
+import org.photonvision.raspi.LibCameraJNI;
 import org.photonvision.vision.processes.VisionModule;
 import org.photonvision.vision.processes.VisionModuleManager;
 import org.photonvision.vision.processes.VisionSource;
@@ -110,11 +110,11 @@ public class PhotonConfiguration {
        generalSubmap.put("version", PhotonVersion.versionString);
        generalSubmap.put(
                "gpuAcceleration",
-                PicamJNI.isSupported()
-                        ? "Zerocopy MMAL on " + PicamJNI.getSensorModel().getFriendlyName()
+                LibCameraJNI.isSupported()
+                        ? "Zerocopy Libcamera on " + LibCameraJNI.getSensorModel().getFriendlyName()
                        : ""); // TODO add support for other types of GPU accel
        generalSubmap.put("hardwareModel", hardwareConfig.deviceName);
-        generalSubmap.put("hardwarePlatform", Platform.getCurrentPlatform().toString());
+        generalSubmap.put("hardwarePlatform", Platform.getPlatformName());
        settingsSubmap.put("general", generalSubmap);

        map.put("settings", settingsSubmap);
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataChangeListener.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataChangeListener.java
@@ -17,22 +17,29 @@

 package org.photonvision.common.dataflow.networktables;

-import edu.wpi.first.networktables.EntryListenerFlags;
-import edu.wpi.first.networktables.EntryNotification;
-import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableEvent;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.networktables.Subscriber;
+import java.util.EnumSet;
 import java.util.function.Consumer;

 public class NTDataChangeListener {
-    private final NetworkTableEntry watchedEntry;
+    private final NetworkTableInstance instance;
+    private final Subscriber watchedEntry;
    private final int listenerID;

    public NTDataChangeListener(
-            NetworkTableEntry watchedEntry, Consumer<EntryNotification> dataChangeConsumer) {
-        this.watchedEntry = watchedEntry;
-        listenerID = watchedEntry.addListener(dataChangeConsumer, EntryListenerFlags.kUpdate);
+            NetworkTableInstance instance,
+            Subscriber watchedSubscriber,
+            Consumer<NetworkTableEvent> dataChangeConsumer) {
+        this.watchedEntry = watchedSubscriber;
+        this.instance = instance;
+        listenerID =
+                this.instance.addListener(
+                        watchedEntry, EnumSet.of(NetworkTableEvent.Kind.kValueAll), dataChangeConsumer);
    }

    public void remove() {
-        watchedEntry.removeListener(listenerID);
+        this.instance.removeListener(listenerID);
    }
 }
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java
@@ -17,9 +17,8 @@

 package org.photonvision.common.dataflow.networktables;

-import edu.wpi.first.networktables.EntryNotification;
 import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableEvent;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.function.BooleanSupplier;
@@ -28,6 +27,9 @@ import java.util.function.Supplier;
 import org.opencv.core.Point;
 import org.photonvision.common.dataflow.CVPipelineResultConsumer;
 import org.photonvision.common.dataflow.structures.Packet;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
+import org.photonvision.common.networktables.NTTopicSet;
 import org.photonvision.targeting.PhotonPipelineResult;
 import org.photonvision.targeting.PhotonTrackedTarget;
 import org.photonvision.targeting.TargetCorner;
@@ -35,31 +37,21 @@ import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.target.TrackedTarget;

 public class NTDataPublisher implements CVPipelineResultConsumer {
+    private final Logger logger = new Logger(NTDataPublisher.class, LogGroup.General);
+
    private final NetworkTable rootTable = NetworkTablesManager.getInstance().kRootTable;
-    private NetworkTable subTable;
-    private NetworkTableEntry rawBytesEntry;

-    private NetworkTableEntry pipelineIndexEntry;
-    private final Consumer<Integer> pipelineIndexConsumer;
-    private NTDataChangeListener pipelineIndexListener;
-    private NetworkTableEntry driverModeEntry;
-    private final Consumer<Boolean> driverModeConsumer;
-    private NTDataChangeListener driverModeListener;
-
-    private NetworkTableEntry latencyMillisEntry;
-    private NetworkTableEntry hasTargetEntry;
-    private NetworkTableEntry targetPitchEntry;
-    private NetworkTableEntry targetYawEntry;
-    private NetworkTableEntry targetAreaEntry;
-    private NetworkTableEntry targetPoseEntry;
-    private NetworkTableEntry targetSkewEntry;
-
-    // The raw position of the best target, in pixels.
-    private NetworkTableEntry bestTargetPosX;
-    private NetworkTableEntry bestTargetPosY;
+    private NTTopicSet ts = new NTTopicSet();

+    NTDataChangeListener pipelineIndexListener;
    private final Supplier<Integer> pipelineIndexSupplier;
+    private final Consumer<Integer> pipelineIndexConsumer;
+
+    NTDataChangeListener driverModeListener;
    private final BooleanSupplier driverModeSupplier;
+    private final Consumer<Boolean> driverModeConsumer;
+
+    private long heartbeatCounter = 0;

    public NTDataPublisher(
            String cameraNickname,
@@ -76,93 +68,67 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
        updateEntries();
    }

-    private void onPipelineIndexChange(EntryNotification entryNotification) {
-        var newIndex = (int) entryNotification.value.getDouble();
+    private void onPipelineIndexChange(NetworkTableEvent entryNotification) {
+        var newIndex = (int) entryNotification.valueData.value.getInteger();
        var originalIndex = pipelineIndexSupplier.get();

        // ignore indexes below 0
        if (newIndex < 0) {
-            pipelineIndexEntry.forceSetNumber(originalIndex);
+            ts.pipelineIndexPublisher.set(originalIndex);
            return;
        }

        if (newIndex == originalIndex) {
-            // TODO: Log
+            logger.debug("Pipeline index is already " + newIndex);
            return;
        }

        pipelineIndexConsumer.accept(newIndex);
        var setIndex = pipelineIndexSupplier.get();
        if (newIndex != setIndex) { // set failed
-            pipelineIndexEntry.forceSetNumber(setIndex);
+            ts.pipelineIndexPublisher.set(setIndex);
            // TODO: Log
        }
-        // TODO: Log
+        logger.debug("Successfully set pipeline index to " + newIndex);
    }

-    private void onDriverModeChange(EntryNotification entryNotification) {
-        var newDriverMode = entryNotification.value.getBoolean();
+    private void onDriverModeChange(NetworkTableEvent entryNotification) {
+        var newDriverMode = entryNotification.valueData.value.getBoolean();
        var originalDriverMode = driverModeSupplier.getAsBoolean();

        if (newDriverMode == originalDriverMode) {
-            // TODO: Log
+            logger.debug("Driver mode is already " + newDriverMode);
            return;
        }

        driverModeConsumer.accept(newDriverMode);
-        // TODO: Log
+        logger.debug("Successfully set driver mode to " + newDriverMode);
    }

-    @SuppressWarnings("DuplicatedCode")
    private void removeEntries() {
-        if (rawBytesEntry != null) rawBytesEntry.delete();
        if (pipelineIndexListener != null) pipelineIndexListener.remove();
-        if (pipelineIndexEntry != null) pipelineIndexEntry.delete();
        if (driverModeListener != null) driverModeListener.remove();
-        if (driverModeEntry != null) driverModeEntry.delete();
-        if (latencyMillisEntry != null) latencyMillisEntry.delete();
-        if (hasTargetEntry != null) hasTargetEntry.delete();
-        if (targetPitchEntry != null) targetPitchEntry.delete();
-        if (targetAreaEntry != null) targetAreaEntry.delete();
-        if (targetYawEntry != null) targetYawEntry.delete();
-        if (targetPoseEntry != null) targetPoseEntry.delete();
-        if (targetSkewEntry != null) targetSkewEntry.delete();
-        if (bestTargetPosX != null) bestTargetPosX.delete();
-        if (bestTargetPosY != null) bestTargetPosY.delete();
+        ts.removeEntries();
    }

    private void updateEntries() {
-        rawBytesEntry = subTable.getEntry("rawBytes");
+        if (pipelineIndexListener != null) pipelineIndexListener.remove();
+        if (driverModeListener != null) driverModeListener.remove();
+
+        ts.updateEntries();

-        if (pipelineIndexListener != null) {
-            pipelineIndexListener.remove();
-        }
-        pipelineIndexEntry = subTable.getEntry("pipelineIndex");
        pipelineIndexListener =
-                new NTDataChangeListener(pipelineIndexEntry, this::onPipelineIndexChange);
+                new NTDataChangeListener(
+                        ts.subTable.getInstance(), ts.pipelineIndexSubscriber, this::onPipelineIndexChange);

-        if (driverModeListener != null) {
-            driverModeListener.remove();
-        }
-        driverModeEntry = subTable.getEntry("driverMode");
-        driverModeListener = new NTDataChangeListener(driverModeEntry, this::onDriverModeChange);
-
-        latencyMillisEntry = subTable.getEntry("latencyMillis");
-        hasTargetEntry = subTable.getEntry("hasTarget");
-
-        targetPitchEntry = subTable.getEntry("targetPitch");
-        targetAreaEntry = subTable.getEntry("targetArea");
-        targetYawEntry = subTable.getEntry("targetYaw");
-        targetPoseEntry = subTable.getEntry("targetPose");
-        targetSkewEntry = subTable.getEntry("targetSkew");
-
-        bestTargetPosX = subTable.getEntry("targetPixelsX");
-        bestTargetPosY = subTable.getEntry("targetPixelsY");
+        driverModeListener =
+                new NTDataChangeListener(
+                        ts.subTable.getInstance(), ts.driverModeSubscriber, this::onDriverModeChange);
    }

    public void updateCameraNickname(String newCameraNickname) {
        removeEntries();
-        subTable = rootTable.getSubTable(newCameraNickname);
+        ts.subTable = rootTable.getSubTable(newCameraNickname);
        updateEntries();
    }

@@ -174,23 +140,23 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
        Packet packet = new Packet(simplified.getPacketSize());
        simplified.populatePacket(packet);

-        rawBytesEntry.forceSetRaw(packet.getData());
+        ts.rawBytesEntry.set(packet.getData());

-        pipelineIndexEntry.forceSetNumber(pipelineIndexSupplier.get());
-        driverModeEntry.forceSetBoolean(driverModeSupplier.getAsBoolean());
-        latencyMillisEntry.forceSetDouble(result.getLatencyMillis());
-        hasTargetEntry.forceSetBoolean(result.hasTargets());
+        ts.pipelineIndexPublisher.set(pipelineIndexSupplier.get());
+        ts.driverModePublisher.set(driverModeSupplier.getAsBoolean());
+        ts.latencyMillisEntry.set(result.getLatencyMillis());
+        ts.hasTargetEntry.set(result.hasTargets());

        if (result.hasTargets()) {
            var bestTarget = result.targets.get(0);

-            targetPitchEntry.forceSetDouble(bestTarget.getPitch());
-            targetYawEntry.forceSetDouble(bestTarget.getYaw());
-            targetAreaEntry.forceSetDouble(bestTarget.getArea());
-            targetSkewEntry.forceSetDouble(bestTarget.getSkew());
+            ts.targetPitchEntry.set(bestTarget.getPitch());
+            ts.targetYawEntry.set(bestTarget.getYaw());
+            ts.targetAreaEntry.set(bestTarget.getArea());
+            ts.targetSkewEntry.set(bestTarget.getSkew());

-            var pose = bestTarget.getCameraToTarget3d();
-            targetPoseEntry.forceSetDoubleArray(
+            var pose = bestTarget.getBestCameraToTarget3d();
+            ts.targetPoseEntry.set(
                    new double[] {
                        pose.getTranslation().getX(),
                        pose.getTranslation().getY(),
@@ -202,17 +168,21 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
                    });

            var targetOffsetPoint = bestTarget.getTargetOffsetPoint();
-            bestTargetPosX.forceSetDouble(targetOffsetPoint.x);
-            bestTargetPosY.forceSetDouble(targetOffsetPoint.y);
+            ts.bestTargetPosX.set(targetOffsetPoint.x);
+            ts.bestTargetPosY.set(targetOffsetPoint.y);
        } else {
-            targetPitchEntry.forceSetDouble(0);
-            targetYawEntry.forceSetDouble(0);
-            targetAreaEntry.forceSetDouble(0);
-            targetSkewEntry.forceSetDouble(0);
-            targetPoseEntry.forceSetDoubleArray(new double[] {0, 0, 0});
-            bestTargetPosX.forceSetDouble(0);
-            bestTargetPosY.forceSetDouble(0);
+            ts.targetPitchEntry.set(0);
+            ts.targetYawEntry.set(0);
+            ts.targetAreaEntry.set(0);
+            ts.targetSkewEntry.set(0);
+            ts.targetPoseEntry.set(new double[] {0, 0, 0});
+            ts.bestTargetPosX.set(0);
+            ts.bestTargetPosY.set(0);
        }
+
+        ts.heartbeatPublisher.set(heartbeatCounter++);
+
+        // TODO...nt4... is this needed?
        rootTable.getInstance().flush();
    }

@@ -232,7 +202,8 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
                            t.getArea(),
                            t.getSkew(),
                            t.getFiducialId(),
-                            t.getCameraToTarget3d(),
+                            t.getBestCameraToTarget3d(),
+                            t.getAltCameraToTarget3d(),
                            t.getPoseAmbiguity(),
                            cornerList));
        }
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
@@ -17,12 +17,13 @@

 package org.photonvision.common.dataflow.networktables;

-import edu.wpi.first.networktables.LogMessage;
 import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEvent;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import java.util.HashMap;
 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;
@@ -37,8 +38,11 @@ public class NetworkTablesManager {
    private final String kRootTableName = "/photonvision";
    public final NetworkTable kRootTable = ntInstance.getTable(kRootTableName);

+    private boolean isRetryingConnection = false;
+
    private NetworkTablesManager() {
-        ntInstance.addLogger(new NTLogger(), 0, 255); // to hide error messages
+        ntInstance.addLogger(0, 255, new NTLogger()); // to hide error messages
+        TimedTaskManager.getInstance().addTask("NTManager", this::ntTick, 5000);
    }

    private static NetworkTablesManager INSTANCE;
@@ -50,17 +54,17 @@ public class NetworkTablesManager {

    private static final Logger logger = new Logger(NetworkTablesManager.class, LogGroup.General);

-    private static class NTLogger implements Consumer<LogMessage> {
+    private static class NTLogger implements Consumer<NetworkTableEvent> {
        private boolean hasReportedConnectionFailure = false;
        private long lastConnectMessageMillis = 0;

        @Override
-        public void accept(LogMessage logMessage) {
-            if (!hasReportedConnectionFailure && logMessage.message.contains("timed out")) {
+        public void accept(NetworkTableEvent event) {
+            if (!hasReportedConnectionFailure && event.logMessage.message.contains("timed out")) {
                logger.error("NT Connection has failed! Will retry in background.");
                hasReportedConnectionFailure = true;
                getInstance().broadcastConnectedStatus();
-            } else if (logMessage.message.contains("connected")
+            } else if (event.logMessage.message.contains("connected")
                    && System.currentTimeMillis() - lastConnectMessageMillis > 125) {
                logger.info("NT Connected!");
                hasReportedConnectionFailure = false;
@@ -109,17 +113,11 @@ public class NetworkTablesManager {
    }

    private void setClientMode(int teamNumber) {
-        logger.info("Starting NT Client");
+        if (!isRetryingConnection) logger.info("Starting NT Client");
        ntInstance.stopServer();
-
-        ntInstance.startClientTeam(teamNumber);
+        ntInstance.startClient4("photonvision");
+        ntInstance.setServerTeam(teamNumber);
        ntInstance.startDSClient();
-        if (ntInstance.isConnected()) {
-            logger.info("[NetworkTablesManager] Connected to the robot!");
-        } else {
-            logger.error(
-                    "[NetworkTablesManager] Could not connect to the robot! Will retry in the background...");
-        }
        broadcastVersion();
    }

@@ -129,4 +127,22 @@ public class NetworkTablesManager {
        ntInstance.startServer();
        broadcastVersion();
    }
+
+    // So it seems like if Photon starts before the robot NT server does, and both aren't static IP,
+    // it'll never connect. This hack works around it by restarting the client/server while the nt
+    // instance
+    // isn't connected, same as clicking the save button in the settings menu (or restarting the
+    // service)
+    private void ntTick() {
+        if (!ntInstance.isConnected()
+                && !ConfigManager.getInstance().getConfig().getNetworkConfig().runNTServer) {
+            setConfig(ConfigManager.getInstance().getConfig().getNetworkConfig());
+        }
+
+        if (!ntInstance.isConnected() && !isRetryingConnection) {
+            isRetryingConnection = true;
+            logger.error(
+                    "[NetworkTablesManager] Could not connect to the robot! Will retry in the background...");
+        }
+    }
 }
--- a/photon-core/src/main/java/org/photonvision/common/hardware/HardwareManager.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/HardwareManager.java
@@ -17,7 +17,7 @@

 package org.photonvision.common.hardware;

-import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.IntegerEntry;
 import java.io.IOException;
 import org.photonvision.common.ProgramStatus;
 import org.photonvision.common.configuration.ConfigManager;
@@ -27,7 +27,7 @@ import org.photonvision.common.dataflow.networktables.NTDataChangeListener;
 import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
 import org.photonvision.common.hardware.GPIO.CustomGPIO;
 import org.photonvision.common.hardware.GPIO.pi.PigpioSocket;
-import org.photonvision.common.hardware.metrics.MetricsBase;
+import org.photonvision.common.hardware.metrics.MetricsManager;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.ShellExec;
@@ -41,11 +41,13 @@ public class HardwareManager {
    private final HardwareConfig hardwareConfig;
    private final HardwareSettings hardwareSettings;

+    private final MetricsManager metricsManager;
+
    @SuppressWarnings({"FieldCanBeLocal", "unused"})
    private final StatusLED statusLED;

    @SuppressWarnings("FieldCanBeLocal")
-    private final NetworkTableEntry ledModeEntry;
+    private final IntegerEntry ledModeEntry;

    @SuppressWarnings({"FieldCanBeLocal", "unused"})
    private final NTDataChangeListener ledModeListener;
@@ -65,8 +67,11 @@ public class HardwareManager {
    private HardwareManager(HardwareConfig hardwareConfig, HardwareSettings hardwareSettings) {
        this.hardwareConfig = hardwareConfig;
        this.hardwareSettings = hardwareSettings;
+
+        this.metricsManager = new MetricsManager();
+        this.metricsManager.setConfig(hardwareConfig);
+
        CustomGPIO.setConfig(hardwareConfig);
-        MetricsBase.setConfig(hardwareConfig);

        if (Platform.isRaspberryPi()) {
            pigpioSocket = new PigpioSocket();
@@ -89,12 +94,16 @@ public class HardwareManager {
                                hasBrightnessRange ? hardwareConfig.ledBrightnessRange.get(1) : 100,
                                pigpioSocket);

-        ledModeEntry = NetworkTablesManager.getInstance().kRootTable.getEntry("ledMode");
-        ledModeEntry.setNumber(VisionLEDMode.kDefault.value);
+        ledModeEntry =
+                NetworkTablesManager.getInstance().kRootTable.getIntegerTopic("ledMode").getEntry(0);
+        ledModeEntry.set(VisionLEDMode.kDefault.value);
        ledModeListener =
                visionLED == null
                        ? null
-                        : new NTDataChangeListener(ledModeEntry, visionLED::onLedModeChange);
+                        : new NTDataChangeListener(
+                                NetworkTablesManager.getInstance().kRootTable.getInstance(),
+                                ledModeEntry,
+                                visionLED::onLedModeChange);

        Runtime.getRuntime().addShutdownHook(new Thread(this::onJvmExit));

@@ -122,7 +131,7 @@ public class HardwareManager {
    }

    public boolean restartDevice() {
-        if (Platform.isRaspberryPi()) {
+        if (Platform.isLinux()) {
            try {
                return shellExec.executeBashCommand("reboot now") == 0;
            } catch (IOException e) {
@@ -158,4 +167,8 @@ public class HardwareManager {
    public HardwareConfig getConfig() {
        return hardwareConfig;
    }
+
+    public void publishMetrics() {
+        metricsManager.publishMetrics();
+    }
 }
--- a/photon-core/src/main/java/org/photonvision/common/hardware/PiVersion.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/PiVersion.java
@@ -17,6 +17,9 @@

 package org.photonvision.common.hardware;

+import java.io.IOException;
+import org.photonvision.common.util.ShellExec;
+
 public enum PiVersion {
    PI_B("Pi Model B"),
    COMPUTE_MODULE("Compute Module Rev"),
@@ -28,17 +31,41 @@ public enum PiVersion {
    UNKNOWN("UNKNOWN");

    private final String identifier;
+    private static final ShellExec shell = new ShellExec(true, false);
+    private static final PiVersion currentPiVersion = calcPiVersion();

-    PiVersion(String s) {
+    private PiVersion(String s) {
        this.identifier = s.toLowerCase();
    }

    public static PiVersion getPiVersion() {
+        return currentPiVersion;
+    }
+
+    private static PiVersion calcPiVersion() {
        if (!Platform.isRaspberryPi()) return PiVersion.UNKNOWN;
-        String piString = Platform.currentPiVersionStr;
+        String piString = getPiVersionString();
        for (PiVersion p : PiVersion.values()) {
            if (piString.toLowerCase().contains(p.identifier)) return p;
        }
        return UNKNOWN;
    }
+
+    // Query /proc/device-tree/model. This should return the model of the pi
+    // Versions here:
+    // https://github.com/raspberrypi/linux/blob/rpi-5.10.y/arch/arm/boot/dts/bcm2710-rpi-cm3.dts
+    private static String getPiVersionString() {
+        if (!Platform.isRaspberryPi()) return "";
+        try {
+            shell.executeBashCommand("cat /proc/device-tree/model");
+        } catch (IOException e) {
+            e.printStackTrace();
+        }
+        if (shell.getExitCode() == 0) {
+            // We expect it to be in the format "raspberry pi X model X"
+            return shell.getOutput();
+        }
+
+        return "";
+    }
 }
--- a/photon-core/src/main/java/org/photonvision/common/hardware/Platform.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/Platform.java
@@ -17,58 +17,91 @@

 package org.photonvision.common.hardware;

+import com.jogamp.common.os.Platform.OSType;
 import edu.wpi.first.util.RuntimeDetector;
+import java.io.BufferedReader;
 import java.io.IOException;
+import java.nio.file.Files;
+import java.nio.file.Paths;
 import org.photonvision.common.util.ShellExec;

@SuppressWarnings("unused")
 public enum Platform {
    // WPILib Supported (JNI)
-    WINDOWS_32("Windows x32"),
-    WINDOWS_64("Windows x64"),
-    LINUX_64("Linux x64"),
-    LINUX_RASPBIAN("Linux Raspbian"), // Raspberry Pi 3/4
-    LINUX_AARCH64BIONIC("Linux AARCH64 Bionic"), // Jetson Nano, Jetson TX2
-    // PhotonVision Supported (Manual install)
-    LINUX_ARM32("Linux ARM32"), // ODROID XU4, C1+
-    LINUX_ARM64("Linux ARM64"), // ODROID C2, N2
+    WINDOWS_64("Windows x64", false, OSType.WINDOWS, true),
+    LINUX_32("Linux x86", false, OSType.LINUX, true),
+    LINUX_64("Linux x64", false, OSType.LINUX, true),
+    LINUX_RASPBIAN32(
+            "Linux Raspbian 32-bit", true, OSType.LINUX, true), // Raspberry Pi 3/4 with a 32-bit image
+    LINUX_RASPBIAN64(
+            "Linux Raspbian 64-bit", true, OSType.LINUX, true), // Raspberry Pi 3/4 with a 64-bit image
+    LINUX_AARCH64("Linux AARCH64", false, OSType.LINUX, true), // Jetson Nano, Jetson TX2
+
+    // PhotonVision Supported (Manual build/install)
+    LINUX_ARM32("Linux ARM32", false, OSType.LINUX, true), // ODROID XU4, C1+
+    LINUX_ARM64("Linux ARM64", false, OSType.LINUX, true), // ODROID C2, N2

    // Completely unsupported
-    UNSUPPORTED("Unsupported Platform");
+    WINDOWS_32("Windows x86", false, OSType.WINDOWS, false),
+    MACOS("Mac OS", false, OSType.MACOS, false),
+    UNKNOWN("Unsupported Platform", false, OSType.UNKNOWN, false);
+
+    private enum OSType {
+        WINDOWS,
+        LINUX,
+        MACOS,
+        UNKNOWN
+    }

    private static final ShellExec shell = new ShellExec(true, false);
-    public final String value;
-    public static final boolean isRoot = checkForRoot();
+    public final String description;
+    public final boolean isPi;
+    public final OSType osType;
+    public final boolean isSupported;

-    Platform(String value) {
-        this.value = value;
+    // Set once at init, shouldn't be needed after.
+    private static final Platform currentPlatform = getCurrentPlatform();
+    private static final boolean isRoot = checkForRoot();
+
+    Platform(String description, boolean isPi, OSType osType, boolean isSupported) {
+        this.description = description;
+        this.isPi = isPi;
+        this.osType = osType;
+        this.isSupported = isSupported;
    }

-    private static final String OS_NAME = System.getProperty("os.name");
-    private static final String OS_ARCH = System.getProperty("os.arch");
-
-    // These are queried on init and should never change after
-    public static final Platform currentPlatform = getCurrentPlatform();
-    static final String currentPiVersionStr = getPiVersionString();
-    public static final PiVersion currentPiVersion = PiVersion.getPiVersion();
-
-    private static final String UnknownPlatformString =
-            String.format("Unknown Platform. OS: %s, Architecture: %s", OS_NAME, OS_ARCH);
-
-    public static boolean isWindows() {
-        return currentPlatform == WINDOWS_64 || currentPlatform == WINDOWS_32;
-    }
+    //////////////////////////////////////////////////////
+    // Public API

+    // Checks specifically if unix shell and API are supported
    public static boolean isLinux() {
-        return currentPlatform == LINUX_64
-                || currentPlatform == LINUX_RASPBIAN
-                || currentPlatform == LINUX_ARM64;
+        return currentPlatform.osType == OSType.LINUX;
    }

    public static boolean isRaspberryPi() {
-        return currentPlatform.equals(LINUX_RASPBIAN);
+        return currentPlatform.isPi;
    }

+    public static String getPlatformName() {
+        if (currentPlatform.equals(UNKNOWN)) {
+            return UnknownPlatformString;
+        } else {
+            return currentPlatform.description;
+        }
+    }
+
+    public static boolean isRoot() {
+        return isRoot;
+    }
+
+    //////////////////////////////////////////////////////
+
+    // Debug info related to unknown platforms for debug help
+    private static final String OS_NAME = System.getProperty("os.name");
+    private static final String OS_ARCH = System.getProperty("os.arch");
+    private static final String UnknownPlatformString =
+            String.format("Unknown Platform. OS: %s, Architecture: %s", OS_NAME, OS_ARCH);
+
    @SuppressWarnings("StatementWithEmptyBody")
    private static boolean checkForRoot() {
        if (isLinux()) {
@@ -92,49 +125,92 @@ public enum Platform {
        return false;
    }

-    public static Platform getCurrentPlatform() {
+    private static Platform getCurrentPlatform() {
        if (RuntimeDetector.isWindows()) {
-            if (RuntimeDetector.is32BitIntel()) return WINDOWS_32;
-            if (RuntimeDetector.is64BitIntel()) return WINDOWS_64;
+            if (RuntimeDetector.is32BitIntel()) {
+                return WINDOWS_32;
+            } else if (RuntimeDetector.is64BitIntel()) {
+                return WINDOWS_64;
+            } else {
+                // please don't try this
+                return UNKNOWN;
+            }
        }

        if (RuntimeDetector.isMac()) {
-            if (RuntimeDetector.is32BitIntel()) return UNSUPPORTED;
+            // TODO - once we have real support, this might have to be more granular
+            return MACOS;
        }

        if (RuntimeDetector.isLinux()) {
-            if (RuntimeDetector.is32BitIntel()) return UNSUPPORTED;
-            if (RuntimeDetector.is64BitIntel()) return LINUX_64;
-            if (RuntimeDetector.isRaspbian()) return LINUX_RASPBIAN;
+            if (isPiSBC()) {
+                if (RuntimeDetector.isArm32()) {
+                    return LINUX_RASPBIAN32;
+                } else if (RuntimeDetector.isArm64()) {
+                    return LINUX_RASPBIAN64;
+                } else {
+                    // Unknown/exotic installation
+                    return UNKNOWN;
+                }
+            } else if (isJetsonSBC()) {
+                if (RuntimeDetector.isArm64()) {
+                    // TODO - do we need to check OS version?
+                    return LINUX_AARCH64;
+                } else {
+                    // Unknown/exotic installation
+                    return UNKNOWN;
+                }
+            } else if (RuntimeDetector.is64BitIntel()) {
+                return LINUX_64;
+            } else if (RuntimeDetector.is32BitIntel()) {
+                return LINUX_32;
+            } else if (RuntimeDetector.isArm64()) {
+                // TODO - os detection needed?
+                return LINUX_AARCH64;
+            } else {
+                // Unknown or otherwise unsupported platform
+                return Platform.UNKNOWN;
+            }
        }

-        System.out.println(UnknownPlatformString);
-        return Platform.UNSUPPORTED;
+        // If we fall through all the way to here,
+        return Platform.UNKNOWN;
    }

-    public String toString() {
-        if (this.equals(UNSUPPORTED)) {
-            return UnknownPlatformString;
-        } else {
-            return this.value;
-        }
+    // Check for various known SBC types
+    private static boolean isPiSBC() {
+        return fileHasText("/proc/cpuinfo", "Raspberry Pi");
    }

-    // Querry /proc/device-tree/model. This should return the model of the pi
-    // Versions here:
-    // https://github.com/raspberrypi/linux/blob/rpi-5.10.y/arch/arm/boot/dts/bcm2710-rpi-cm3.dts
-    private static String getPiVersionString() {
-        if (!isRaspberryPi()) return "";
-        try {
-            shell.executeBashCommand("cat /proc/device-tree/model");
-        } catch (IOException e) {
-            e.printStackTrace();
-        }
-        if (shell.getExitCode() == 0) {
-            // We expect it to be in the format "raspberry pi X model X"
-            return shell.getOutput();
-        }
+    private static boolean isJetsonSBC() {
+        // https://forums.developer.nvidia.com/t/how-to-recognize-jetson-nano-device/146624
+        return fileHasText("/proc/device-tree/model", "NVIDIA Jetson");
+    }

-        return "";
+    // Checks for various names of linux OS
+    private static boolean isStretch() {
+        // TODO - this is a total guess
+        return fileHasText("/etc/os-release", "Stretch");
+    }
+
+    private static boolean isBuster() {
+        // TODO - this is a total guess
+        return fileHasText("/etc/os-release", "Buster");
+    }
+
+    private static boolean fileHasText(String filename, String text) {
+        try (BufferedReader reader = Files.newBufferedReader(Paths.get(filename))) {
+            while (true) {
+                String value = reader.readLine();
+                if (value == null) {
+                    return false;
+
+                } else if (value.contains(text)) {
+                    return true;
+                } // else, next line
+            }
+        } catch (IOException ex) {
+            return false;
+        }
    }
 }
--- a/photon-core/src/main/java/org/photonvision/common/hardware/VisionLED.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/VisionLED.java
@@ -17,7 +17,7 @@

 package org.photonvision.common.hardware;

-import edu.wpi.first.networktables.EntryNotification;
+import edu.wpi.first.networktables.NetworkTableEvent;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.function.BooleanSupplier;
@@ -85,6 +85,8 @@ public class VisionLED {
                pigpioSocket.generateAndSendWaveform(pulseLengthMillis, blinkCount, ledPins);
            } catch (PigpioException e) {
                logger.error("Failed to blink!", e);
+            } catch (NullPointerException e) {
+                logger.error("Failed to blink, pigpio internal issue!", e);
            }
        } else {
            for (GPIOBase led : visionLEDs) {
@@ -100,13 +102,19 @@ public class VisionLED {
                pigpioSocket.waveTxStop();
            } catch (PigpioException e) {
                logger.error("Failed to stop blink!", e);
+            } catch (NullPointerException e) {
+                logger.error("Failed to blink, pigpio internal issue!", e);
            }
        }
-        // if the user has set an LED brightness other than 100%, use that instead
-        if (mappedBrightnessPercentage == 100 || !state) {
-            visionLEDs.forEach((led) -> led.setState(state));
-        } else {
-            visionLEDs.forEach((led) -> led.setBrightness(mappedBrightnessPercentage));
+        try {
+            // if the user has set an LED brightness other than 100%, use that instead
+            if (mappedBrightnessPercentage == 100 || !state) {
+                visionLEDs.forEach((led) -> led.setState(state));
+            } else {
+                visionLEDs.forEach((led) -> led.setBrightness(mappedBrightnessPercentage));
+            }
+        } catch (NullPointerException e) {
+            logger.error("Failed to blink, pigpio internal issue!", e);
        }
    }

@@ -114,8 +122,8 @@ public class VisionLED {
        setInternal(on ? VisionLEDMode.kOn : VisionLEDMode.kOff, false);
    }

-    void onLedModeChange(EntryNotification entryNotification) {
-        var newLedModeRaw = (int) entryNotification.value.getDouble();
+    void onLedModeChange(NetworkTableEvent entryNotification) {
+        var newLedModeRaw = (int) entryNotification.valueData.value.getDouble();
        if (newLedModeRaw != currentLedMode.value) {
            VisionLEDMode newLedMode;
            switch (newLedModeRaw) {
@@ -177,6 +185,9 @@ public class VisionLED {
                    case kOn:
                        setStateImpl(true);
                        break;
+                    case kBlink:
+                        blinkImpl(85, -1);
+                        break;
                }
            }
            logger.info("Changing LED internal state to " + newLedMode.toString());
--- a/photon-core/src/main/java/org/photonvision/common/hardware/metrics/CPUMetrics.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/metrics/CPUMetrics.java
@@ -1,43 +0,0 @@
-/*
- * 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.hardware.metrics;
-
-public class CPUMetrics extends MetricsBase {
-    private String cpuMemSplit = null;
-
-    public String getMemory() {
-        if (cpuMemoryCommand.isEmpty()) return "";
-        if (cpuMemSplit == null) {
-            cpuMemSplit = execute(cpuMemoryCommand);
-        }
-        return cpuMemSplit;
-    }
-
-    public String getTemp() {
-        if (cpuTemperatureCommand.isEmpty()) return "";
-        try {
-            return execute(cpuTemperatureCommand);
-        } catch (Exception e) {
-            return "N/A";
-        }
-    }
-
-    public String getUtilization() {
-        return execute(cpuUtilizationCommand);
-    }
-}
--- a/photon-core/src/main/java/org/photonvision/common/hardware/metrics/MetricsBase.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/metrics/MetricsBase.java
@@ -1,92 +0,0 @@
-/*
- * 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.hardware.metrics;
-
-import java.io.PrintWriter;
-import java.io.StringWriter;
-import org.photonvision.common.configuration.HardwareConfig;
-import org.photonvision.common.hardware.Platform;
-import org.photonvision.common.logging.LogGroup;
-import org.photonvision.common.logging.Logger;
-import org.photonvision.common.util.ShellExec;
-
-public abstract class MetricsBase {
-    private static final Logger logger = new Logger(MetricsBase.class, LogGroup.General);
-    // CPU
-    public static String cpuMemoryCommand = "vcgencmd get_mem arm | grep -Eo '[0-9]+'";
-    public static String cpuTemperatureCommand =
-            "sed 's/.\\{3\\}$/.&/' <<< cat /sys/class/thermal/thermal_zone0/temp";
-    public static String cpuUtilizationCommand =
-            "top -bn1 | grep \"Cpu(s)\" | sed \"s/.*, *\\([0-9.]*\\)%* id.*/\\1/\" | awk '{print 100 - $1}'";
-
-    // GPU
-    public static String gpuMemoryCommand = "vcgencmd get_mem gpu | grep -Eo '[0-9]+'";
-    public static String gpuMemUsageCommand = "vcgencmd get_mem malloc | grep -Eo '[0-9]+'";
-
-    // RAM
-    public static String ramUsageCommand = "free --mega | awk -v i=2 -v j=3 'FNR == i {print $j}'";
-
-    // Disk
-    public static String diskUsageCommand = "df ./ --output=pcent | tail -n +2";
-
-    private static ShellExec runCommand = new ShellExec(true, true);
-
-    public static void setConfig(HardwareConfig config) {
-        if (Platform.isRaspberryPi()) return;
-        cpuMemoryCommand = config.cpuMemoryCommand;
-        cpuTemperatureCommand = config.cpuTempCommand;
-        cpuUtilizationCommand = config.cpuUtilCommand;
-
-        gpuMemoryCommand = config.gpuMemoryCommand;
-        gpuMemUsageCommand = config.gpuMemUsageCommand;
-
-        diskUsageCommand = config.diskUsageCommand;
-
-        ramUsageCommand = config.ramUtilCommand;
-    }
-
-    public static synchronized String execute(String command) {
-        try {
-            runCommand.executeBashCommand(command);
-            return runCommand.getOutput();
-        } catch (Exception e) {
-            StringWriter sw = new StringWriter();
-            PrintWriter pw = new PrintWriter(sw);
-            e.printStackTrace(pw);
-
-            logger.error(
-                    "Command: \""
-                            + command
-                            + "\" returned an error!"
-                            + "\nOutput Received: "
-                            + runCommand.getOutput()
-                            + "\nStandard Error: "
-                            + runCommand.getError()
-                            + "\nCommand completed: "
-                            + runCommand.isOutputCompleted()
-                            + "\nError completed: "
-                            + runCommand.isErrorCompleted()
-                            + "\nExit code: "
-                            + runCommand.getExitCode()
-                            + "\n Exception: "
-                            + e.toString()
-                            + sw.toString());
-            return "";
-        }
-    }
-}
--- a/photon-core/src/main/java/org/photonvision/common/hardware/metrics/MetricsManager.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/metrics/MetricsManager.java
@@ -0,0 +1,161 @@
+/*
+ * 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.hardware.metrics;
+
+import java.io.PrintWriter;
+import java.io.StringWriter;
+import java.util.HashMap;
+import org.photonvision.common.configuration.HardwareConfig;
+import org.photonvision.common.dataflow.DataChangeService;
+import org.photonvision.common.dataflow.events.OutgoingUIEvent;
+import org.photonvision.common.hardware.Platform;
+import org.photonvision.common.hardware.metrics.cmds.CmdBase;
+import org.photonvision.common.hardware.metrics.cmds.FileCmds;
+import org.photonvision.common.hardware.metrics.cmds.LinuxCmds;
+import org.photonvision.common.hardware.metrics.cmds.PiCmds;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
+import org.photonvision.common.util.ShellExec;
+
+public class MetricsManager {
+    final Logger logger = new Logger(MetricsManager.class, LogGroup.General);
+
+    CmdBase cmds;
+
+    private ShellExec runCommand = new ShellExec(true, true);
+
+    public void setConfig(HardwareConfig config) {
+        if (config.hasCommandsConfigured()) {
+            cmds = new FileCmds();
+        } else if (Platform.isRaspberryPi()) {
+            cmds = new PiCmds(); // Pi's can use a hardcoded command set
+        } else if (Platform.isLinux()) {
+            cmds = new LinuxCmds(); // Linux/Unix platforms assume a nominal command set
+        } else {
+            cmds = new CmdBase(); // default - base has no commands
+        }
+
+        cmds.initCmds(config);
+    }
+
+    public String safeExecute(String str) {
+        if (str.isEmpty()) return "";
+        try {
+            return execute(str);
+        } catch (Exception e) {
+            return "****";
+        }
+    }
+
+    private String cpuMemSave = null;
+
+    public String getMemory() {
+        if (cmds.cpuMemoryCommand.isEmpty()) return "";
+        if (cpuMemSave == null) {
+            // save the value and only run it once
+            cpuMemSave = execute(cmds.cpuMemoryCommand);
+        }
+        return cpuMemSave;
+    }
+
+    public String getTemp() {
+        return safeExecute(cmds.cpuTemperatureCommand);
+    }
+
+    public String getUtilization() {
+        return safeExecute(cmds.cpuUtilizationCommand);
+    }
+
+    public String getUptime() {
+        return safeExecute(cmds.cpuUptimeCommand);
+    }
+
+    public String getThrottleReason() {
+        return safeExecute(cmds.cpuThrottleReasonCmd);
+    }
+
+    private String gpuMemSave = null;
+
+    public String getGPUMemorySplit() {
+        if (gpuMemSave == null) {
+            // only needs to run once
+            gpuMemSave = safeExecute(cmds.gpuMemoryCommand);
+        }
+        return gpuMemSave;
+    }
+
+    public String getMallocedMemory() {
+        return safeExecute(cmds.gpuMemUsageCommand);
+    }
+
+    public String getUsedDiskPct() {
+        return safeExecute(cmds.diskUsageCommand);
+    }
+
+    // TODO: Output in MBs for consistency
+    public String getUsedRam() {
+        return safeExecute(cmds.ramUsageCommand);
+    }
+
+    public void publishMetrics() {
+        logger.debug("Publishing Metrics...");
+        final var metrics = new HashMap<String, String>();
+
+        metrics.put("cpuTemp", this.getTemp());
+        metrics.put("cpuUtil", this.getUtilization());
+        metrics.put("cpuMem", this.getMemory());
+        metrics.put("cpuThr", this.getThrottleReason());
+        metrics.put("cpuUptime", this.getUptime());
+        metrics.put("gpuMem", this.getGPUMemorySplit());
+        metrics.put("ramUtil", this.getUsedRam());
+        metrics.put("gpuMemUtil", this.getMallocedMemory());
+        metrics.put("diskUtilPct", this.getUsedDiskPct());
+
+        DataChangeService.getInstance().publishEvent(OutgoingUIEvent.wrappedOf("metrics", metrics));
+    }
+
+    public synchronized String execute(String command) {
+        try {
+            runCommand.executeBashCommand(command);
+            return runCommand.getOutput();
+        } catch (Exception e) {
+            StringWriter sw = new StringWriter();
+            PrintWriter pw = new PrintWriter(sw);
+            e.printStackTrace(pw);
+
+            logger.error(
+                    "Command: \""
+                            + command
+                            + "\" returned an error!"
+                            + "\nOutput Received: "
+                            + runCommand.getOutput()
+                            + "\nStandard Error: "
+                            + runCommand.getError()
+                            + "\nCommand completed: "
+                            + runCommand.isOutputCompleted()
+                            + "\nError completed: "
+                            + runCommand.isErrorCompleted()
+                            + "\nExit code: "
+                            + runCommand.getExitCode()
+                            + "\n Exception: "
+                            + e.toString()
+                            + sw.toString());
+            return "";
+        }
+    }
+}
--- a/photon-core/src/main/java/org/photonvision/common/hardware/metrics/MetricsPublisher.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/metrics/MetricsPublisher.java
@@ -1,74 +0,0 @@
-/*
- * 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.hardware.metrics;
-
-import java.util.HashMap;
-import org.photonvision.common.dataflow.DataChangeService;
-import org.photonvision.common.dataflow.events.OutgoingUIEvent;
-import org.photonvision.common.hardware.Platform;
-import org.photonvision.common.logging.LogGroup;
-import org.photonvision.common.logging.Logger;
-import org.photonvision.common.util.TimedTaskManager;
-
-public class MetricsPublisher {
-    private static final Logger logger = new Logger(MetricsPublisher.class, LogGroup.General);
-    private static CPUMetrics cpuMetrics;
-    private static GPUMetrics gpuMetrics;
-    private static RAMMetrics ramMetrics;
-    private static DiskMetrics diskMetrics;
-
-    public static MetricsPublisher getInstance() {
-        return Singleton.INSTANCE;
-    }
-
-    private MetricsPublisher() {
-        cpuMetrics = new CPUMetrics();
-        gpuMetrics = new GPUMetrics();
-        ramMetrics = new RAMMetrics();
-        diskMetrics = new DiskMetrics();
-    }
-
-    public void stopTask() {
-        TimedTaskManager.getInstance().cancelTask("Metrics");
-        logger.info("This device does not support running bash commands. Stopped metrics thread.");
-    }
-
-    public void publish() {
-        if (!Platform.isRaspberryPi()) {
-            logger.debug("Ignoring metrics on non-Pi devices");
-            return;
-        }
-
-        logger.debug("Publishing Metrics...");
-        final var metrics = new HashMap<String, String>();
-
-        metrics.put("cpuTemp", cpuMetrics.getTemp());
-        metrics.put("cpuUtil", cpuMetrics.getUtilization());
-        metrics.put("cpuMem", cpuMetrics.getMemory());
-        metrics.put("gpuMem", gpuMetrics.getGPUMemorySplit());
-        metrics.put("ramUtil", ramMetrics.getUsedRam());
-        metrics.put("gpuMemUtil", gpuMetrics.getMallocedMemory());
-        metrics.put("diskUtilPct", diskMetrics.getUsedDiskPct());
-
-        DataChangeService.getInstance().publishEvent(OutgoingUIEvent.wrappedOf("metrics", metrics));
-    }
-
-    private static class Singleton {
-        public static final MetricsPublisher INSTANCE = new MetricsPublisher();
-    }
-}
--- a/photon-core/src/main/java/org/photonvision/common/hardware/metrics/RAMMetrics.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/metrics/RAMMetrics.java
@@ -1,26 +0,0 @@
-/*
- * 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.hardware.metrics;
-
-public class RAMMetrics extends MetricsBase {
-    // TODO: Output in MBs for consistency
-    public String getUsedRam() {
-        if (ramUsageCommand.isEmpty()) return "";
-        return execute(ramUsageCommand);
-    }
-}
--- a/photon-core/src/main/java/org/photonvision/common/hardware/metrics/cmds/CmdBase.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/metrics/cmds/CmdBase.java
@@ -15,19 +15,26 @@
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */

-package org.photonvision.common.hardware.metrics;
+package org.photonvision.common.hardware.metrics.cmds;

-public class GPUMetrics extends MetricsBase {
-    private String gpuMemSplit = null;
+import org.photonvision.common.configuration.HardwareConfig;

-    public String getGPUMemorySplit() {
-        if (gpuMemSplit == null) {
-            gpuMemSplit = execute(gpuMemoryCommand);
-        }
-        return gpuMemSplit;
-    }
+public class CmdBase {
+    // CPU
+    public String cpuMemoryCommand = "";
+    public String cpuTemperatureCommand = "";
+    public String cpuUtilizationCommand = "";
+    public String cpuThrottleReasonCmd = "";
+    public String cpuUptimeCommand = "";
+    // GPU
+    public String gpuMemoryCommand = "";
+    public String gpuMemUsageCommand = "";
+    // RAM
+    public String ramUsageCommand = "";
+    // Disk
+    public String diskUsageCommand = "";

-    public String getMallocedMemory() {
-        return execute(gpuMemUsageCommand);
+    public void initCmds(HardwareConfig config) {
+        return; // default - do nothing
    }
 }
--- a/photon-core/src/main/java/org/photonvision/common/hardware/metrics/cmds/FileCmds.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/metrics/cmds/FileCmds.java
@@ -0,0 +1,38 @@
+/*
+ * 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.hardware.metrics.cmds;
+
+import org.photonvision.common.configuration.HardwareConfig;
+
+public class FileCmds extends CmdBase {
+    @Override
+    public void initCmds(HardwareConfig config) {
+        cpuMemoryCommand = config.cpuMemoryCommand;
+        cpuTemperatureCommand = config.cpuTempCommand;
+        cpuUtilizationCommand = config.cpuUtilCommand;
+        cpuThrottleReasonCmd = config.cpuThrottleReasonCmd;
+        cpuUptimeCommand = config.cpuUptimeCommand;
+
+        gpuMemoryCommand = config.gpuMemoryCommand;
+        gpuMemUsageCommand = config.gpuMemUsageCommand;
+
+        diskUsageCommand = config.diskUsageCommand;
+
+        ramUsageCommand = config.ramUtilCommand;
+    }
+}
--- a/photon-core/src/main/java/org/photonvision/common/hardware/metrics/cmds/LinuxCmds.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/metrics/cmds/LinuxCmds.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.hardware.metrics.cmds;
+
+import org.photonvision.common.configuration.HardwareConfig;
+
+public class LinuxCmds extends CmdBase {
+    public void initCmds(HardwareConfig config) {
+        // CPU
+        cpuMemoryCommand = "awk '/MemTotal:/ {print int($2 / 1000);}' /proc/meminfo";
+
+        // TODO: boards have lots of thermal devices. Hard to pick the CPU
+
+        cpuUtilizationCommand =
+                "top -bn1 | grep \"Cpu(s)\" | sed \"s/.*, *\\([0-9.]*\\)%* id.*/\\1/\" | awk '{print 100 - $1}'";
+
+        cpuUptimeCommand = "uptime -p | cut -c 4-";
+
+        // RAM
+        ramUsageCommand = "awk '/MemFree:/ {print int($2 / 1000);}' /proc/meminfo";
+
+        // Disk
+        diskUsageCommand = "df ./ --output=pcent | tail -n +2";
+    }
+}
--- a/photon-core/src/main/java/org/photonvision/common/hardware/metrics/cmds/PiCmds.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/metrics/cmds/PiCmds.java
@@ -0,0 +1,41 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.hardware.metrics.cmds;
+
+import org.photonvision.common.configuration.HardwareConfig;
+
+public class PiCmds extends LinuxCmds {
+    /** Applies pi-specific commands, ignoring any input configuration */
+    public void initCmds(HardwareConfig config) {
+        super.initCmds(config);
+
+        // CPU
+        cpuMemoryCommand = "vcgencmd get_mem arm | grep -Eo '[0-9]+'";
+        cpuTemperatureCommand = "sed 's/.\\{3\\}$/.&/' /sys/class/thermal/thermal_zone0/temp";
+        cpuThrottleReasonCmd =
+                "if   ((  $(( $(vcgencmd get_throttled | grep -Eo 0x[0-9a-fA-F]*) & 0x01 )) != 0x00 )); then echo \"LOW VOLTAGE\"; "
+                        + " elif ((  $(( $(vcgencmd get_throttled | grep -Eo 0x[0-9a-fA-F]*) & 0x08 )) != 0x00 )); then echo \"HIGH TEMP\"; "
+                        + " elif ((  $(( $(vcgencmd get_throttled | grep -Eo 0x[0-9a-fA-F]*) & 0x10000 )) != 0x00 )); then echo \"Prev. Low Voltage\"; "
+                        + " elif ((  $(( $(vcgencmd get_throttled | grep -Eo 0x[0-9a-fA-F]*) & 0x80000 )) != 0x00 )); then echo \"Prev. High Temp\"; "
+                        + " else echo \"None\"; fi";
+
+        // GPU
+        gpuMemoryCommand = "vcgencmd get_mem gpu | grep -Eo '[0-9]+'";
+        gpuMemUsageCommand = "vcgencmd get_mem malloc | grep -Eo '[0-9]+'";
+    }
+}
--- a/photon-core/src/main/java/org/photonvision/common/networking/NetworkManager.java
+++ b/photon-core/src/main/java/org/photonvision/common/networking/NetworkManager.java
@@ -46,8 +46,8 @@ public class NetworkManager {

        var config = ConfigManager.getInstance().getConfig().getNetworkConfig();
        logger.info("Setting " + config.connectionType + " with team team " + config.teamNumber);
-        if (Platform.isRaspberryPi()) {
-            if (!Platform.isRoot) {
+        if (Platform.isLinux()) {
+            if (!Platform.isRoot()) {
                logger.error("Cannot manage network without root!");
                return;
            }
--- a/photon-core/src/main/java/org/photonvision/common/scripting/ScriptManager.java
+++ b/photon-core/src/main/java/org/photonvision/common/scripting/ScriptManager.java
@@ -128,7 +128,7 @@ public class ScriptManager {
    }

    public static void queueEvent(ScriptEventType eventType) {
-        if (!Platform.currentPlatform.isWindows()) {
+        if (Platform.isLinux()) {
            try {
                queuedEvents.putLast(eventType);
                logger.info("Queued event: " + eventType.name());
--- a/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java
@@ -18,23 +18,54 @@
 package org.photonvision.common.util;

 import com.fasterxml.jackson.databind.ObjectMapper;
+import edu.wpi.first.apriltag.jni.AprilTagJNI;
 import edu.wpi.first.cscore.CameraServerCvJNI;
+import edu.wpi.first.cscore.CameraServerJNI;
+import edu.wpi.first.hal.JNIWrapper;
 import edu.wpi.first.math.util.Units;
+import edu.wpi.first.net.WPINetJNI;
+import edu.wpi.first.networktables.NetworkTablesJNI;
+import edu.wpi.first.util.CombinedRuntimeLoader;
+import edu.wpi.first.util.RuntimeLoader;
+import edu.wpi.first.util.WPIUtilJNI;
 import java.awt.*;
 import java.io.File;
 import java.io.IOException;
 import java.nio.file.Path;
+import org.opencv.core.Core;
 import org.opencv.core.Mat;
 import org.opencv.highgui.HighGui;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;

 public class TestUtils {
-    public static void loadLibraries() {
+    public static boolean loadLibraries() {
+        JNIWrapper.Helper.setExtractOnStaticLoad(false);
+        WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
+        NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
+        WPINetJNI.Helper.setExtractOnStaticLoad(false);
+        CameraServerJNI.Helper.setExtractOnStaticLoad(false);
+        CameraServerCvJNI.Helper.setExtractOnStaticLoad(false);
+        AprilTagJNI.Helper.setExtractOnStaticLoad(false);
+
        try {
-            CameraServerCvJNI.forceLoad();
-            //        PicamJNI.forceLoad();
-        } catch (IOException ex) {
-            // ignored
+            var loader =
+                    new RuntimeLoader<>(
+                            Core.NATIVE_LIBRARY_NAME, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
+            loader.loadLibrary();
+
+            CombinedRuntimeLoader.loadLibraries(
+                    TestUtils.class,
+                    "wpiutiljni",
+                    "ntcorejni",
+                    "wpinetjni",
+                    "wpiHaljni",
+                    "cscorejni",
+                    "cscorejnicvstatic",
+                    "apriltagjni");
+            return true;
+        } catch (IOException e) {
+            e.printStackTrace();
+            return false;
        }
    }

@@ -182,7 +213,20 @@ public class TestUtils {

    private static Path getResourcesFolderPath(boolean testMode) {
        System.out.println("CWD: " + Path.of("").toAbsolutePath().toString());
-        return Path.of("test-resources").toAbsolutePath();
+
+        // VSCode likes to make this path relative to the wrong root directory, so a fun hack to tell
+        // if it's wrong
+        Path ret = Path.of("test-resources").toAbsolutePath();
+        if (Path.of("test-resources")
+                .toAbsolutePath()
+                .toString()
+                .replace("/", "")
+                .replace("\\", "")
+                .toLowerCase()
+                .matches(".*photon-[a-z]*test-resources")) {
+            ret = Path.of("../test-resources").toAbsolutePath();
+        }
+        return ret;
    }

    public static Path getTestMode2019ImagePath() {
@@ -194,7 +238,7 @@ public class TestUtils {
    public static Path getTestMode2020ImagePath() {
        return getResourcesFolderPath(true)
                .resolve("testimages")
-                .resolve(WPI2020Image.kBlueGoal_108in_Center.path);
+                .resolve(WPI2020Image.kBlueGoal_156in_Left.path);
    }

    public static Path getTestMode2022ImagePath() {
@@ -286,6 +330,7 @@ public class TestUtils {
    private static int DefaultTimeoutMillis = 5000;

    public static void showImage(Mat frame, String title, int timeoutMs) {
+        if (frame.empty()) return;
        try {
            HighGui.imshow(title, frame);
            HighGui.waitKey(timeoutMs);
--- a/photon-core/src/main/java/org/photonvision/common/util/file/FileUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/file/FileUtils.java
@@ -78,7 +78,7 @@ public class FileUtils {
    }

    public static void setFilePerms(Path path) throws IOException {
-        if (!Platform.currentPlatform.isWindows()) {
+        if (Platform.isLinux()) {
            File thisFile = path.toFile();
            Set<PosixFilePermission> perms =
                    Files.readAttributes(path, PosixFileAttributes.class).permissions();
@@ -96,7 +96,7 @@ public class FileUtils {
    }

    public static void setAllPerms(Path path) {
-        if (!Platform.currentPlatform.isWindows()) {
+        if (Platform.isLinux()) {
            String command = String.format("chmod 777 -R %s", path.toString());
            try {
                Process p = Runtime.getRuntime().exec(command);
--- a/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java
@@ -18,6 +18,7 @@
 package org.photonvision.common.util.math;

 import edu.wpi.first.math.MatBuilder;
+import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.Nat;
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.geometry.CoordinateSystem;
@@ -25,10 +26,14 @@ 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.numbers.N3;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.util.WPIUtilJNI;
 import java.util.Arrays;
 import java.util.List;
+import org.ejml.data.DMatrixRMaj;
+import org.ejml.dense.row.factory.DecompositionFactory_DDRM;
+import org.ejml.simple.SimpleMatrix;
 import org.opencv.core.Mat;

 public class MathUtils {
@@ -99,7 +104,7 @@ public class MathUtils {
            return list.get(0); // always return single value for n = 1
        }

-        // Sort array.  We avoid a third copy here by just creating the
+        // 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++) {
@@ -159,19 +164,36 @@ public class MathUtils {
                pose.getTranslation().rotateBy(rotationQuat), pose.getRotation().rotateBy(rotationQuat));
    }

-    // TODO: Refactor into new pipe?
+    /**
+     * All our solvepnp code returns a tag with X left, Y up, and Z out of the tag To better match
+     * wpilib, we want to apply another rotation so that we get Z up, X out of the tag, and Y to the
+     * right. We apply the following change of basis: X -> Y Y -> Z Z -> X
+     */
+    private static final Rotation3d WPILIB_BASE_ROTATION =
+            new Rotation3d(new MatBuilder<>(Nat.N3(), Nat.N3()).fill(0, 1, 0, 0, 0, 1, 1, 0, 0));
+
    public static Pose3d convertOpenCVtoPhotonPose(Transform3d cameraToTarget3d) {
+        // TODO: Refactor into new pipe?
        // CameraToTarget _should_ be in opencv-land EDN
-        return CoordinateSystem.convert(
-                new Pose3d(cameraToTarget3d), CoordinateSystem.EDN(), CoordinateSystem.NWU());
+        var nwu =
+                CoordinateSystem.convert(
+                        new Pose3d().transformBy(cameraToTarget3d),
+                        CoordinateSystem.EDN(),
+                        CoordinateSystem.NWU());
+        return new Pose3d(nwu.getTranslation(), WPILIB_BASE_ROTATION.rotateBy(nwu.getRotation()));
    }

    /*
-     * 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
+     * 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 =
@@ -191,4 +213,38 @@ public class MathUtils {
        var axis = rotation.getAxis().times(angle);
        rvecOutput.put(0, 0, axis.getData());
    }
+
+    /**
+     * Orthogonalize an input matrix using a QR decomposition. QR decompositions decompose a
+     * rectangular matrix 'A' such that 'A=QR', where Q is the closest orthogonal matrix to the input,
+     * and R is an upper triangular matrix.
+     *
+     * <p>The following function is released under the BSD license avaliable in
+     * LICENSE_MathUtils_orthogonalizeRotationMatrix.txt.
+     */
+    public static Matrix<N3, N3> orthogonalizeRotationMatrix(Matrix<N3, N3> input) {
+        var a = DecompositionFactory_DDRM.qr(3, 3);
+        if (!a.decompose(input.getStorage().getDDRM())) {
+            // best we can do is return the input
+            return input;
+        }
+
+        // Grab results (thanks for this _great_ api, EJML)
+        var Q = new DMatrixRMaj(3, 3);
+        var R = new DMatrixRMaj(3, 3);
+        a.getQ(Q, false);
+        a.getR(R, false);
+
+        // Fix signs in R if they're < 0 so it's close to an identity matrix
+        // (our QR decomposition implementation sometimes flips the signs of columns)
+        for (int colR = 0; colR < 3; ++colR) {
+            if (R.get(colR, colR) < 0) {
+                for (int rowQ = 0; rowQ < 3; ++rowQ) {
+                    Q.set(rowQ, colR, -Q.get(rowQ, colR));
+                }
+            }
+        }
+
+        return new Matrix<>(new SimpleMatrix(Q));
+    }
 }
--- a/photon-core/src/main/java/org/photonvision/raspi/LibCameraJNI.java
+++ b/photon-core/src/main/java/org/photonvision/raspi/LibCameraJNI.java
@@ -0,0 +1,191 @@
+/*
+ * 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.raspi;
+
+import java.io.File;
+import java.io.IOException;
+import java.io.InputStream;
+import java.net.URL;
+import java.nio.file.Files;
+import java.nio.file.Path;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
+
+public class LibCameraJNI {
+    private static boolean libraryLoaded = false;
+    private static Logger logger = new Logger(LibCameraJNI.class, LogGroup.Camera);
+
+    public static final Object CAMERA_LOCK = new Object();
+
+    public static synchronized void forceLoad() throws IOException {
+        if (libraryLoaded) return;
+
+        try {
+            File libDirectory = Path.of("lib/").toFile();
+            if (!libDirectory.exists()) {
+                Files.createDirectory(libDirectory.toPath()).toFile();
+            }
+
+            // We always extract the shared object (we could hash each so, but that's a lot of work)
+            URL resourceURL = LibCameraJNI.class.getResource("/nativelibraries/libphotonlibcamera.so");
+            File libFile = Path.of("lib/libphotonlibcamera.so").toFile();
+            try (InputStream in = resourceURL.openStream()) {
+                if (libFile.exists()) Files.delete(libFile.toPath());
+                Files.copy(in, libFile.toPath());
+            } catch (Exception e) {
+                logger.error("Could not extract the native library!");
+            }
+            System.load(libFile.getAbsolutePath());
+
+            libraryLoaded = true;
+            logger.info("Successfully loaded libpicam shared object");
+        } catch (UnsatisfiedLinkError e) {
+            logger.error("Couldn't load libpicam shared object");
+            e.printStackTrace();
+        }
+    }
+
+    public enum SensorModel {
+        Disconnected,
+        OV5647, // Picam v1
+        IMX219, // Picam v2
+        IMX477, // Picam HQ
+        OV9281,
+        OV7251,
+        Unknown;
+
+        public String getFriendlyName() {
+            switch (this) {
+                case Disconnected:
+                    return "Disconnected Camera";
+                case OV5647:
+                    return "Camera Module v1";
+                case IMX219:
+                    return "Camera Module v2";
+                case IMX477:
+                    return "HQ Camera";
+                case OV9281:
+                    return "OV9281";
+                case OV7251:
+                    return "OV7251";
+                case Unknown:
+                default:
+                    return "Unknown Camera";
+            }
+        }
+    }
+
+    public static SensorModel getSensorModel() {
+        int model = getSensorModelRaw();
+        return SensorModel.values()[model];
+    }
+
+    public static boolean isSupported() {
+        return libraryLoaded
+                // && getSensorModel() != PicamJNI.SensorModel.Disconnected
+                // && Platform.isRaspberryPi()
+                && isLibraryWorking();
+    }
+
+    private static native boolean isLibraryWorking();
+
+    public static native int getSensorModelRaw();
+
+    // ======================================================== //
+
+    /**
+     * Creates a new runner with a given width/height/fps
+     *
+     * @param width Camera video mode width in pixels
+     * @param height Camera video mode height in pixels
+     * @param fps Camera video mode FPS
+     * @return success of creating a camera object
+     */
+    public static native boolean createCamera(int width, int height, int rotation);
+
+    /**
+     * Starts the camera thresholder and display threads running. Make sure that this function is
+     * called syncronously with stopCamera and returnFrame!
+     */
+    public static native boolean startCamera();
+
+    /** Stops the camera runner. Make sure to call prior to destroying the camera! */
+    public static native boolean stopCamera();
+
+    // Destroy all native resources associated with a camera. Ensure stop is called prior!
+    public static native boolean destroyCamera();
+
+    // ======================================================== //
+
+    // Set thresholds on [0..1]
+    public static native boolean setThresholds(
+            double hl, double sl, double vl, double hu, double su, double vu, boolean hueInverted);
+
+    public static native boolean setAutoExposure(boolean doAutoExposure);
+
+    // Exposure time, in microseconds
+    public static native boolean setExposure(int exposureUs);
+
+    // Set brighness on [-1, 1]
+    public static native boolean setBrightness(double brightness);
+
+    // Unknown ranges for red and blue AWB gain
+    public static native boolean setAwbGain(double red, double blue);
+
+    /**
+     * Get the time when the first pixel exposure was started, in the same timebase as libcamera gives
+     * the frame capture time. Units are nanoseconds.
+     */
+    public static native long getFrameCaptureTime();
+
+    /**
+     * Get the current time, in the same timebase as libcamera gives the frame capture time. Units are
+     * nanoseconds.
+     */
+    public static native long getLibcameraTimestamp();
+
+    public static native long setFramesToCopy(boolean copyIn, boolean copyOut);
+
+    // Analog gain multiplier to apply to all color channels, on [1, Big Number]
+    public static native boolean setAnalogGain(double analog);
+
+    /** Block until a new frame is avaliable from native code. */
+    public static native boolean awaitNewFrame();
+
+    /**
+     * Get a pointer to the most recent color mat generated. Call this immediatly after awaitNewFrame,
+     * and call onlly once per new frame!
+     */
+    public static native long takeColorFrame();
+
+    /**
+     * Get a pointer to the most recent processed mat generated. Call this immediatly after
+     * awaitNewFrame, and call onlly once per new frame!
+     */
+    public static native long takeProcessedFrame();
+
+    /**
+     * Set the GPU processing type we should do. Enum of [none, HSV, greyscale, adaptive threshold].
+     */
+    public static native boolean setGpuProcessType(int type);
+
+    public static native int getGpuProcessType();
+
+    // /** Release a frame pointer back to the libcamera driver code to be filled again */
+    // public static native long returnFrame(long frame);
+}
--- a/photon-core/src/main/java/org/photonvision/raspi/PicamJNI.java
+++ b/photon-core/src/main/java/org/photonvision/raspi/PicamJNI.java
@@ -1,159 +0,0 @@
-/*
- * 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.raspi;
-
-import java.io.File;
-import java.io.IOException;
-import java.io.InputStream;
-import java.net.URL;
-import java.nio.file.Files;
-import java.nio.file.Path;
-import org.photonvision.common.hardware.PiVersion;
-import org.photonvision.common.hardware.Platform;
-import org.photonvision.common.logging.LogGroup;
-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 {
-        Disconnected,
-        OV5647, // Picam v1
-        IMX219, // Picam v2
-        IMX477, // Picam HQ
-        Unknown;
-
-        public String getFriendlyName() {
-            switch (this) {
-                case Disconnected:
-                    return "Disconnected Camera";
-                case OV5647:
-                    return "Camera Module v1";
-                case IMX219:
-                    return "Camera Module v2";
-                case IMX477:
-                    return "HQ Camera";
-                case Unknown:
-                default:
-                    return "Unknown Camera";
-            }
-        }
-    }
-
-    public static synchronized void forceLoad() throws IOException {
-        if (libraryLoaded || !Platform.isRaspberryPi()) return;
-
-        try {
-            File libDirectory = Path.of("lib/").toFile();
-            if (!libDirectory.exists()) {
-                Files.createDirectory(libDirectory.toPath()).toFile();
-            }
-
-            // We always extract the shared object (we could hash each so, but that's a lot of work)
-            URL resourceURL = PicamJNI.class.getResource("/nativelibraries/libpicam.so");
-            File libFile = Path.of("lib/libpicam.so").toFile();
-            try (InputStream in = resourceURL.openStream()) {
-                if (libFile.exists()) Files.delete(libFile.toPath());
-                Files.copy(in, libFile.toPath());
-            } catch (Exception e) {
-                logger.error("Could not extract the native library!");
-            }
-            System.load(libFile.getAbsolutePath());
-
-            libraryLoaded = true;
-            logger.info("Successfully loaded libpicam shared object");
-        } catch (UnsatisfiedLinkError e) {
-            logger.error("Couldn't load libpicam shared object");
-            e.printStackTrace();
-        }
-    }
-
-    public static boolean isSupported() {
-        return libraryLoaded
-                && enabled
-                && isVCSMSupported()
-                && getSensorModel() != SensorModel.Disconnected
-                && Platform.isRaspberryPi()
-                && (Platform.currentPiVersion == PiVersion.PI_3
-                        || Platform.currentPiVersion == PiVersion.COMPUTE_MODULE_3
-                        || Platform.currentPiVersion == PiVersion.ZERO_2_W);
-    }
-
-    public static SensorModel getSensorModel() {
-        switch (getSensorModelRaw().toLowerCase()) {
-            case "":
-                return SensorModel.Disconnected;
-            case "ov5647":
-                return SensorModel.OV5647;
-            case "imx219":
-                return SensorModel.IMX219;
-            case "imx477":
-                return SensorModel.IMX477;
-            default:
-                return SensorModel.Unknown;
-        }
-    }
-
-    private static native String getSensorModelRaw();
-
-    // This is the main thing we need that isn't supported on Pi 4s, which makes it a good check
-    private static native boolean isVCSMSupported();
-
-    // Everything here is static because multiple picams are unsupported at the hardware level
-
-    /**
-     * Called once for each video mode change. Starts a native thread running MMAL that stays alive
-     * until destroyCamera is called.
-     *
-     * @return true on error.
-     */
-    public static native boolean createCamera(int width, int height, int fps);
-
-    /**
-     * Destroys MMAL and EGL contexts. Called once for each video mode change *before* createCamera.
-     *
-     * @return true on error.
-     */
-    public static native boolean destroyCamera();
-
-    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);
-
-    public static native long getFrameLatency();
-
-    public static native long grabFrame(boolean shouldReturnColor);
-}
--- a/photon-core/src/main/java/org/photonvision/vision/apriltag/AprilTagDetector.java
+++ b/photon-core/src/main/java/org/photonvision/vision/apriltag/AprilTagDetector.java
@@ -1,92 +0,0 @@
-/*
- * 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);
-    }
-}
--- a/photon-core/src/main/java/org/photonvision/vision/apriltag/AprilTagDetectorParams.java
+++ b/photon-core/src/main/java/org/photonvision/vision/apriltag/AprilTagDetectorParams.java
@@ -1,78 +0,0 @@
-/*
- * 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
-                + '}';
-    }
-}
--- a/photon-core/src/main/java/org/photonvision/vision/apriltag/AprilTagJNI.java
+++ b/photon-core/src/main/java/org/photonvision/vision/apriltag/AprilTagJNI.java
@@ -1,182 +0,0 @@
-/*
- * 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 edu.wpi.first.util.RuntimeDetector;
-import edu.wpi.first.util.RuntimeLoader;
-import java.io.File;
-import java.io.IOException;
-import java.io.InputStream;
-import java.net.URL;
-import java.nio.file.Files;
-import java.nio.file.Path;
-import org.opencv.core.Mat;
-import org.photonvision.common.logging.LogGroup;
-import org.photonvision.common.logging.Logger;
-
-public class AprilTagJNI {
-    static final boolean USE_DEBUG =
-            false; // Development flag - should be false on release, but flip to True to read in a debug
-    // version of the library
-    static final String NATIVE_DEBUG_LIBRARY_NAME = "apriltagd";
-    static final String NATIVE_RELEASE_LIBRARY_NAME = "apriltag";
-
-    static boolean s_libraryLoaded = false;
-    static RuntimeLoader<AprilTagJNI> s_loader = null;
-    private static Logger logger = new Logger(AprilTagJNI.class, LogGroup.VisionModule);
-
-    public static synchronized void forceLoad() throws IOException {
-        if (s_libraryLoaded) return;
-
-        try {
-            // Ensure the lib directory has been created to receive the unpacked shared object
-            File libDirectory = Path.of("lib/").toFile();
-            if (!libDirectory.exists()) {
-                Files.createDirectory(libDirectory.toPath()).toFile();
-            }
-
-            // Pick the proper library based on development flags
-            String libBaseName = USE_DEBUG ? NATIVE_DEBUG_LIBRARY_NAME : NATIVE_RELEASE_LIBRARY_NAME;
-            String libFileName = System.mapLibraryName(libBaseName);
-            File libFile = Path.of("lib/" + libFileName).toFile();
-
-            // Always extract the library fresh
-            // Yes, technically, a hashing strategy should speed this up, but it's only a
-            // one-time, at-startup time hit. And not very big.
-            URL resourceURL;
-
-            String subfolder;
-            // TODO 64-bit Pi support
-            if (RuntimeDetector.isAthena()) {
-                subfolder = "athena";
-            } else if (RuntimeDetector.isAarch64()) {
-                subfolder = "aarch64";
-            } else if (RuntimeDetector.isRaspbian()) {
-                subfolder = "raspbian";
-            } else if (RuntimeDetector.isWindows()) {
-                subfolder = "win64";
-            } else if (RuntimeDetector.isLinux()) {
-                subfolder = "linux64";
-            } else if (RuntimeDetector.isMac()) {
-                subfolder = "mac";
-            } // NOT m1, afaict, lol
-            else {
-                logger.error("Could not determine platform! Cannot load Apriltag JNI");
-                return;
-            }
-
-            resourceURL =
-                    AprilTagJNI.class.getResource(
-                            "/nativelibraries/apriltag/" + subfolder + "/" + libFileName);
-
-            try (InputStream in = resourceURL.openStream()) {
-                // Remove the file if it already exists
-                if (libFile.exists()) Files.delete(libFile.toPath());
-                // Copy in a fresh resource
-                Files.copy(in, libFile.toPath());
-            }
-
-            // Actually load the library
-            System.load(libFile.getAbsolutePath());
-
-            s_libraryLoaded = true;
-
-        } catch (UnsatisfiedLinkError e) {
-            logger.error("Couldn't load apriltag shared object");
-            e.printStackTrace();
-        } catch (IOException ioe) {
-            logger.error("IO exception copying apriltag shared object");
-            ioe.printStackTrace();
-        }
-
-        if (!s_libraryLoaded) {
-            logger.error("Failed to load AprilTag Native Library!");
-        } else {
-            logger.info("AprilTag Native Library loaded successfully");
-        }
-    }
-
-    // Returns a pointer to a apriltag_detector_t
-    public static native long AprilTag_Create(
-            String fam, double decimate, double blur, int threads, boolean debug, boolean refine_edges);
-
-    // Destroy and free a previously created detector.
-    public static native long AprilTag_Destroy(long detector);
-
-    private static native Object[] AprilTag_Detect(
-            long detector,
-            long imgAddr,
-            int rows,
-            int cols,
-            boolean doPoseEstimation,
-            double tagWidth,
-            double fx,
-            double fy,
-            double cx,
-            double cy,
-            int nIters);
-
-    // Detect targets given a GRAY frame. Returns a pointer toa zarray
-    public static DetectionResult[] AprilTag_Detect(
-            long detector,
-            Mat img,
-            boolean doPoseEstimation,
-            double tagWidth,
-            double fx,
-            double fy,
-            double cx,
-            double cy,
-            int nIters) {
-        return (DetectionResult[])
-                AprilTag_Detect(
-                        detector,
-                        img.dataAddr(),
-                        img.rows(),
-                        img.cols(),
-                        doPoseEstimation,
-                        tagWidth,
-                        fx,
-                        fy,
-                        cx,
-                        cy,
-                        nIters);
-    }
-
-    public static void main(String[] args) {
-        // System.loadLibrary("apriltag");
-
-        long detector = AprilTag_Create("tag36h11", 2, 2, 1, false, true);
-
-        // var buff = ByteBuffer.allocateDirect(1280 * 720);
-
-        // // try {
-        // //     CameraServerCvJNI.forceLoad();
-        // // } catch (IOException e) {
-        // //     // TODO Auto-generated catch block
-        // //     e.printStackTrace();
-        // // }
-        // // PicamJNI.forceLoad();
-        // // TestUtils.loadLibraries();
-        // var img = Imgcodecs.imread("~/Downloads/TagFams.jpg");
-
-        // var ret = AprilTag_Detect(detector, 0, 720, 1280);
-        // System.out.println(detector);
-        // System.out.println(ret);
-        // System.out.println(List.of(ret));
-    }
-}
--- a/photon-core/src/main/java/org/photonvision/vision/apriltag/DetectionResult.java
+++ b/photon-core/src/main/java/org/photonvision/vision/apriltag/DetectionResult.java
@@ -1,179 +0,0 @@
-/*
- * 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 edu.wpi.first.math.MatBuilder;
-import edu.wpi.first.math.Nat;
-import edu.wpi.first.math.geometry.Rotation3d;
-import edu.wpi.first.math.geometry.Transform3d;
-import edu.wpi.first.math.geometry.Translation3d;
-import java.util.Arrays;
-
-public class DetectionResult {
-    public int getId() {
-        return id;
-    }
-
-    public int getHamming() {
-        return hamming;
-    }
-
-    public float getDecisionMargin() {
-        return decision_margin;
-    }
-
-    public void setDecisionMargin(float decision_margin) {
-        this.decision_margin = decision_margin;
-    }
-
-    public double[] getHomography() {
-        return homography;
-    }
-
-    public void setHomography(double[] homography) {
-        this.homography = homography;
-    }
-
-    public double getCenterX() {
-        return centerX;
-    }
-
-    public void setCenterX(double centerX) {
-        this.centerX = centerX;
-    }
-
-    public double getCenterY() {
-        return centerY;
-    }
-
-    public void setCenterY(double centerY) {
-        this.centerY = centerY;
-    }
-
-    public double[] getCorners() {
-        return corners;
-    }
-
-    public void setCorners(double[] corners) {
-        this.corners = corners;
-    }
-
-    public double getError1() {
-        return error1;
-    }
-
-    public double getError2() {
-        return error2;
-    }
-
-    public Transform3d getPoseResult1() {
-        return poseResult1;
-    }
-
-    public Transform3d getPoseResult2() {
-        return poseResult2;
-    }
-
-    int id;
-    int hamming;
-    float decision_margin;
-    double[] homography;
-    double centerX, centerY;
-    double[] corners;
-
-    Transform3d poseResult1;
-    double error1;
-    Transform3d poseResult2;
-    double error2;
-
-    public DetectionResult(
-            int id,
-            int hamming,
-            float decision_margin,
-            double[] homography,
-            double centerX,
-            double centerY,
-            double[] corners,
-            double[] pose1TransArr,
-            double[] pose1RotArr,
-            double err1,
-            double[] pose2TransArr,
-            double[] pose2RotArr,
-            double err2) {
-        this.id = id;
-        this.hamming = hamming;
-        this.decision_margin = decision_margin;
-        this.homography = homography;
-        this.centerX = centerX;
-        this.centerY = centerY;
-        this.corners = corners;
-
-        this.error1 = err1;
-        this.poseResult1 =
-                new Transform3d(
-                        new Translation3d(pose1TransArr[0], pose1TransArr[1], pose1TransArr[2]),
-                        new Rotation3d(new MatBuilder<>(Nat.N3(), Nat.N3()).fill(pose1RotArr)));
-        this.error2 = err2;
-        this.poseResult2 =
-                new Transform3d(
-                        new Translation3d(pose2TransArr[0], pose2TransArr[1], pose2TransArr[2]),
-                        new Rotation3d(new MatBuilder<>(Nat.N3(), Nat.N3()).fill(pose2RotArr)));
-    }
-
-    /**
-     * Get the ratio of pose reprojection errors, called ambiguity. Numbers above 0.2 are likely to be
-     * ambiguous.
-     */
-    public double getPoseAmbiguity() {
-        var min = Math.min(error1, error2);
-        var max = Math.max(error1, error2);
-
-        if (max > 0) {
-            return min / max;
-        } else {
-            return -1;
-        }
-    }
-
-    @Override
-    public String toString() {
-        return "DetectionResult [centerX="
-                + centerX
-                + ", centerY="
-                + centerY
-                + ", corners="
-                + Arrays.toString(corners)
-                + ", decision_margin="
-                + decision_margin
-                + ", error1="
-                + error1
-                + ", error2="
-                + error2
-                + ", hamming="
-                + hamming
-                + ", homography="
-                + Arrays.toString(homography)
-                + ", id="
-                + id
-                + ", poseResult1="
-                + poseResult1
-                + ", poseResult2="
-                + poseResult2
-                + "]";
-    }
-}
--- a/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java
+++ b/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java
@@ -17,6 +17,7 @@

 package org.photonvision.vision.calibration;

+import com.fasterxml.jackson.annotation.JsonAlias;
 import com.fasterxml.jackson.annotation.JsonCreator;
 import com.fasterxml.jackson.annotation.JsonIgnore;
 import com.fasterxml.jackson.annotation.JsonProperty;
@@ -33,7 +34,8 @@ public class CameraCalibrationCoefficients implements Releasable {
    public final JsonMat cameraIntrinsics;

    @JsonProperty("cameraExtrinsics")
-    public final JsonMat cameraExtrinsics;
+    @JsonAlias({"cameraExtrinsics", "distCoeffs"})
+    public final JsonMat distCoeffs;

    @JsonProperty("perViewErrors")
    public final double[] perViewErrors;
@@ -45,12 +47,12 @@ public class CameraCalibrationCoefficients implements Releasable {
    public CameraCalibrationCoefficients(
            @JsonProperty("resolution") Size resolution,
            @JsonProperty("cameraIntrinsics") JsonMat cameraIntrinsics,
-            @JsonProperty("cameraExtrinsics") JsonMat cameraExtrinsics,
+            @JsonProperty("cameraExtrinsics") JsonMat distCoeffs,
            @JsonProperty("perViewErrors") double[] perViewErrors,
            @JsonProperty("standardDeviation") double standardDeviation) {
        this.resolution = resolution;
        this.cameraIntrinsics = cameraIntrinsics;
-        this.cameraExtrinsics = cameraExtrinsics;
+        this.distCoeffs = distCoeffs;
        this.perViewErrors = perViewErrors;
        this.standardDeviation = standardDeviation;
    }
@@ -61,8 +63,8 @@ public class CameraCalibrationCoefficients implements Releasable {
    }

    @JsonIgnore
-    public MatOfDouble getCameraExtrinsicsMat() {
-        return cameraExtrinsics.getAsMatOfDouble();
+    public MatOfDouble getDistCoeffsMat() {
+        return distCoeffs.getAsMatOfDouble();
    }

    @JsonIgnore
@@ -78,6 +80,6 @@ public class CameraCalibrationCoefficients implements Releasable {
    @Override
    public void release() {
        cameraIntrinsics.release();
-        cameraExtrinsics.release();
+        distCoeffs.release();
    }
 }
--- a/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java
@@ -0,0 +1,220 @@
+/*
+ * 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.camera;
+
+import edu.wpi.first.cscore.VideoMode;
+import edu.wpi.first.math.Pair;
+import java.util.HashMap;
+import org.photonvision.common.configuration.CameraConfiguration;
+import org.photonvision.common.util.math.MathUtils;
+import org.photonvision.raspi.LibCameraJNI;
+import org.photonvision.vision.camera.LibcameraGpuSource.FPSRatedVideoMode;
+import org.photonvision.vision.opencv.ImageRotationMode;
+import org.photonvision.vision.processes.VisionSourceSettables;
+
+public class LibcameraGpuSettables extends VisionSourceSettables {
+    private FPSRatedVideoMode currentVideoMode;
+    private double lastExposure = 50;
+    private int lastBrightness = 50;
+    private boolean lastExposureMode;
+    private int lastGain = 50;
+    private Pair<Integer, Integer> lastAwbGains = new Pair<>(18, 18);
+    private boolean m_initialized = false;
+
+    private ImageRotationMode m_rotationMode;
+
+    public void setRotation(ImageRotationMode rotationMode) {
+        if (rotationMode != m_rotationMode) {
+            m_rotationMode = rotationMode;
+
+            setVideoModeInternal(getCurrentVideoMode());
+        }
+    }
+
+    public LibcameraGpuSettables(CameraConfiguration configuration) {
+        super(configuration);
+
+        videoModes = new HashMap<>();
+
+        LibCameraJNI.SensorModel sensorModel = LibCameraJNI.getSensorModel();
+
+        if (sensorModel == LibCameraJNI.SensorModel.IMX219) {
+            // Settings for the IMX219 sensor, which is used on the Pi Camera Module v2
+            videoModes.put(
+                    0, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 320, 240, 120, 120, .39));
+            videoModes.put(
+                    1, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 320, 240, 30, 30, .39));
+            videoModes.put(
+                    2, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 640, 480, 65, 90, .39));
+            videoModes.put(
+                    3, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 640, 480, 30, 30, .39));
+            // TODO: fix 1280x720 in the native code and re-add it
+            videoModes.put(
+                    4, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1920, 1080, 15, 20, .53));
+            videoModes.put(
+                    5, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 3280 / 2, 2464 / 2, 15, 20, 1));
+            videoModes.put(
+                    6, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 3280 / 4, 2464 / 4, 15, 20, 1));
+        } else if (sensorModel == LibCameraJNI.SensorModel.OV9281) {
+            videoModes.put(
+                    0, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1280, 800, 60, 60, 1));
+            videoModes.put(
+                    1, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1280 / 2, 800 / 2, 60, 60, 1));
+            videoModes.put(
+                    2, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 320, 240, 30, 30, .39));
+            videoModes.put(
+                    3, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 640, 480, 65, 90, .39));
+        } else {
+            if (sensorModel == LibCameraJNI.SensorModel.IMX477) {
+                LibcameraGpuSource.logger.warn(
+                        "It appears you are using a Pi HQ Camera. This camera is not officially supported. You will have to set your camera FOV differently based on resolution.");
+            } else if (sensorModel == LibCameraJNI.SensorModel.Unknown) {
+                LibcameraGpuSource.logger.warn(
+                        "You have an unknown sensor connected to your Pi over CSI! This is likely a bug. If it is not, then you will have to set your camera FOV differently based on resolution.");
+            }
+
+            // Settings for the OV5647 sensor, which is used by the Pi Camera Module v1
+            videoModes.put(0, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 320, 240, 90, 90, 1));
+            videoModes.put(1, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 640, 480, 85, 90, 1));
+            videoModes.put(
+                    2, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 960, 720, 45, 49, 0.74));
+            // Half the size of the active areas on the OV5647
+            videoModes.put(
+                    3, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 2592 / 2, 1944 / 2, 20, 20, 1));
+            videoModes.put(
+                    4, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1280, 720, 30, 45, 0.91));
+            videoModes.put(
+                    5, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1920, 1080, 15, 20, 0.72));
+        }
+
+        // TODO need to add more video modes for new sensors here
+
+        currentVideoMode = (FPSRatedVideoMode) videoModes.get(0);
+    }
+
+    @Override
+    public double getFOV() {
+        return getCurrentVideoMode().fovMultiplier * getConfiguration().FOV;
+    }
+
+    @Override
+    public void setAutoExposure(boolean cameraAutoExposure) {
+        lastExposureMode = cameraAutoExposure;
+        // TODO (Matt) -- call LibCameraJNI's auto exposure function, when that exists
+        LibCameraJNI.setAutoExposure(cameraAutoExposure);
+    }
+
+    @Override
+    public void setExposure(double exposure) {
+        // Todo (Chris) - for now, handle auto exposure by using -1
+        if (exposure < 0.0) {
+            exposure = -1;
+        }
+
+        // TODO convert to uS
+        lastExposure = exposure;
+        var success = LibCameraJNI.setExposure((int) Math.round(exposure) * 800);
+        if (!success) LibcameraGpuSource.logger.warn("Couldn't set Pi Camera exposure");
+    }
+
+    @Override
+    public void setBrightness(int brightness) {
+        lastBrightness = brightness;
+        double realBrightness = MathUtils.map(brightness, 0.0, 100.0, -1.0, 1.0);
+        var success = LibCameraJNI.setBrightness(realBrightness);
+        if (!success) LibcameraGpuSource.logger.warn("Couldn't set Pi Camera brightness");
+    }
+
+    @Override
+    public void setGain(int gain) {
+        lastGain = gain;
+        // TODO units here seem odd -- 5ish seems legit? So divide by 10
+        var success = LibCameraJNI.setAnalogGain(gain / 10.0);
+        if (!success) LibcameraGpuSource.logger.warn("Couldn't set Pi Camera gain");
+    }
+
+    @Override
+    public void setRedGain(int red) {
+        lastAwbGains = Pair.of(red, lastAwbGains.getSecond());
+        setAwbGain(lastAwbGains.getFirst(), lastAwbGains.getSecond());
+    }
+
+    @Override
+    public void setBlueGain(int blue) {
+        lastAwbGains = Pair.of(lastAwbGains.getFirst(), blue);
+        setAwbGain(lastAwbGains.getFirst(), lastAwbGains.getSecond());
+    }
+
+    public void setAwbGain(int red, int blue) {
+        var success = LibCameraJNI.setAwbGain(red / 10.0, blue / 10.0);
+        if (!success) LibcameraGpuSource.logger.warn("Couldn't set Pi Camera AWB gains");
+    }
+
+    @Override
+    public FPSRatedVideoMode getCurrentVideoMode() {
+        return currentVideoMode;
+    }
+
+    @Override
+    protected void setVideoModeInternal(VideoMode videoMode) {
+        var mode = (FPSRatedVideoMode) videoMode;
+
+        // We need to make sure that other threads don't try to do anything funny while we're recreating
+        // the camera
+        synchronized (LibCameraJNI.CAMERA_LOCK) {
+            boolean success = false;
+            if (m_initialized) {
+                success |= LibCameraJNI.stopCamera();
+                success |= LibCameraJNI.destroyCamera();
+            }
+
+            // if (!success) {
+            //     throw new RuntimeException(
+            //             "Couldn't destroy a zero copy Pi Camera while switching video modes");
+            // }
+
+            System.out.println("Starting camera");
+            success |=
+                    LibCameraJNI.createCamera(
+                            mode.width, mode.height, (m_rotationMode == ImageRotationMode.DEG_180 ? 180 : 0));
+            success |= LibCameraJNI.startCamera();
+            if (!success) {
+                throw new RuntimeException(
+                        "Couldn't create a zero copy Pi Camera while switching video modes");
+            }
+            m_initialized = true;
+        }
+
+        // We don't store last settings on the native side, and when you change video mode these get
+        // reset on MMAL's end
+        setExposure(lastExposure);
+        setAutoExposure(lastExposureMode);
+        setBrightness(lastBrightness);
+        setGain(lastGain);
+        setAwbGain(lastAwbGains.getFirst(), lastAwbGains.getSecond());
+
+        LibCameraJNI.setFramesToCopy(true, true);
+
+        currentVideoMode = mode;
+    }
+
+    @Override
+    public HashMap<Integer, VideoMode> getAllVideoModes() {
+        return videoModes;
+    }
+}
--- a/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSource.java
@@ -0,0 +1,87 @@
+/*
+ * 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.camera;
+
+import edu.wpi.first.cscore.VideoMode;
+import org.photonvision.common.configuration.CameraConfiguration;
+import org.photonvision.common.configuration.ConfigManager;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
+import org.photonvision.vision.frame.FrameProvider;
+import org.photonvision.vision.frame.provider.LibcameraGpuFrameProvider;
+import org.photonvision.vision.processes.VisionSource;
+import org.photonvision.vision.processes.VisionSourceSettables;
+
+public class LibcameraGpuSource extends VisionSource {
+    static final Logger logger = new Logger(LibcameraGpuSource.class, LogGroup.Camera);
+
+    private final LibcameraGpuSettables settables;
+    private final LibcameraGpuFrameProvider frameProvider;
+
+    public LibcameraGpuSource(CameraConfiguration configuration) {
+        super(configuration);
+        if (configuration.cameraType != CameraType.ZeroCopyPicam) {
+            throw new IllegalArgumentException(
+                    "GPUAcceleratedPicamSource only accepts CameraConfigurations with type Picam");
+        }
+
+        settables = new LibcameraGpuSettables(configuration);
+        frameProvider = new LibcameraGpuFrameProvider(settables);
+    }
+
+    @Override
+    public FrameProvider getFrameProvider() {
+        return frameProvider;
+    }
+
+    @Override
+    public VisionSourceSettables getSettables() {
+        return settables;
+    }
+
+    /**
+     * On the OV5649 the actual FPS we want to request from the GPU can be higher than the FPS that we
+     * can do after processing. On the IMX219 these FPSes match pretty closely, except for the
+     * 1280x720 mode. We use this to present a rated FPS to the user that's lower than the actual FPS
+     * we request from the GPU. This is important for setting user expectations, and is also used by
+     * the frontend to detect and explain FPS drops. This class should ONLY be used by Picam video
+     * modes! This is to make sure it shows up nice in the frontend
+     */
+    public static class FPSRatedVideoMode extends VideoMode {
+        public final int fpsActual;
+        public final double fovMultiplier;
+
+        public FPSRatedVideoMode(
+                PixelFormat pixelFormat,
+                int width,
+                int height,
+                int ratedFPS,
+                int actualFPS,
+                double fovMultiplier) {
+            super(pixelFormat, width, height, ratedFPS);
+
+            this.fpsActual = actualFPS;
+            this.fovMultiplier = fovMultiplier;
+        }
+    }
+
+    @Override
+    public boolean isVendorCamera() {
+        return ConfigManager.getInstance().getConfig().getHardwareConfig().hasPresetFOV();
+    }
+}
--- a/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
@@ -29,9 +29,21 @@ public class QuirkyCamera {
                            0x5A3,
                            CameraQuirk.CompletelyBroken), // Chris's older generic "Logitec HD Webcam"
                    new QuirkyCamera(0x825, 0x46D, CameraQuirk.CompletelyBroken), // Logitec C270
+                    new QuirkyCamera(
+                            0x0bda,
+                            0x5510,
+                            CameraQuirk.CompletelyBroken), // A laptop internal camera someone found broken
+                    new QuirkyCamera(
+                            -1, -1, "Snap Camera", CameraQuirk.CompletelyBroken), // SnapCamera on Windows
+                    new QuirkyCamera(
+                            -1,
+                            -1,
+                            "FaceTime HD Camera",
+                            CameraQuirk.CompletelyBroken), // Mac Facetime Camera shared into Windows in Bootcamp
                    new QuirkyCamera(0x2000, 0x1415, CameraQuirk.Gain, CameraQuirk.FPSCap100), // PS3Eye
                    new QuirkyCamera(
                            -1, -1, "mmal service 16.1", CameraQuirk.PiCam), // PiCam (via V4L2, not zerocopy)
+                    new QuirkyCamera(-1, -1, "unicam", CameraQuirk.PiCam), // PiCam (via V4L2, not zerocopy)
                    new QuirkyCamera(0x85B, 0x46D, CameraQuirk.AdjustableFocus) // Logitech C925-e
                    );

--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
@@ -44,7 +44,7 @@ public class USBCameraSource extends VisionSource {

        logger = new Logger(USBCameraSource.class, config.nickname, LogGroup.Camera);
        camera = new UsbCamera(config.nickname, config.path);
-        cvSink = CameraServer.getInstance().getVideo(this.camera);
+        cvSink = CameraServer.getVideo(this.camera);

        cameraQuirks =
                QuirkyCamera.getQuirkyCamera(
@@ -65,7 +65,12 @@ public class USBCameraSource extends VisionSource {
            disableAutoFocus();

            usbCameraSettables = new USBCameraSettables(config);
-            usbFrameProvider = new USBFrameProvider(cvSink, usbCameraSettables);
+            if (usbCameraSettables.getAllVideoModes().isEmpty()) {
+                logger.info("Camera " + camera.getPath() + " has no video modes supported by PhotonVision");
+                usbFrameProvider = null;
+            } else {
+                usbFrameProvider = new USBFrameProvider(cvSink, usbCameraSettables);
+            }
        }
    }

--- a/photon-core/src/main/java/org/photonvision/vision/camera/ZeroCopyPicamSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/ZeroCopyPicamSource.java
@@ -1,234 +0,0 @@
-/*
- * 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.camera;
-
-import edu.wpi.first.cscore.VideoMode;
-import edu.wpi.first.math.Pair;
-import java.util.HashMap;
-import org.photonvision.common.configuration.CameraConfiguration;
-import org.photonvision.common.configuration.ConfigManager;
-import org.photonvision.common.logging.LogGroup;
-import org.photonvision.common.logging.Logger;
-import org.photonvision.raspi.PicamJNI;
-import org.photonvision.vision.frame.FrameProvider;
-import org.photonvision.vision.frame.provider.AcceleratedPicamFrameProvider;
-import org.photonvision.vision.processes.VisionSource;
-import org.photonvision.vision.processes.VisionSourceSettables;
-
-public class ZeroCopyPicamSource extends VisionSource {
-    private static final Logger logger = new Logger(ZeroCopyPicamSource.class, LogGroup.Camera);
-
-    private final VisionSourceSettables settables;
-    private final AcceleratedPicamFrameProvider frameProvider;
-
-    public ZeroCopyPicamSource(CameraConfiguration configuration) {
-        super(configuration);
-        if (configuration.cameraType != CameraType.ZeroCopyPicam) {
-            throw new IllegalArgumentException(
-                    "GPUAcceleratedPicamSource only accepts CameraConfigurations with type Picam");
-        }
-
-        settables = new PicamSettables(configuration);
-        frameProvider = new AcceleratedPicamFrameProvider(settables);
-    }
-
-    @Override
-    public FrameProvider getFrameProvider() {
-        return frameProvider;
-    }
-
-    @Override
-    public VisionSourceSettables getSettables() {
-        return settables;
-    }
-
-    /**
-     * On the OV5649 the actual FPS we want to request from the GPU can be higher than the FPS that we
-     * can do after processing. On the IMX219 these FPSes match pretty closely, except for the
-     * 1280x720 mode. We use this to present a rated FPS to the user that's lower than the actual FPS
-     * we request from the GPU. This is important for setting user expectations, and is also used by
-     * the frontend to detect and explain FPS drops. This class should ONLY be used by Picam video
-     * modes! This is to make sure it shows up nice in the frontend
-     */
-    public static class FPSRatedVideoMode extends VideoMode {
-        public final int fpsActual;
-        public final double fovMultiplier;
-
-        public FPSRatedVideoMode(
-                PixelFormat pixelFormat,
-                int width,
-                int height,
-                int ratedFPS,
-                int actualFPS,
-                double fovMultiplier) {
-            super(pixelFormat, width, height, ratedFPS);
-
-            this.fpsActual = actualFPS;
-            this.fovMultiplier = fovMultiplier;
-        }
-    }
-
-    public static class PicamSettables extends VisionSourceSettables {
-        private FPSRatedVideoMode currentVideoMode;
-        private double lastExposure = 50;
-        private int lastBrightness = 50;
-        private boolean lastExposureMode;
-        private int lastGain = 50;
-        private Pair<Integer, Integer> lastAwbGains = new Pair(18, 18);
-
-        public PicamSettables(CameraConfiguration configuration) {
-            super(configuration);
-
-            videoModes = new HashMap<>();
-            PicamJNI.SensorModel sensorModel = PicamJNI.getSensorModel();
-
-            if (sensorModel == PicamJNI.SensorModel.IMX219) {
-                // Settings for the IMX219 sensor, which is used on the Pi Camera Module v2
-                videoModes.put(
-                        0, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 320, 240, 120, 120, .39));
-                videoModes.put(
-                        1, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 320, 240, 30, 30, .39));
-                videoModes.put(
-                        2, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 640, 480, 65, 90, .39));
-                videoModes.put(
-                        3, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 640, 480, 30, 30, .39));
-                // TODO: fix 1280x720 in the native code and re-add it
-                videoModes.put(
-                        4, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1920, 1080, 15, 20, .53));
-            } else {
-                if (sensorModel == PicamJNI.SensorModel.IMX477) {
-                    logger.warn(
-                            "It appears you are using a Pi HQ Camera. This camera is not officially supported. You will have to set your camera FOV differently based on resolution.");
-                } else if (sensorModel == PicamJNI.SensorModel.Unknown) {
-                    logger.warn(
-                            "You have an unknown sensor connected to your Pi over CSI! This is likely a bug. If it is not, then you will have to set your camera FOV differently based on resolution.");
-                }
-
-                // Settings for the OV5647 sensor, which is used by the Pi Camera Module v1
-                videoModes.put(
-                        0, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 320, 240, 90, 90, 1));
-                videoModes.put(
-                        1, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 320, 240, 30, 30, 1));
-                videoModes.put(
-                        2, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 640, 480, 85, 90, 1));
-                videoModes.put(
-                        3, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 640, 480, 30, 30, 1));
-                videoModes.put(
-                        4, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 960, 720, 45, 49, 0.74));
-                videoModes.put(
-                        5, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1280, 720, 30, 45, 0.91));
-                videoModes.put(
-                        6, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1920, 1080, 15, 20, 0.72));
-            }
-
-            currentVideoMode = (FPSRatedVideoMode) videoModes.get(0);
-        }
-
-        @Override
-        public double getFOV() {
-            return getCurrentVideoMode().fovMultiplier * getConfiguration().FOV;
-        }
-
-        @Override
-        public void setAutoExposure(boolean cameraAutoExposure) {
-            lastExposureMode = cameraAutoExposure;
-            // TODO (Matt) -- call PicamJNI's auto exposure function, when that exists
-        }
-
-        @Override
-        public void setExposure(double exposure) {
-            // Todo (Chris) - for now, handle auto exposure by using 100% exposure
-            if (exposure < 0.0) {
-                exposure = 100.0;
-            }
-
-            lastExposure = exposure;
-            var failure = PicamJNI.setExposure((int) Math.round(exposure));
-            if (failure) logger.warn("Couldn't set Pi Camera exposure");
-        }
-
-        @Override
-        public void setBrightness(int brightness) {
-            lastBrightness = brightness;
-            var failure = PicamJNI.setBrightness(brightness);
-            if (failure) logger.warn("Couldn't set Pi Camera brightness");
-        }
-
-        @Override
-        public void setGain(int gain) {
-            lastGain = gain;
-            var failure = PicamJNI.setGain(gain);
-            if (failure) logger.warn("Couldn't set Pi Camera gain");
-        }
-
-        @Override
-        public void setRedGain(int red) {
-            lastAwbGains = Pair.of(red, lastAwbGains.getSecond());
-            setAwbGain(lastAwbGains.getFirst(), lastAwbGains.getSecond());
-        }
-
-        @Override
-        public void setBlueGain(int blue) {
-            lastAwbGains = Pair.of(lastAwbGains.getFirst(), blue);
-            setAwbGain(lastAwbGains.getFirst(), lastAwbGains.getSecond());
-        }
-
-        public void setAwbGain(int red, int blue) {
-            var failure = PicamJNI.setAwbGain(red, blue);
-            if (failure) logger.warn("Couldn't set Pi Camera AWB gains");
-        }
-
-        @Override
-        public FPSRatedVideoMode getCurrentVideoMode() {
-            return currentVideoMode;
-        }
-
-        @Override
-        protected void setVideoModeInternal(VideoMode videoMode) {
-            var mode = (FPSRatedVideoMode) videoMode;
-            var failure = PicamJNI.destroyCamera();
-            if (failure)
-                throw new RuntimeException(
-                        "Couldn't destroy a zero copy Pi Camera while switching video modes");
-            failure = PicamJNI.createCamera(mode.width, mode.height, mode.fpsActual);
-            if (failure)
-                throw new RuntimeException(
-                        "Couldn't create a zero copy Pi Camera while switching video modes");
-
-            // We don't store last settings on the native side, and when you change video mode these get
-            // reset on MMAL's end
-            setExposure(lastExposure);
-            setAutoExposure(lastExposureMode);
-            setBrightness(lastBrightness);
-            setGain(lastGain);
-            setAwbGain(lastAwbGains.getFirst(), lastAwbGains.getSecond());
-
-            currentVideoMode = mode;
-        }
-
-        @Override
-        public HashMap<Integer, VideoMode> getAllVideoModes() {
-            return videoModes;
-        }
-    }
-
-    @Override
-    public boolean isVendorCamera() {
-        return ConfigManager.getInstance().getConfig().getHardwareConfig().hasPresetFOV();
-    }
-}
--- a/photon-core/src/main/java/org/photonvision/vision/frame/Frame.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/Frame.java
@@ -17,52 +17,58 @@

 package org.photonvision.vision.frame;

-import org.opencv.core.CvType;
-import org.opencv.core.Mat;
-import org.opencv.core.Size;
 import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.opencv.Releasable;

 public class Frame implements Releasable {
    public final long timestampNanos;
-    public final CVMat image;
+
+    // Frame should at _least_ contain the thresholded frame, and sometimes the color image
+    public final CVMat colorImage;
+    public final CVMat processedImage;
+    public final FrameThresholdType type;
+
    public final FrameStaticProperties frameStaticProperties;

-    public Frame(CVMat image, long timestampNanos, FrameStaticProperties frameStaticProperties) {
-        this.image = image;
+    public Frame(
+            CVMat color,
+            CVMat processed,
+            FrameThresholdType type,
+            long timestampNanos,
+            FrameStaticProperties frameStaticProperties) {
+        this.colorImage = color;
+        this.processedImage = processed;
+        this.type = type;
        this.timestampNanos = timestampNanos;
        this.frameStaticProperties = frameStaticProperties;
    }

-    public Frame(CVMat image, FrameStaticProperties frameStaticProperties) {
-        this(image, MathUtils.wpiNanoTime(), frameStaticProperties);
+    public Frame(
+            CVMat color,
+            CVMat processed,
+            FrameThresholdType processType,
+            FrameStaticProperties frameStaticProperties) {
+        this(color, processed, processType, MathUtils.wpiNanoTime(), frameStaticProperties);
    }

    public Frame() {
-        this(new CVMat(), MathUtils.wpiNanoTime(), new FrameStaticProperties(0, 0, 0, null));
-    }
-
-    public static Frame emptyFrame(int width, int height) {
-        return new Frame(
-                new CVMat(Mat.zeros(new Size(width, height), CvType.CV_8UC3)),
+        this(
+                new CVMat(),
+                new CVMat(),
+                FrameThresholdType.NONE,
                MathUtils.wpiNanoTime(),
-                new FrameStaticProperties(width, height, 0, null));
+                new FrameStaticProperties(0, 0, 0, null));
    }

    public void copyTo(Frame destFrame) {
-        image.getMat().copyTo(destFrame.image.getMat());
-    }
-
-    public static Frame copyFromAndRelease(Frame frame) {
-        var mat = new CVMat();
-        frame.image.copyTo(mat);
-        frame.release();
-        return new Frame(mat, frame.timestampNanos, frame.frameStaticProperties);
+        colorImage.getMat().copyTo(destFrame.colorImage.getMat());
+        processedImage.getMat().copyTo(destFrame.processedImage.getMat());
    }

    @Override
    public void release() {
-        image.release();
+        colorImage.release();
+        processedImage.release();
    }
 }
--- a/photon-core/src/main/java/org/photonvision/vision/frame/FrameProvider.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/FrameProvider.java
@@ -18,7 +18,21 @@
 package org.photonvision.vision.frame;

 import java.util.function.Supplier;
+import org.photonvision.vision.opencv.ImageRotationMode;
+import org.photonvision.vision.pipe.impl.HSVPipe;

 public interface FrameProvider extends Supplier<Frame> {
    String getName();
+
+    /** Ask the camera to produce a certain kind of processed image (eg HSV or greyscale) */
+    public void requestFrameThresholdType(FrameThresholdType type);
+
+    /** Ask the camera to rotate frames it outputs */
+    public void requestFrameRotation(ImageRotationMode rotationMode);
+
+    /** Ask the camera to provide either the input, output, or both frames. */
+    public void requestFrameCopies(boolean copyInput, boolean copyOutput);
+
+    /** Ask the camera to rotate frames it outputs */
+    public void requestHsvSettings(HSVPipe.HSVParams params);
 }
--- a/photon-core/src/main/java/org/photonvision/common/hardware/metrics/DiskMetrics.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/metrics/DiskMetrics.java
@@ -15,11 +15,10 @@
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */

-package org.photonvision.common.hardware.metrics;
+package org.photonvision.vision.frame;

-public class DiskMetrics extends MetricsBase {
-    public String getUsedDiskPct() {
-        if (diskUsageCommand.isEmpty()) return "";
-        return execute(diskUsageCommand);
-    }
+public enum FrameThresholdType {
+    NONE,
+    HSV,
+    GREYSCALE,
 }
--- a/photon-core/src/main/java/org/photonvision/vision/frame/consumer/FileSaveFrameConsumer.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/consumer/FileSaveFrameConsumer.java
@@ -17,8 +17,8 @@

 package org.photonvision.vision.frame.consumer;

+import edu.wpi.first.networktables.BooleanEntry;
 import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.networktables.NetworkTableEntry;
 import java.io.File;
 import java.text.DateFormat;
 import java.text.SimpleDateFormat;
@@ -31,9 +31,9 @@ import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.TimedTaskManager;
-import org.photonvision.vision.frame.Frame;
+import org.photonvision.vision.opencv.CVMat;

-public class FileSaveFrameConsumer implements Consumer<Frame> {
+public class FileSaveFrameConsumer implements Consumer<CVMat> {
    // Formatters to generate unique, timestamped file names
    private static String FILE_PATH = ConfigManager.getInstance().getImageSavePath().toString();
    private static String FILE_EXTENSION = ".jpg";
@@ -48,7 +48,7 @@ public class FileSaveFrameConsumer implements Consumer<Frame> {
    private String camNickname;
    private String fnamePrefix;
    private final long CMD_RESET_TIME_MS = 500;
-    private final NetworkTableEntry entry;
+    private final BooleanEntry entry;
    // Helps prevent race conditions between user set & auto-reset logic
    private ReentrantLock lock;

@@ -58,15 +58,14 @@ public class FileSaveFrameConsumer implements Consumer<Frame> {
        this.ntEntryName = streamPrefix + NT_SUFFIX;
        this.rootTable = NetworkTablesManager.getInstance().kRootTable;
        updateCameraNickname(camNickname);
-        entry = subTable.getEntry(ntEntryName);
-        entry.forceSetBoolean(false);
+        entry = subTable.getBooleanTopic(ntEntryName).getEntry(false);
        this.logger = new Logger(FileSaveFrameConsumer.class, this.camNickname, LogGroup.General);
    }

-    public void accept(Frame frame) {
-        if (frame != null && !frame.image.getMat().empty()) {
+    public void accept(CVMat image) {
+        if (image != null && image.getMat() != null && !image.getMat().empty()) {
            if (lock.tryLock()) {
-                boolean curCommand = entry.getBoolean(false);
+                boolean curCommand = entry.get(false);
                if (curCommand && !prevCommand) {
                    Date now = new Date();
                    String savefile =
@@ -79,7 +78,7 @@ public class FileSaveFrameConsumer implements Consumer<Frame> {
                                    + tf.format(now)
                                    + FILE_EXTENSION;

-                    Imgcodecs.imwrite(savefile, frame.image.getMat());
+                    Imgcodecs.imwrite(savefile, image.getMat());

                    // Help the user a bit - set the NT entry back to false after 500ms
                    TimedTaskManager.getInstance().addOneShotTask(this::resetCommand, CMD_RESET_TIME_MS);
@@ -88,7 +87,7 @@ public class FileSaveFrameConsumer implements Consumer<Frame> {
                } else if (!curCommand) {
                    // If the entry is currently false, set it again. This will make sure it shows up on the
                    // dashboard.
-                    entry.forceSetBoolean(false);
+                    entry.set(false);
                }

                prevCommand = curCommand;
@@ -106,7 +105,7 @@ public class FileSaveFrameConsumer implements Consumer<Frame> {
    private void removeEntries() {
        if (this.subTable != null) {
            if (this.subTable.containsKey(ntEntryName)) {
-                this.subTable.delete(ntEntryName);
+                this.subTable.getEntry(ntEntryName).close();
            }
        }
    }
--- a/photon-core/src/main/java/org/photonvision/vision/frame/consumer/MJPGFrameConsumer.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/consumer/MJPGFrameConsumer.java
@@ -28,7 +28,7 @@ import org.opencv.core.Point;
 import org.opencv.core.Rect;
 import org.opencv.imgproc.Imgproc;
 import org.photonvision.common.util.ColorHelper;
-import org.photonvision.vision.frame.Frame;
+import org.photonvision.vision.opencv.CVMat;

 public class MJPGFrameConsumer {
    public static final Mat EMPTY_MAT = new Mat(60, 15 * 7, CvType.CV_8UC3);
@@ -119,6 +119,7 @@ public class MJPGFrameConsumer {

        this.mjpegServer = new MjpegServer("serve_" + cvSource.getName(), port);
        mjpegServer.setSource(cvSource);
+        mjpegServer.setCompression(75);

        listener =
                new VideoListener(
@@ -166,9 +167,9 @@ public class MJPGFrameConsumer {
        this(name, 320, 240, port);
    }

-    public void accept(Frame frame) {
-        if (frame != null && !frame.image.getMat().empty()) {
-            cvSource.putFrame(frame.image.getMat());
+    public void accept(CVMat image) {
+        if (image != null && !image.getMat().empty()) {
+            cvSource.putFrame(image.getMat());

            // Make sure our disabled framerate limiting doesn't get confused
            isDisabled = false;
--- a/photon-core/src/main/java/org/photonvision/vision/frame/provider/AcceleratedPicamFrameProvider.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/provider/AcceleratedPicamFrameProvider.java
@@ -1,60 +0,0 @@
-/*
- * 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.frame.provider;
-
-import org.opencv.core.Mat;
-import org.photonvision.common.util.math.MathUtils;
-import org.photonvision.raspi.PicamJNI;
-import org.photonvision.vision.frame.Frame;
-import org.photonvision.vision.frame.FrameProvider;
-import org.photonvision.vision.opencv.CVMat;
-import org.photonvision.vision.processes.VisionSourceSettables;
-
-public class AcceleratedPicamFrameProvider implements FrameProvider {
-    private final VisionSourceSettables settables;
-
-    private CVMat mat;
-
-    public AcceleratedPicamFrameProvider(VisionSourceSettables visionSettables) {
-        this.settables = visionSettables;
-
-        var vidMode = settables.getCurrentVideoMode();
-        var failure = PicamJNI.createCamera(vidMode.width, vidMode.height, vidMode.fps);
-        if (failure) {
-            failure = PicamJNI.destroyCamera();
-            if (failure) throw new RuntimeException("Couldn't destroy Pi camera after init failure!");
-            throw new RuntimeException(
-                    "Couldn't initialize zero copy Pi camera; check stdout for native code logs");
-        }
-    }
-
-    @Override
-    public String getName() {
-        return "AcceleratedPicamFrameProvider";
-    }
-
-    @Override
-    public Frame get() {
-        long matHandle = PicamJNI.grabFrame(false);
-        mat = new CVMat(new Mat(matHandle));
-        return new Frame(
-                mat,
-                MathUtils.wpiNanoTime() - PicamJNI.getFrameLatency(),
-                settables.getFrameStaticProperties());
-    }
-}
--- a/photon-core/src/main/java/org/photonvision/vision/frame/provider/CpuImageProcessor.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/provider/CpuImageProcessor.java
@@ -0,0 +1,124 @@
+/*
+ * 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.frame.provider;
+
+import org.photonvision.common.util.numbers.IntegerCouple;
+import org.photonvision.vision.frame.Frame;
+import org.photonvision.vision.frame.FrameProvider;
+import org.photonvision.vision.frame.FrameStaticProperties;
+import org.photonvision.vision.frame.FrameThresholdType;
+import org.photonvision.vision.opencv.CVMat;
+import org.photonvision.vision.opencv.ImageRotationMode;
+import org.photonvision.vision.pipe.CVPipe.CVPipeResult;
+import org.photonvision.vision.pipe.impl.GrayscalePipe;
+import org.photonvision.vision.pipe.impl.HSVPipe;
+import org.photonvision.vision.pipe.impl.RotateImagePipe;
+
+public abstract class CpuImageProcessor implements FrameProvider {
+    protected class CapturedFrame {
+        CVMat colorImage;
+        FrameStaticProperties staticProps;
+        long captureTimestamp;
+
+        public CapturedFrame(
+                CVMat colorImage, FrameStaticProperties staticProps, long captureTimestampNanos) {
+            this.colorImage = colorImage;
+            this.staticProps = staticProps;
+            this.captureTimestamp = captureTimestampNanos;
+        }
+    }
+
+    private final HSVPipe m_hsvPipe = new HSVPipe();
+    private final RotateImagePipe m_rImagePipe = new RotateImagePipe();
+    private final GrayscalePipe m_grayPipe = new GrayscalePipe();
+    FrameThresholdType m_processType;
+
+    private final Object m_mutex = new Object();
+
+    abstract CapturedFrame getInputMat();
+
+    public CpuImageProcessor() {
+        m_hsvPipe.setParams(
+                new HSVPipe.HSVParams(
+                        new IntegerCouple(0, 180),
+                        new IntegerCouple(0, 255),
+                        new IntegerCouple(0, 255),
+                        false));
+    }
+
+    @Override
+    public final Frame get() {
+        // TODO Auto-generated method stub
+        var input = getInputMat();
+
+        CVMat outputMat = null;
+        long sumNanos = 0;
+
+        {
+            CVPipeResult<Void> out = m_rImagePipe.run(input.colorImage.getMat());
+            sumNanos += out.nanosElapsed;
+        }
+
+        if (!input.colorImage.getMat().empty()) {
+            if (m_processType == FrameThresholdType.HSV) {
+                var hsvResult = m_hsvPipe.run(input.colorImage.getMat());
+                outputMat = new CVMat(hsvResult.output);
+                sumNanos += hsvResult.nanosElapsed;
+            } else if (m_processType == FrameThresholdType.GREYSCALE) {
+                var result = m_grayPipe.run(input.colorImage.getMat());
+                outputMat = new CVMat(result.output);
+                sumNanos += result.nanosElapsed;
+            } else {
+                outputMat = new CVMat();
+            }
+        } else {
+            System.out.println("Input was empty!");
+            outputMat = new CVMat();
+        }
+
+        return new Frame(
+                input.colorImage, outputMat, m_processType, input.captureTimestamp, input.staticProps);
+    }
+
+    @Override
+    public void requestFrameThresholdType(FrameThresholdType type) {
+        synchronized (m_mutex) {
+            this.m_processType = type;
+        }
+    }
+
+    @Override
+    public void requestFrameRotation(ImageRotationMode rotationMode) {
+        synchronized (m_mutex) {
+            m_rImagePipe.setParams(new RotateImagePipe.RotateImageParams(rotationMode));
+        }
+    }
+
+    /** Ask the camera to rotate frames it outputs */
+    public void requestHsvSettings(HSVPipe.HSVParams params) {
+        synchronized (m_mutex) {
+            m_hsvPipe.setParams(params);
+        }
+    }
+
+    @Override
+    public void requestFrameCopies(boolean copyInput, boolean copyOutput) {
+        // We don't actually do zero-copy, so this method is a no-op
+        return;
+    }
+}
--- a/photon-core/src/main/java/org/photonvision/vision/frame/provider/FileFrameProvider.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/provider/FileFrameProvider.java
@@ -22,8 +22,8 @@ import java.nio.file.Path;
 import java.nio.file.Paths;
 import org.opencv.core.Mat;
 import org.opencv.imgcodecs.Imgcodecs;
+import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
-import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.FrameProvider;
 import org.photonvision.vision.frame.FrameStaticProperties;
 import org.photonvision.vision.opencv.CVMat;
@@ -32,14 +32,14 @@ import org.photonvision.vision.opencv.CVMat;
 * A {@link FrameProvider} that will read and provide an image from a {@link java.nio.file.Path
 * path}.
 */
-public class FileFrameProvider implements FrameProvider {
+public class FileFrameProvider extends CpuImageProcessor {
    public static final int MAX_FPS = 5;
    private static int count = 0;

    private final int thisIndex = count++;
    private final Path path;
    private final int millisDelay;
-    private final Frame originalFrame;
+    private final CVMat originalFrame;

    private final FrameStaticProperties properties;

@@ -70,7 +70,7 @@ public class FileFrameProvider implements FrameProvider {
        Mat rawImage = Imgcodecs.imread(path.toString());
        if (rawImage.cols() > 0 && rawImage.rows() > 0) {
            properties = new FrameStaticProperties(rawImage.width(), rawImage.height(), fov, calibration);
-            originalFrame = new Frame(new CVMat(rawImage), properties);
+            originalFrame = new CVMat(rawImage);
        } else {
            throw new RuntimeException("Image loading failed!");
        }
@@ -97,9 +97,9 @@ public class FileFrameProvider implements FrameProvider {
    }

    @Override
-    public Frame get() {
-        Frame outputFrame = new Frame(new CVMat(), properties);
-        originalFrame.copyTo(outputFrame);
+    public CapturedFrame getInputMat() {
+        var out = new CVMat();
+        out.copyTo(originalFrame);

        // block to keep FPS at a defined rate
        if (System.currentTimeMillis() - lastGetMillis < millisDelay) {
@@ -111,7 +111,7 @@ public class FileFrameProvider implements FrameProvider {
        }

        lastGetMillis = System.currentTimeMillis();
-        return outputFrame;
+        return new CapturedFrame(out, properties, MathUtils.wpiNanoTime());
    }

    @Override
--- a/photon-core/src/main/java/org/photonvision/vision/frame/provider/LibcameraGpuFrameProvider.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/provider/LibcameraGpuFrameProvider.java
@@ -0,0 +1,114 @@
+/*
+ * 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.frame.provider;
+
+import org.opencv.core.Mat;
+import org.photonvision.common.util.math.MathUtils;
+import org.photonvision.raspi.LibCameraJNI;
+import org.photonvision.vision.camera.LibcameraGpuSettables;
+import org.photonvision.vision.frame.Frame;
+import org.photonvision.vision.frame.FrameProvider;
+import org.photonvision.vision.frame.FrameThresholdType;
+import org.photonvision.vision.opencv.CVMat;
+import org.photonvision.vision.opencv.ImageRotationMode;
+import org.photonvision.vision.pipe.impl.HSVPipe.HSVParams;
+
+public class LibcameraGpuFrameProvider implements FrameProvider {
+    private final LibcameraGpuSettables settables;
+
+    public LibcameraGpuFrameProvider(LibcameraGpuSettables visionSettables) {
+        this.settables = visionSettables;
+
+        var vidMode = settables.getCurrentVideoMode();
+        settables.setVideoMode(vidMode);
+    }
+
+    @Override
+    public String getName() {
+        return "AcceleratedPicamFrameProvider";
+    }
+
+    int i = 0;
+
+    @Override
+    public Frame get() {
+        // We need to make sure that other threads don't try to change video modes while we're waiting
+        // for a frame
+        // System.out.println("GET!");
+        synchronized (LibCameraJNI.CAMERA_LOCK) {
+            var success = LibCameraJNI.awaitNewFrame();
+
+            if (!success) {
+                System.out.println("No new frame");
+                return new Frame();
+            }
+
+            var colorMat = new CVMat(new Mat(LibCameraJNI.takeColorFrame()));
+            var processedMat = new CVMat(new Mat(LibCameraJNI.takeProcessedFrame()));
+
+            // System.out.println("Color mat: " + colorMat.getMat().size());
+
+            // Imgcodecs.imwrite("color" + i + ".jpg", colorMat.getMat());
+            // Imgcodecs.imwrite("processed" + (i) + ".jpg", processedMat.getMat());
+
+            int itype = LibCameraJNI.getGpuProcessType();
+            FrameThresholdType type = FrameThresholdType.NONE;
+            if (itype < FrameThresholdType.values().length && itype >= 0) {
+                type = FrameThresholdType.values()[itype];
+            }
+
+            var now = LibCameraJNI.getLibcameraTimestamp();
+            var capture = LibCameraJNI.getFrameCaptureTime();
+            var latency = (now - capture);
+
+            return new Frame(
+                    colorMat,
+                    processedMat,
+                    type,
+                    MathUtils.wpiNanoTime() - latency,
+                    settables.getFrameStaticProperties());
+        }
+    }
+
+    @Override
+    public void requestFrameThresholdType(FrameThresholdType type) {
+        LibCameraJNI.setGpuProcessType(type.ordinal());
+    }
+
+    @Override
+    public void requestFrameRotation(ImageRotationMode rotationMode) {
+        this.settables.setRotation(rotationMode);
+    }
+
+    @Override
+    public void requestHsvSettings(HSVParams params) {
+        LibCameraJNI.setThresholds(
+                params.getHsvLower().val[0] / 180.0,
+                params.getHsvLower().val[1] / 255.0,
+                params.getHsvLower().val[2] / 255.0,
+                params.getHsvUpper().val[0] / 180.0,
+                params.getHsvUpper().val[1] / 255.0,
+                params.getHsvUpper().val[2] / 255.0,
+                params.getHueInverted());
+    }
+
+    @Override
+    public void requestFrameCopies(boolean copyInput, boolean copyOutput) {
+        LibCameraJNI.setFramesToCopy(copyInput, copyOutput);
+    }
+}
--- a/photon-core/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java
@@ -19,12 +19,10 @@ package org.photonvision.vision.frame.provider;

 import edu.wpi.first.cscore.CvSink;
 import org.photonvision.common.util.math.MathUtils;
-import org.photonvision.vision.frame.Frame;
-import org.photonvision.vision.frame.FrameProvider;
 import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.processes.VisionSourceSettables;

-public class USBFrameProvider implements FrameProvider {
+public class USBFrameProvider extends CpuImageProcessor {
    private final CvSink cvSink;

    @SuppressWarnings("SpellCheckingInspection")
@@ -38,18 +36,19 @@ public class USBFrameProvider implements FrameProvider {
    }

    @Override
-    public Frame get() {
+    public CapturedFrame getInputMat() {
        var mat = new CVMat(); // We do this so that we don't fill a Mat in use by another thread
        // This is from wpi::Now, or WPIUtilJNI.now()
        long time =
-                cvSink.grabFrame(
-                        mat.getMat()); // Units are microseconds, epoch is the same as the Unix epoch
+                cvSink.grabFrame(mat.getMat())
+                        * 1000; // Units are microseconds, epoch is the same as the Unix epoch

        // Sometimes CSCore gives us a zero frametime.
        if (time <= 1e-6) {
            time = MathUtils.wpiNanoTime();
        }
-        return new Frame(mat, MathUtils.microsToNanos(time), settables.getFrameStaticProperties());
+
+        return new CapturedFrame(mat, settables.getFrameStaticProperties(), time);
    }

    @Override
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/AprilTagDetectionPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/AprilTagDetectionPipe.java
@@ -17,33 +17,50 @@

 package org.photonvision.vision.pipe.impl;

+import edu.wpi.first.apriltag.AprilTagDetection;
+import edu.wpi.first.apriltag.AprilTagDetector;
 import java.util.List;
-import org.opencv.core.Mat;
-import org.photonvision.vision.apriltag.AprilTagDetector;
-import org.photonvision.vision.apriltag.DetectionResult;
+import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.pipe.CVPipe;

 public class AprilTagDetectionPipe
-        extends CVPipe<Mat, List<DetectionResult>, AprilTagDetectionPipeParams> {
+        extends CVPipe<CVMat, List<AprilTagDetection>, AprilTagDetectionPipeParams> {
    private final AprilTagDetector m_detector = new AprilTagDetector();

    boolean useNativePoseEst;

-    @Override
-    protected List<DetectionResult> process(Mat in) {
-        return List.of(
-                m_detector.detect(
-                        in,
-                        params.cameraCalibrationCoefficients,
-                        useNativePoseEst,
-                        params.numIterations,
-                        params.tagWidthMeters));
+    public AprilTagDetectionPipe() {
+        super();
+
+        m_detector.addFamily("tag16h5");
+        m_detector.addFamily("tag36h11");
    }

    @Override
-    public void setParams(AprilTagDetectionPipeParams params) {
-        super.setParams(params);
-        m_detector.updateParams(params.detectorParams);
+    protected List<AprilTagDetection> process(CVMat in) {
+        if (in.getMat().empty()) {
+            return List.of();
+        }
+
+        var ret = m_detector.detect(in.getMat());
+
+        if (ret == null) {
+            return List.of();
+        }
+
+        return List.of(ret);
+    }
+
+    @Override
+    public void setParams(AprilTagDetectionPipeParams newParams) {
+        if (this.params == null || !this.params.equals(newParams)) {
+            m_detector.setConfig(newParams.detectorParams);
+
+            m_detector.clearFamilies();
+            m_detector.addFamily(newParams.family.getNativeName());
+        }
+
+        super.setParams(newParams);
    }

    public void setNativePoseEstimationEnabled(boolean enabled) {
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/AprilTagDetectionPipeParams.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/AprilTagDetectionPipeParams.java
@@ -17,61 +17,37 @@

 package org.photonvision.vision.pipe.impl;

-import java.util.Objects;
-import org.photonvision.vision.apriltag.AprilTagDetectorParams;
+import edu.wpi.first.apriltag.AprilTagDetector;
 import org.photonvision.vision.apriltag.AprilTagFamily;
-import org.photonvision.vision.calibration.CameraCalibrationCoefficients;

 public class AprilTagDetectionPipeParams {
-    public final AprilTagDetectorParams detectorParams;
-    public final CameraCalibrationCoefficients cameraCalibrationCoefficients;
-    public final int numIterations;
-    public final double tagWidthMeters;
+    public final AprilTagFamily family;
+    public final AprilTagDetector.Config detectorParams;

-    public AprilTagDetectionPipeParams(
-            AprilTagFamily tagFamily,
-            double decimate,
-            double blur,
-            int threads,
-            boolean debug,
-            boolean refineEdges,
-            int numIters,
-            double tagWidthMeters,
-            CameraCalibrationCoefficients cameraCalibrationCoefficients) {
-        detectorParams =
-                new AprilTagDetectorParams(tagFamily, decimate, blur, threads, debug, refineEdges);
-        this.cameraCalibrationCoefficients = cameraCalibrationCoefficients;
-        this.numIterations = numIters;
-        this.tagWidthMeters = tagWidthMeters;
-    }
-
-    public AprilTagDetectionPipeParams(
-            AprilTagDetectorParams detectorParams,
-            CameraCalibrationCoefficients cameraCalibrationCoefficients,
-            int numIters,
-            double tagWidthMeters) {
-        this.detectorParams = detectorParams;
-        this.cameraCalibrationCoefficients = cameraCalibrationCoefficients;
-        this.numIterations = numIters;
-        this.tagWidthMeters = tagWidthMeters;
+    public AprilTagDetectionPipeParams(AprilTagFamily tagFamily, AprilTagDetector.Config config) {
+        this.family = tagFamily;
+        this.detectorParams = config;
    }

    @Override
-    public boolean equals(Object o) {
-        if (this == o) return true;
-        if (o == null || getClass() != o.getClass()) return false;
-        AprilTagDetectionPipeParams that = (AprilTagDetectionPipeParams) o;
-        return Objects.equals(detectorParams, that.detectorParams)
-                && Objects.equals(cameraCalibrationCoefficients, that.cameraCalibrationCoefficients);
+    public int hashCode() {
+        final int prime = 31;
+        int result = 1;
+        result = prime * result + ((family == null) ? 0 : family.hashCode());
+        result = prime * result + ((detectorParams == null) ? 0 : detectorParams.hashCode());
+        return result;
    }

    @Override
-    public String toString() {
-        return "AprilTagDetectionPipeParams{"
-                + "detectorParams="
-                + detectorParams
-                + ", cameraCalibrationCoefficients="
-                + cameraCalibrationCoefficients
-                + '}';
+    public boolean equals(Object obj) {
+        if (this == obj) return true;
+        if (obj == null) return false;
+        if (getClass() != obj.getClass()) return false;
+        AprilTagDetectionPipeParams other = (AprilTagDetectionPipeParams) obj;
+        if (family != other.family) return false;
+        if (detectorParams == null) {
+            if (other.detectorParams != null) return false;
+        } else if (!detectorParams.equals(other.detectorParams)) return false;
+        return true;
    }
 }
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/AprilTagPoseEstimatorPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/AprilTagPoseEstimatorPipe.java
@@ -0,0 +1,89 @@
+/*
+ * 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.pipe.impl;
+
+import edu.wpi.first.apriltag.AprilTagDetection;
+import edu.wpi.first.apriltag.AprilTagPoseEstimate;
+import edu.wpi.first.apriltag.AprilTagPoseEstimator;
+import edu.wpi.first.apriltag.AprilTagPoseEstimator.Config;
+import org.photonvision.vision.pipe.CVPipe;
+
+public class AprilTagPoseEstimatorPipe
+        extends CVPipe<
+                AprilTagDetection,
+                AprilTagPoseEstimate,
+                AprilTagPoseEstimatorPipe.AprilTagPoseEstimatorPipeParams> {
+    private final AprilTagPoseEstimator m_poseEstimator =
+            new AprilTagPoseEstimator(new AprilTagPoseEstimator.Config(0, 0, 0, 0, 0));
+
+    boolean useNativePoseEst;
+
+    public AprilTagPoseEstimatorPipe() {
+        super();
+    }
+
+    @Override
+    protected AprilTagPoseEstimate process(AprilTagDetection in) {
+        return m_poseEstimator.estimateOrthogonalIteration(in, params.nIters);
+    }
+
+    @Override
+    public void setParams(AprilTagPoseEstimatorPipe.AprilTagPoseEstimatorPipeParams newParams) {
+        if (this.params == null || !this.params.equals(newParams)) {
+            m_poseEstimator.setConfig(newParams.config);
+        }
+
+        super.setParams(newParams);
+    }
+
+    public void setNativePoseEstimationEnabled(boolean enabled) {
+        this.useNativePoseEst = enabled;
+    }
+
+    public static class AprilTagPoseEstimatorPipeParams {
+        final AprilTagPoseEstimator.Config config;
+        final int nIters;
+
+        public AprilTagPoseEstimatorPipeParams(Config config, int nIters) {
+            this.config = config;
+            this.nIters = nIters;
+        }
+
+        @Override
+        public int hashCode() {
+            final int prime = 31;
+            int result = 1;
+            result = prime * result + ((config == null) ? 0 : config.hashCode());
+            result = prime * result + nIters;
+            return result;
+        }
+
+        @Override
+        public boolean equals(Object obj) {
+            if (this == obj) return true;
+            if (obj == null) return false;
+            if (getClass() != obj.getClass()) return false;
+            AprilTagPoseEstimatorPipeParams other = (AprilTagPoseEstimatorPipeParams) obj;
+            if (config == null) {
+                if (other.config != null) return false;
+            } else if (!config.equals(other.config)) return false;
+            if (nIters != other.nIters) return false;
+            return true;
+        }
+    }
+}
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw2dCrosshairPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw2dCrosshairPipe.java
@@ -27,6 +27,7 @@ import org.photonvision.common.util.ColorHelper;
 import org.photonvision.vision.frame.FrameDivisor;
 import org.photonvision.vision.frame.FrameStaticProperties;
 import org.photonvision.vision.opencv.DualOffsetValues;
+import org.photonvision.vision.opencv.ImageRotationMode;
 import org.photonvision.vision.pipe.MutatingPipe;
 import org.photonvision.vision.target.RobotOffsetPointMode;
 import org.photonvision.vision.target.TargetCalculations;
@@ -46,6 +47,13 @@ public class Draw2dCrosshairPipe
            double y = params.frameStaticProperties.centerY;
            double scale = params.frameStaticProperties.imageWidth / (double) params.divisor.value / 32.0;

+            if (this.params.rotMode == ImageRotationMode.DEG_270
+                    || this.params.rotMode == ImageRotationMode.DEG_90) {
+                var tmp = x;
+                x = y;
+                y = tmp;
+            }
+
            switch (params.robotOffsetPointMode) {
                case Single:
                    if (params.singleOffsetPoint.x != 0 && params.singleOffsetPoint.y != 0) {
@@ -87,15 +95,19 @@ public class Draw2dCrosshairPipe

        public final boolean shouldDraw;
        public final FrameStaticProperties frameStaticProperties;
+        public final ImageRotationMode rotMode;
        public final RobotOffsetPointMode robotOffsetPointMode;
        public final Point singleOffsetPoint;
        public final DualOffsetValues dualOffsetValues;
        private final FrameDivisor divisor;

        public Draw2dCrosshairParams(
-                FrameStaticProperties frameStaticProperties, FrameDivisor divisor) {
+                FrameStaticProperties frameStaticProperties,
+                FrameDivisor divisor,
+                ImageRotationMode rotMode) {
            shouldDraw = true;
            this.frameStaticProperties = frameStaticProperties;
+            this.rotMode = rotMode;
            robotOffsetPointMode = RobotOffsetPointMode.None;
            singleOffsetPoint = new Point();
            dualOffsetValues = new DualOffsetValues();
@@ -108,13 +120,15 @@ public class Draw2dCrosshairPipe
                Point singleOffsetPoint,
                DualOffsetValues dualOffsetValues,
                FrameStaticProperties frameStaticProperties,
-                FrameDivisor divisor) {
+                FrameDivisor divisor,
+                ImageRotationMode rotMode) {
            this.shouldDraw = shouldDraw;
            this.frameStaticProperties = frameStaticProperties;
            this.robotOffsetPointMode = robotOffsetPointMode;
            this.singleOffsetPoint = singleOffsetPoint;
            this.dualOffsetValues = dualOffsetValues;
            this.divisor = divisor;
+            this.rotMode = rotMode;
        }
    }
 }
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw3dTargetsPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw3dTargetsPipe.java
@@ -47,7 +47,7 @@ public class Draw3dTargetsPipe
        if (!params.shouldDraw) return null;
        if (params.cameraCalibrationCoefficients == null
                || params.cameraCalibrationCoefficients.getCameraIntrinsicsMat() == null
-                || params.cameraCalibrationCoefficients.getCameraExtrinsicsMat() == null) {
+                || params.cameraCalibrationCoefficients.getDistCoeffsMat() == null) {
            return null;
        }

@@ -90,7 +90,7 @@ public class Draw3dTargetsPipe
                        target.getCameraRelativeRvec(),
                        target.getCameraRelativeTvec(),
                        params.cameraCalibrationCoefficients.getCameraIntrinsicsMat(),
-                        params.cameraCalibrationCoefficients.getCameraExtrinsicsMat(),
+                        params.cameraCalibrationCoefficients.getDistCoeffsMat(),
                        tempMat,
                        jac);
                // Distort the points so they match the image they're being overlaid on
@@ -101,7 +101,7 @@ public class Draw3dTargetsPipe
                        target.getCameraRelativeRvec(),
                        target.getCameraRelativeTvec(),
                        params.cameraCalibrationCoefficients.getCameraIntrinsicsMat(),
-                        params.cameraCalibrationCoefficients.getCameraExtrinsicsMat(),
+                        params.cameraCalibrationCoefficients.getDistCoeffsMat(),
                        tempMat,
                        jac);
                var topPoints = tempMat.toList();
@@ -118,6 +118,54 @@ public class Draw3dTargetsPipe
                            ColorHelper.colorToScalar(Color.green),
                            3);
                }
+
+                // Draw X, Y and Z axis
+                MatOfPoint3f pointMat = new MatOfPoint3f();
+                // Those points are in opencv-land, but we are in NWU
+                // NWU | EDN
+                // X: Z
+                // Y: -X
+                // Z: -Y
+                final double AXIS_LEN = 0.2;
+                var list =
+                        List.of(
+                                new Point3(0, 0, 0),
+                                new Point3(0, 0, AXIS_LEN),
+                                new Point3(AXIS_LEN, 0, 0),
+                                new Point3(0, AXIS_LEN, 0));
+                pointMat.fromList(list);
+
+                Calib3d.projectPoints(
+                        pointMat,
+                        target.getCameraRelativeRvec(),
+                        target.getCameraRelativeTvec(),
+                        params.cameraCalibrationCoefficients.getCameraIntrinsicsMat(),
+                        params.cameraCalibrationCoefficients.getDistCoeffsMat(),
+                        tempMat,
+                        jac);
+                var axisPoints = tempMat.toList();
+                dividePointList(axisPoints);
+
+                // Red = x, green y, blue z
+                Imgproc.line(
+                        in.getLeft(),
+                        axisPoints.get(0),
+                        axisPoints.get(2),
+                        ColorHelper.colorToScalar(Color.GREEN),
+                        3);
+                Imgproc.line(
+                        in.getLeft(),
+                        axisPoints.get(0),
+                        axisPoints.get(3),
+                        ColorHelper.colorToScalar(Color.BLUE),
+                        3);
+                Imgproc.line(
+                        in.getLeft(),
+                        axisPoints.get(0),
+                        axisPoints.get(1),
+                        ColorHelper.colorToScalar(Color.RED),
+                        3);
+
                for (int i = 0; i < bottomPoints.size(); i++) {
                    Imgproc.line(
                            in.getLeft(),
@@ -135,47 +183,6 @@ public class Draw3dTargetsPipe
                            3);
                }

-                // Draw X, Y and Z axis
-                MatOfPoint3f pointMat = new MatOfPoint3f();
-                var list =
-                        List.of(
-                                new Point3(0, 0, 0),
-                                new Point3(0.2, 0, 0),
-                                new Point3(0, 0.2, 0),
-                                new Point3(0, 0, 0.2));
-                pointMat.fromList(list);
-
-                Calib3d.projectPoints(
-                        pointMat,
-                        target.getCameraRelativeRvec(),
-                        target.getCameraRelativeTvec(),
-                        params.cameraCalibrationCoefficients.getCameraIntrinsicsMat(),
-                        params.cameraCalibrationCoefficients.getCameraExtrinsicsMat(),
-                        tempMat,
-                        jac);
-                var axisPoints = tempMat.toList();
-                dividePointList(axisPoints);
-
-                // Red = x, green y, blue z
-                Imgproc.line(
-                        in.getLeft(),
-                        axisPoints.get(0),
-                        axisPoints.get(1),
-                        ColorHelper.colorToScalar(Color.RED),
-                        3);
-                Imgproc.line(
-                        in.getLeft(),
-                        axisPoints.get(0),
-                        axisPoints.get(2),
-                        ColorHelper.colorToScalar(Color.GREEN),
-                        3);
-                Imgproc.line(
-                        in.getLeft(),
-                        axisPoints.get(0),
-                        axisPoints.get(3),
-                        ColorHelper.colorToScalar(Color.BLUE),
-                        3);
-
                tempMat.release();
                jac.release();
                pointMat.release();
@@ -206,7 +213,7 @@ public class Draw3dTargetsPipe
        var dstList = new ArrayList<Point>();
        final Mat cameraMatrix = params.cameraCalibrationCoefficients.getCameraIntrinsicsMat();
        // k1, k2, p1, p2, k3
-        final Mat distCoeffs = params.cameraCalibrationCoefficients.getCameraExtrinsicsMat();
+        final Mat distCoeffs = params.cameraCalibrationCoefficients.getDistCoeffsMat();
        var cx = cameraMatrix.get(0, 2)[0];
        var cy = cameraMatrix.get(1, 2)[0];
        var fx = cameraMatrix.get(0, 0)[0];
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FilterContoursPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FilterContoursPipe.java
@@ -107,8 +107,8 @@ public class FilterContoursPipe

        // Fullness Filtering.
        double contourArea = contour.getArea();
-        double minFullness = params.getFullness().getFirst() * minAreaRect.size.area() / 100;
-        double maxFullness = params.getFullness().getSecond() * minAreaRect.size.area() / 100;
+        double minFullness = params.getFullness().getFirst() * minAreaRect.size.area() / 100.0;
+        double maxFullness = params.getFullness().getSecond() * minAreaRect.size.area() / 100.0;
        if (contourArea <= minFullness || contourArea >= maxFullness) return;

        // Aspect Ratio Filtering.
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/SolvePNPPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/SolvePNPPipe.java
@@ -48,7 +48,7 @@ public class SolvePNPPipe
    protected List<TrackedTarget> process(List<TrackedTarget> targetList) {
        if (params.cameraCoefficients == null
                || params.cameraCoefficients.getCameraIntrinsicsMat() == null
-                || params.cameraCoefficients.getCameraExtrinsicsMat() == null) {
+                || params.cameraCoefficients.getDistCoeffsMat() == null) {
            if (!hasWarned) {
                logger.warn(
                        "Cannot perform solvePNP an uncalibrated camera! Please calibrate this resolution...");
@@ -69,7 +69,7 @@ public class SolvePNPPipe
                || corners.isEmpty()
                || params.cameraCoefficients == null
                || params.cameraCoefficients.getCameraIntrinsicsMat() == null
-                || params.cameraCoefficients.getCameraExtrinsicsMat() == null) {
+                || params.cameraCoefficients.getDistCoeffsMat() == null) {
            return;
        }
        this.imagePoints.fromList(corners);
@@ -81,7 +81,7 @@ public class SolvePNPPipe
                    params.targetModel.getRealWorldTargetCoordinates(),
                    imagePoints,
                    params.cameraCoefficients.getCameraIntrinsicsMat(),
-                    params.cameraCoefficients.getCameraExtrinsicsMat(),
+                    params.cameraCoefficients.getDistCoeffsMat(),
                    rVec,
                    tVec);
        } catch (Exception e) {
@@ -100,8 +100,9 @@ public class SolvePNPPipe
                        Core.norm(rVec));

        Pose3d targetPose = MathUtils.convertOpenCVtoPhotonPose(new Transform3d(translation, rotation));
-        target.setCameraToTarget3d(
+        target.setBestCameraToTarget3d(
                new Transform3d(targetPose.getTranslation(), targetPose.getRotation()));
+        target.setAltCameraToTarget3d(new Transform3d());
    }

    Mat rotationMatrix = new Mat();
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java
@@ -17,36 +17,39 @@

 package org.photonvision.vision.pipeline;

+import edu.wpi.first.apriltag.AprilTagDetection;
+import edu.wpi.first.apriltag.AprilTagDetector;
+import edu.wpi.first.apriltag.AprilTagPoseEstimate;
+import edu.wpi.first.apriltag.AprilTagPoseEstimator.Config;
 import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.math.util.Units;
 import java.util.ArrayList;
 import java.util.List;
-import org.opencv.core.Mat;
 import org.photonvision.common.util.math.MathUtils;
-import org.photonvision.raspi.PicamJNI;
-import org.photonvision.vision.apriltag.AprilTagDetectorParams;
-import org.photonvision.vision.apriltag.DetectionResult;
-import org.photonvision.vision.camera.CameraQuirk;
 import org.photonvision.vision.frame.Frame;
-import org.photonvision.vision.opencv.CVMat;
+import org.photonvision.vision.frame.FrameThresholdType;
 import org.photonvision.vision.pipe.CVPipe.CVPipeResult;
 import org.photonvision.vision.pipe.impl.*;
+import org.photonvision.vision.pipe.impl.AprilTagPoseEstimatorPipe.AprilTagPoseEstimatorPipeParams;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.target.TrackedTarget;
 import org.photonvision.vision.target.TrackedTarget.TargetCalculationParameters;

@SuppressWarnings("DuplicatedCode")
 public class AprilTagPipeline extends CVPipeline<CVPipelineResult, AprilTagPipelineSettings> {
-    private final RotateImagePipe rotateImagePipe = new RotateImagePipe();
-    private final GrayscalePipe grayscalePipe = new GrayscalePipe();
    private final AprilTagDetectionPipe aprilTagDetectionPipe = new AprilTagDetectionPipe();
+    private final AprilTagPoseEstimatorPipe poseEstimatorPipe = new AprilTagPoseEstimatorPipe();
    private final CalculateFPSPipe calculateFPSPipe = new CalculateFPSPipe();

+    private static final FrameThresholdType PROCESSING_TYPE = FrameThresholdType.GREYSCALE;
+
    public AprilTagPipeline() {
+        super(PROCESSING_TYPE);
        settings = new AprilTagPipelineSettings();
    }

    public AprilTagPipeline(AprilTagPipelineSettings settings) {
+        super(PROCESSING_TYPE);
        this.settings = settings;
    }

@@ -55,97 +58,118 @@ public class AprilTagPipeline extends CVPipeline<CVPipelineResult, AprilTagPipel
        // Sanitize thread count - not supported to have fewer than 1 threads
        settings.threads = Math.max(1, settings.threads);

-        RotateImagePipe.RotateImageParams rotateImageParams =
-                new RotateImagePipe.RotateImageParams(settings.inputImageRotationMode);
-        rotateImagePipe.setParams(rotateImageParams);
-
-        if (cameraQuirks.hasQuirk(CameraQuirk.PiCam) && PicamJNI.isSupported()) {
-            // TODO: Picam grayscale
-            PicamJNI.setRotation(settings.inputImageRotationMode.value);
-            PicamJNI.setShouldCopyColor(true); // need the color image to grayscale
-        }
-
-        AprilTagDetectorParams aprilTagDetectionParams =
-                new AprilTagDetectorParams(
-                        settings.tagFamily,
-                        settings.decimate,
-                        settings.blur,
-                        settings.threads,
-                        settings.debug,
-                        settings.refineEdges);
+        // if (cameraQuirks.hasQuirk(CameraQuirk.PiCam) && LibCameraJNI.isSupported()) {
+        //     // TODO: Picam grayscale
+        //     LibCameraJNI.setRotation(settings.inputImageRotationMode.value);
+        //     // LibCameraJNI.setShouldCopyColor(true); // need the color image to grayscale
+        // }

        // TODO (HACK): tag width is Fun because it really belongs in the "target model"
        // We need the tag width for the JNI to figure out target pose, but we need a
        // target model for the draw 3d targets pipeline to work...

        // for now, hard code tag width based on enum value
-        double tagWidth = 0.16; // guess at 200mm??
+        double tagWidth;
+
+        // This needs
        switch (settings.targetModel) {
            case k200mmAprilTag:
                {
                    tagWidth = Units.inchesToMeters(3.25 * 2);
                    break;
                }
+            case k6in_16h5:
+                {
+                    tagWidth = Units.inchesToMeters(3 * 2);
+                    break;
+                }
            default:
                {
+                    // guess at 200mm?? If it's zero everything breaks, but it should _never_ be zero. Unless
+                    // users select the wrong model...
+                    tagWidth = 0.16;
                    break;
                }
        }

-        aprilTagDetectionPipe.setParams(
-                new AprilTagDetectionPipeParams(
-                        aprilTagDetectionParams,
-                        frameStaticProperties.cameraCalibration,
-                        settings.numIterations,
-                        tagWidth));
+        // AprilTagDetectorParams aprilTagDetectionParams =
+        //         new AprilTagDetectorParams(
+        //                 settings.tagFamily,
+        //                 settings.decimate,
+        //                 settings.blur,
+        //                 settings.threads,
+        //                 settings.debug,
+        //                 settings.refineEdges);
+
+        var config = new AprilTagDetector.Config();
+        config.numThreads = settings.threads;
+        config.refineEdges = settings.refineEdges;
+        config.quadSigma = (float) settings.blur;
+        config.quadDecimate = settings.decimate;
+        aprilTagDetectionPipe.setParams(new AprilTagDetectionPipeParams(settings.tagFamily, config));
+
+        if (frameStaticProperties.cameraCalibration != null) {
+            var cameraMatrix = frameStaticProperties.cameraCalibration.getCameraIntrinsicsMat();
+            if (cameraMatrix != null) {
+                var cx = cameraMatrix.get(0, 2)[0];
+                var cy = cameraMatrix.get(1, 2)[0];
+                var fx = cameraMatrix.get(0, 0)[0];
+                var fy = cameraMatrix.get(1, 1)[0];
+
+                poseEstimatorPipe.setParams(
+                        new AprilTagPoseEstimatorPipeParams(
+                                new Config(tagWidth, fx, fy, cx, cy), settings.numIterations));
+            }
+        }
    }

    @Override
    protected CVPipelineResult process(Frame frame, AprilTagPipelineSettings settings) {
        long sumPipeNanosElapsed = 0L;

-        CVPipeResult<Mat> grayscalePipeResult;
-        Mat rawInputMat;
-        boolean inputSingleChannel = frame.image.getMat().channels() == 1;
-
-        if (inputSingleChannel) {
-            rawInputMat = new Mat(PicamJNI.grabFrame(true));
-            frame.image.getMat().release(); // release the 8bit frame ASAP.
-        } else {
-            rawInputMat = frame.image.getMat();
-            var rotateImageResult = rotateImagePipe.run(rawInputMat);
-            sumPipeNanosElapsed += rotateImageResult.nanosElapsed;
-        }
-
-        var inputFrame = new Frame(new CVMat(rawInputMat), frameStaticProperties);
-
-        grayscalePipeResult = grayscalePipe.run(rawInputMat);
-        sumPipeNanosElapsed += grayscalePipeResult.nanosElapsed;
-
-        var outputFrame = new Frame(new CVMat(grayscalePipeResult.output), frameStaticProperties);
-
        List<TrackedTarget> targetList;
-        CVPipeResult<List<DetectionResult>> tagDetectionPipeResult;

        // Use the solvePNP Enabled flag to enable native pose estimation
        aprilTagDetectionPipe.setNativePoseEstimationEnabled(settings.solvePNPEnabled);

-        tagDetectionPipeResult = aprilTagDetectionPipe.run(grayscalePipeResult.output);
+        if (frame.type != FrameThresholdType.GREYSCALE) {
+            // TODO so all cameras should give us ADAPTIVE_THRESH -- how should we handle if not?
+            return new CVPipelineResult(0, 0, List.of());
+        }
+
+        CVPipeResult<List<AprilTagDetection>> tagDetectionPipeResult;
+        tagDetectionPipeResult = aprilTagDetectionPipe.run(frame.processedImage);
        sumPipeNanosElapsed += tagDetectionPipeResult.nanosElapsed;

        targetList = new ArrayList<>();
-        for (DetectionResult detection : tagDetectionPipeResult.output) {
+        for (AprilTagDetection detection : tagDetectionPipeResult.output) {
+            // TODO this should be in a pipe, not in the top level here (Matt)
+            if (detection.getDecisionMargin() < settings.decisionMargin) continue;
+            if (detection.getHamming() > settings.hammingDist) continue;
+
+            AprilTagPoseEstimate tagPoseEstimate = null;
+            if (settings.solvePNPEnabled) {
+                var poseResult = poseEstimatorPipe.run(detection);
+                sumPipeNanosElapsed += poseResult.nanosElapsed;
+                tagPoseEstimate = poseResult.output;
+            }
+
            // populate the target list
            // Challenge here is that TrackedTarget functions with OpenCV Contour
            TrackedTarget target =
                    new TrackedTarget(
                            detection,
+                            tagPoseEstimate,
                            new TargetCalculationParameters(
                                    false, null, null, null, null, frameStaticProperties));

-            var correctedPose = MathUtils.convertOpenCVtoPhotonPose(target.getCameraToTarget3d());
-            target.setCameraToTarget3d(
-                    new Transform3d(correctedPose.getTranslation(), correctedPose.getRotation()));
+            var correctedBestPose = MathUtils.convertOpenCVtoPhotonPose(target.getBestCameraToTarget3d());
+            var correctedAltPose = MathUtils.convertOpenCVtoPhotonPose(target.getAltCameraToTarget3d());
+
+            target.setBestCameraToTarget3d(
+                    new Transform3d(correctedBestPose.getTranslation(), correctedBestPose.getRotation()));
+            target.setAltCameraToTarget3d(
+                    new Transform3d(correctedAltPose.getTranslation(), correctedAltPose.getRotation()));

            targetList.add(target);
        }
@@ -153,6 +177,6 @@ public class AprilTagPipeline extends CVPipeline<CVPipelineResult, AprilTagPipel
        var fpsResult = calculateFPSPipe.run(null);
        var fps = fpsResult.output;

-        return new CVPipelineResult(sumPipeNanosElapsed, fps, targetList, outputFrame, inputFrame);
+        return new CVPipelineResult(sumPipeNanosElapsed, fps, targetList, frame);
    }
 }
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipelineSettings.java
@@ -25,13 +25,17 @@ import org.photonvision.vision.target.TargetModel;
@JsonTypeName("AprilTagPipelineSettings")
 public class AprilTagPipelineSettings extends AdvancedPipelineSettings {
    public AprilTagFamily tagFamily = AprilTagFamily.kTag36h11;
-    public double decimate = 1.0;
+    public int decimate = 1;
    public double blur = 0;
    public int threads = 1;
    public boolean debug = false;
    public boolean refineEdges = true;
    public int numIterations = 200;

+    // TODO is this a legit, reasonable default?
+    public int hammingDist = 1;
+    public int decisionMargin = 30;
+
    // 3d settings

    public AprilTagPipelineSettings() {
@@ -39,8 +43,6 @@ public class AprilTagPipelineSettings extends AdvancedPipelineSettings {
        pipelineType = PipelineType.AprilTag;
        outputShowMultipleTargets = true;
        targetModel = TargetModel.k200mmAprilTag;
-        cameraExposure = -1;
-        cameraAutoExposure = true;
        ledMode = false;
    }

--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipeline.java
@@ -17,10 +17,10 @@

 package org.photonvision.vision.pipeline;

-import java.util.List;
 import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.FrameStaticProperties;
+import org.photonvision.vision.frame.FrameThresholdType;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;

 public abstract class CVPipeline<R extends CVPipelineResult, S extends CVPipelineSettings> {
@@ -28,6 +28,16 @@ public abstract class CVPipeline<R extends CVPipelineResult, S extends CVPipelin
    protected FrameStaticProperties frameStaticProperties;
    protected QuirkyCamera cameraQuirks;

+    private final FrameThresholdType thresholdType;
+
+    public CVPipeline(FrameThresholdType thresholdType) {
+        this.thresholdType = thresholdType;
+    }
+
+    public FrameThresholdType getThresholdType() {
+        return thresholdType;
+    }
+
    protected void setPipeParams(
            FrameStaticProperties frameStaticProperties, S settings, QuirkyCamera cameraQuirks) {
        this.settings = settings;
@@ -55,10 +65,10 @@ public abstract class CVPipeline<R extends CVPipelineResult, S extends CVPipelin
        }
        setPipeParams(frame.frameStaticProperties, settings, cameraQuirks);

-        if (frame.image.getMat().empty()) {
-            //noinspection unchecked
-            return (R) new CVPipelineResult(0, 0, List.of(), frame);
-        }
+        // if (frame.image.getMat().empty()) {
+        //     //noinspection unchecked
+        //     return (R) new CVPipelineResult(0, 0, List.of(), frame);
+        // }
        R result = process(frame, settings);

        result.setImageCaptureTimestampNanos(frame.timestampNanos);
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java
@@ -21,7 +21,6 @@ import com.fasterxml.jackson.annotation.JsonSubTypes;
 import com.fasterxml.jackson.annotation.JsonTypeInfo;
 import java.util.Objects;
 import org.photonvision.vision.frame.FrameDivisor;
-import org.photonvision.vision.opencv.ImageFlipMode;
 import org.photonvision.vision.opencv.ImageRotationMode;

@JsonTypeInfo(
@@ -37,7 +36,6 @@ import org.photonvision.vision.opencv.ImageRotationMode;
 public class CVPipelineSettings implements Cloneable {
    public int pipelineIndex = 0;
    public PipelineType pipelineType = PipelineType.DriverMode;
-    public ImageFlipMode inputImageFlipMode = ImageFlipMode.NONE;
    public ImageRotationMode inputImageRotationMode = ImageRotationMode.DEG_0;
    public String pipelineNickname = "New Pipeline";
    public boolean cameraAutoExposure = false;
@@ -70,7 +68,6 @@ public class CVPipelineSettings implements Cloneable {
                && cameraVideoModeIndex == that.cameraVideoModeIndex
                && ledMode == that.ledMode
                && pipelineType == that.pipelineType
-                && inputImageFlipMode == that.inputImageFlipMode
                && inputImageRotationMode == that.inputImageRotationMode
                && pipelineNickname.equals(that.pipelineNickname)
                && streamingFrameDivisor == that.streamingFrameDivisor
@@ -83,7 +80,6 @@ public class CVPipelineSettings implements Cloneable {
        return Objects.hash(
                pipelineIndex,
                pipelineType,
-                inputImageFlipMode,
                inputImageRotationMode,
                pipelineNickname,
                cameraExposure,
@@ -107,4 +103,39 @@ public class CVPipelineSettings implements Cloneable {
            return null;
        }
    }
+
+    @Override
+    public String toString() {
+        return "CVPipelineSettings{"
+                + "pipelineIndex="
+                + pipelineIndex
+                + ", pipelineType="
+                + pipelineType
+                + ", inputImageRotationMode="
+                + inputImageRotationMode
+                + ", pipelineNickname='"
+                + pipelineNickname
+                + '\''
+                + ", cameraExposure="
+                + cameraExposure
+                + ", cameraBrightness="
+                + cameraBrightness
+                + ", cameraGain="
+                + cameraGain
+                + ", cameraRedGain="
+                + cameraRedGain
+                + ", cameraBlueGain="
+                + cameraBlueGain
+                + ", cameraVideoModeIndex="
+                + cameraVideoModeIndex
+                + ", streamingFrameDivisor="
+                + streamingFrameDivisor
+                + ", ledMode="
+                + ledMode
+                + ", inputShouldShow="
+                + inputShouldShow
+                + ", outputShouldShow="
+                + outputShouldShow
+                + '}';
+    }
 }
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java
@@ -34,10 +34,9 @@ import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.SerializationUtils;
 import org.photonvision.common.util.file.FileUtils;
-import org.photonvision.raspi.PicamJNI;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
-import org.photonvision.vision.camera.CameraQuirk;
 import org.photonvision.vision.frame.Frame;
+import org.photonvision.vision.frame.FrameThresholdType;
 import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.pipe.CVPipe.CVPipeResult;
 import org.photonvision.vision.pipe.impl.CalculateFPSPipe;
@@ -71,11 +70,14 @@ public class Calibrate3dPipeline
    // Path to save images
    private final Path imageDir = ConfigManager.getInstance().getCalibDir();

+    private static final FrameThresholdType PROCESSING_TYPE = FrameThresholdType.NONE;
+
    public Calibrate3dPipeline() {
        this(12);
    }

    public Calibrate3dPipeline(int minSnapshots) {
+        super(PROCESSING_TYPE);
        this.settings = new Calibration3dPipelineSettings();
        this.foundCornersList = new ArrayList<>();
        this.minSnapshots = minSnapshots;
@@ -93,26 +95,18 @@ public class Calibrate3dPipeline
                        new Size(frameStaticProperties.imageWidth, frameStaticProperties.imageHeight));
        calibrate3dPipe.setParams(calibratePipeParams);

-        if (cameraQuirks.hasQuirk(CameraQuirk.PiCam) && PicamJNI.isSupported()) {
-            PicamJNI.setRotation(settings.inputImageRotationMode.value);
-            PicamJNI.setShouldCopyColor(true);
-        }
+        // if (cameraQuirks.hasQuirk(CameraQuirk.PiCam) && LibCameraJNI.isSupported()) {
+        //     LibCameraJNI.setRotation(settings.inputImageRotationMode.value);
+        //     // LibCameraJNI.setShouldCopyColor(true);
+        // }
    }

    @Override
    protected CVPipelineResult process(Frame frame, Calibration3dPipelineSettings settings) {
-        Mat inputColorMat = frame.image.getMat();
-        if (inputColorMat.channels() == 1
-                && cameraQuirks.hasQuirk(CameraQuirk.PiCam)
-                && PicamJNI.isSupported()) {
-            long colorMatPtr = PicamJNI.grabFrame(true);
-            if (colorMatPtr == 0) throw new RuntimeException("Got null Mat from GPU Picam driver");
-            inputColorMat = new Mat(colorMatPtr);
-        }
+        Mat inputColorMat = frame.colorImage.getMat();

        if (this.calibrating) {
-            return new CVPipelineResult(
-                    0, 0, null, new Frame(new CVMat(inputColorMat), frame.frameStaticProperties));
+            return new CVPipelineResult(0, 0, null, frame);
        }

        long sumPipeNanosElapsed = 0L;
@@ -141,14 +135,15 @@ public class Calibrate3dPipeline
            }
        }

-        frame.image.release();
+        frame.release();

        // Return the drawn chessboard if corners are found, if not, then return the input image.
        return new CVPipelineResult(
                sumPipeNanosElapsed,
                fps, // Unused but here in case
                Collections.emptyList(),
-                new Frame(outputColorCVMat, frame.frameStaticProperties));
+                new Frame(
+                        new CVMat(), outputColorCVMat, FrameThresholdType.NONE, frame.frameStaticProperties));
    }

    public void deleteSavedImages() {
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibration3dPipelineSettings.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibration3dPipelineSettings.java
@@ -27,4 +27,11 @@ public class Calibration3dPipelineSettings extends AdvancedPipelineSettings {
    public double gridSize = Units.inchesToMeters(1.0);

    public Size resolution = new Size(640, 480);
+
+    public Calibration3dPipelineSettings() {
+        super();
+
+        this.inputShouldShow = true;
+        this.outputShouldShow = true;
+    }
 }
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java
@@ -21,12 +21,9 @@ import java.util.Arrays;
 import java.util.List;
 import java.util.stream.Collectors;
 import org.apache.commons.lang3.tuple.Pair;
-import org.opencv.core.Mat;
 import org.opencv.core.Point;
-import org.photonvision.common.util.math.MathUtils;
-import org.photonvision.raspi.PicamJNI;
-import org.photonvision.vision.camera.CameraQuirk;
 import org.photonvision.vision.frame.Frame;
+import org.photonvision.vision.frame.FrameThresholdType;
 import org.photonvision.vision.opencv.*;
 import org.photonvision.vision.pipe.CVPipe.CVPipeResult;
 import org.photonvision.vision.pipe.impl.*;
@@ -37,9 +34,7 @@ import org.photonvision.vision.target.TrackedTarget;
@SuppressWarnings({"DuplicatedCode"})
 public class ColoredShapePipeline
        extends CVPipeline<CVPipelineResult, ColoredShapePipelineSettings> {
-    private final RotateImagePipe rotateImagePipe = new RotateImagePipe();
    private final ErodeDilatePipe erodeDilatePipe = new ErodeDilatePipe();
-    private final HSVPipe hsvPipe = new HSVPipe();
    private final SpeckleRejectPipe speckleRejectPipe = new SpeckleRejectPipe();
    private final FindContoursPipe findContoursPipe = new FindContoursPipe();
    private final FindPolygonPipe findPolygonPipe = new FindPolygonPipe();
@@ -56,11 +51,15 @@ public class ColoredShapePipeline

    private final Point[] rectPoints = new Point[4];

+    private static final FrameThresholdType PROCESSING_TYPE = FrameThresholdType.HSV;
+
    public ColoredShapePipeline() {
+        super(PROCESSING_TYPE);
        settings = new ColoredShapePipelineSettings();
    }

    public ColoredShapePipeline(ColoredShapePipelineSettings settings) {
+        super(PROCESSING_TYPE);
        this.settings = settings;
    }

@@ -73,29 +72,6 @@ public class ColoredShapePipeline
                        settings.offsetDualPointB,
                        settings.offsetDualPointBArea);

-        RotateImagePipe.RotateImageParams rotateImageParams =
-                new RotateImagePipe.RotateImageParams(settings.inputImageRotationMode);
-        rotateImagePipe.setParams(rotateImageParams);
-
-        if (cameraQuirks.hasQuirk(CameraQuirk.PiCam) && PicamJNI.isSupported()) {
-            PicamJNI.setThresholds(
-                    settings.hsvHue.getFirst() / 180d,
-                    settings.hsvSaturation.getFirst() / 255d,
-                    settings.hsvValue.getFirst() / 255d,
-                    settings.hsvHue.getSecond() / 180d,
-                    settings.hsvSaturation.getSecond() / 255d,
-                    settings.hsvValue.getSecond() / 255d);
-            PicamJNI.setInvertHue(settings.hueInverted);
-
-            PicamJNI.setRotation(settings.inputImageRotationMode.value);
-            PicamJNI.setShouldCopyColor(settings.inputShouldShow);
-        } else {
-            var hsvParams =
-                    new HSVPipe.HSVParams(
-                            settings.hsvHue, settings.hsvSaturation, settings.hsvValue, settings.hueInverted);
-            hsvPipe.setParams(hsvParams);
-        }
-
        ErodeDilatePipe.ErodeDilateParams erodeDilateParams =
                new ErodeDilatePipe.ErodeDilateParams(settings.erode, settings.dilate, 5);
        // TODO: add kernel size to pipeline settings
@@ -182,7 +158,8 @@ public class ColoredShapePipeline
                        settings.offsetSinglePoint,
                        dualOffsetValues,
                        frameStaticProperties,
-                        settings.streamingFrameDivisor);
+                        settings.streamingFrameDivisor,
+                        settings.inputImageRotationMode);
        draw2dCrosshairPipe.setParams(draw2dCrosshairParams);

        var draw3dTargetsParams =
@@ -198,45 +175,14 @@ public class ColoredShapePipeline
    protected CVPipelineResult process(Frame frame, ColoredShapePipelineSettings settings) {
        long sumPipeNanosElapsed = 0L;

-        CVPipeResult<Mat> hsvPipeResult;
-        Mat rawInputMat;
-        if (frame.image.getMat().channels() != 1) {
-            var rotateImageResult = rotateImagePipe.run(frame.image.getMat());
-            sumPipeNanosElapsed = rotateImageResult.nanosElapsed;
-
-            rawInputMat = frame.image.getMat();
-
-            hsvPipeResult = hsvPipe.run(rawInputMat);
-            sumPipeNanosElapsed += hsvPipeResult.nanosElapsed;
-        } else {
-            // Try to copy the color frame.
-            long inputMatPtr = PicamJNI.grabFrame(true);
-            if (inputMatPtr != 0) {
-                // If we grabbed it (in color copy mode), make a new Mat of it
-                rawInputMat = new Mat(inputMatPtr);
-            } else {
-                //                // Otherwise, use a blank/empty mat as placeholder
-                //                rawInputMat = new Mat();
-                // Otherwise, the input mat is frame we got from the camera
-                rawInputMat = frame.image.getMat();
-            }
-
-            // We can skip a few steps if the image is single channel because we've already done them on
-            // the GPU
-            hsvPipeResult = new CVPipeResult<>();
-            hsvPipeResult.output = frame.image.getMat();
-            hsvPipeResult.nanosElapsed = MathUtils.wpiNanoTime() - frame.timestampNanos;
-
-            sumPipeNanosElapsed += hsvPipeResult.nanosElapsed;
-        }
-
        //        var erodeDilateResult = erodeDilatePipe.run(rawInputMat);
        //        sumPipeNanosElapsed += erodeDilateResult.nanosElapsed;
        //
        //        CVPipeResult<Mat> hsvPipeResult = hsvPipe.run(rawInputMat);
        //        sumPipeNanosElapsed += hsvPipeResult.nanosElapsed;

-        CVPipeResult<List<Contour>> findContoursResult = findContoursPipe.run(hsvPipeResult.output);
+        CVPipeResult<List<Contour>> findContoursResult =
+                findContoursPipe.run(frame.processedImage.getMat());
        sumPipeNanosElapsed += findContoursResult.nanosElapsed;

        CVPipeResult<List<Contour>> speckleRejectResult =
@@ -246,7 +192,7 @@ public class ColoredShapePipeline
        List<CVShape> shapes = null;
        if (settings.contourShape == ContourShape.Circle) {
            CVPipeResult<List<CVShape>> findCirclesResult =
-                    findCirclesPipe.run(Pair.of(hsvPipeResult.output, speckleRejectResult.output));
+                    findCirclesPipe.run(Pair.of(frame.processedImage.getMat(), speckleRejectResult.output));
            sumPipeNanosElapsed += findCirclesResult.nanosElapsed;
            shapes = findCirclesResult.output;
        } else {
@@ -292,11 +238,6 @@ public class ColoredShapePipeline
        var fpsResult = calculateFPSPipe.run(null);
        var fps = fpsResult.output;

-        return new CVPipelineResult(
-                sumPipeNanosElapsed,
-                fps,
-                targetList,
-                new Frame(new CVMat(hsvPipeResult.output), frame.frameStaticProperties),
-                new Frame(new CVMat(rawInputMat), frame.frameStaticProperties));
+        return new CVPipelineResult(sumPipeNanosElapsed, fps, targetList, frame);
    }
 }
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java
@@ -19,12 +19,11 @@ package org.photonvision.vision.pipeline;

 import java.util.List;
 import org.apache.commons.lang3.tuple.Pair;
-import org.opencv.core.Mat;
 import org.photonvision.common.util.math.MathUtils;
-import org.photonvision.raspi.PicamJNI;
+import org.photonvision.raspi.LibCameraJNI;
 import org.photonvision.vision.camera.CameraQuirk;
 import org.photonvision.vision.frame.Frame;
-import org.photonvision.vision.opencv.CVMat;
+import org.photonvision.vision.frame.FrameThresholdType;
 import org.photonvision.vision.pipe.impl.CalculateFPSPipe;
 import org.photonvision.vision.pipe.impl.Draw2dCrosshairPipe;
 import org.photonvision.vision.pipe.impl.ResizeImagePipe;
@@ -38,10 +37,18 @@ public class DriverModePipeline
    private final CalculateFPSPipe calculateFPSPipe = new CalculateFPSPipe();
    private final ResizeImagePipe resizeImagePipe = new ResizeImagePipe();

+    private static final FrameThresholdType PROCESSING_TYPE = FrameThresholdType.NONE;
+
    public DriverModePipeline() {
+        super(PROCESSING_TYPE);
        settings = new DriverModePipelineSettings();
    }

+    public DriverModePipeline(DriverModePipelineSettings settings) {
+        super(PROCESSING_TYPE);
+        this.settings = settings;
+    }
+
    @Override
    protected void setPipeParamsImpl() {
        RotateImagePipe.RotateImageParams rotateImageParams =
@@ -50,31 +57,25 @@ public class DriverModePipeline

        Draw2dCrosshairPipe.Draw2dCrosshairParams draw2dCrosshairParams =
                new Draw2dCrosshairPipe.Draw2dCrosshairParams(
-                        frameStaticProperties, settings.streamingFrameDivisor);
+                        frameStaticProperties, settings.streamingFrameDivisor, settings.inputImageRotationMode);
        draw2dCrosshairPipe.setParams(draw2dCrosshairParams);

        resizeImagePipe.setParams(
                new ResizeImagePipe.ResizeImageParams(settings.streamingFrameDivisor));

-        if (PicamJNI.isSupported() && cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
-            PicamJNI.setRotation(settings.inputImageRotationMode.value);
-            PicamJNI.setShouldCopyColor(true);
-        }
+        // if (LibCameraJNI.isSupported() && cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
+        // LibCameraJNI.setRotation(settings.inputImageRotationMode.value);
+        // LibCameraJNI.setShouldCopyColor(true);
+        // }
    }

    @Override
    public DriverModePipelineResult process(Frame frame, DriverModePipelineSettings settings) {
        long totalNanos = 0;
-        boolean accelerated = PicamJNI.isSupported() && cameraQuirks.hasQuirk(CameraQuirk.PiCam);
+        boolean accelerated = LibCameraJNI.isSupported() && cameraQuirks.hasQuirk(CameraQuirk.PiCam);

        // apply pipes
-        var inputMat = frame.image.getMat();
-        if (inputMat.channels() == 1 && accelerated) {
-            long colorMatPtr = PicamJNI.grabFrame(true);
-            if (colorMatPtr == 0) throw new RuntimeException("Got null Mat from GPU Picam driver");
-            frame.image.release();
-            inputMat = new Mat(colorMatPtr);
-        }
+        var inputMat = frame.colorImage.getMat();

        totalNanos += resizeImagePipe.run(inputMat).nanosElapsed;

@@ -91,9 +92,10 @@ public class DriverModePipeline
        var fpsResult = calculateFPSPipe.run(null);
        var fps = fpsResult.output;

+        // Flip-flop input and output in the Frame
        return new DriverModePipelineResult(
                MathUtils.nanosToMillis(totalNanos),
                fps,
-                new Frame(new CVMat(inputMat), frame.frameStaticProperties));
+                new Frame(frame.processedImage, frame.colorImage, frame.type, frame.frameStaticProperties));
    }
 }
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java
@@ -21,8 +21,6 @@ import java.util.List;
 import org.apache.commons.lang3.tuple.Pair;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.FrameStaticProperties;
-import org.photonvision.vision.opencv.CVMat;
-import org.photonvision.vision.opencv.ContourShape;
 import org.photonvision.vision.opencv.DualOffsetValues;
 import org.photonvision.vision.pipe.impl.*;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
@@ -74,7 +72,8 @@ public class OutputStreamPipeline {
                        settings.offsetSinglePoint,
                        dualOffsetValues,
                        frameStaticProperties,
-                        settings.streamingFrameDivisor);
+                        settings.streamingFrameDivisor,
+                        settings.inputImageRotationMode);
        draw2dCrosshairPipe.setParams(draw2dCrosshairParams);

        var draw3dTargetsParams =
@@ -98,18 +97,19 @@ public class OutputStreamPipeline {
    }

    public CVPipelineResult process(
-            Frame inputFrame,
-            Frame outputFrame,
+            Frame inputAndOutputFrame,
            AdvancedPipelineSettings settings,
            List<TrackedTarget> targetsToDraw) {
-        setPipeParams(inputFrame.frameStaticProperties, settings);
-        var inMat = inputFrame.image.getMat();
-        var outMat = outputFrame.image.getMat();
+        setPipeParams(inputAndOutputFrame.frameStaticProperties, settings);
+        var inMat = inputAndOutputFrame.colorImage.getMat();
+        var outMat = inputAndOutputFrame.processedImage.getMat();

        long sumPipeNanosElapsed = 0L;

        // Resize both in place before doing any conversion
-        sumPipeNanosElapsed += pipeProfileNanos[0] = resizeImagePipe.run(inMat).nanosElapsed;
+        boolean inEmpty = inMat.empty();
+        if (!inEmpty)
+            sumPipeNanosElapsed += pipeProfileNanos[0] = resizeImagePipe.run(inMat).nanosElapsed;
        sumPipeNanosElapsed += pipeProfileNanos[1] = resizeImagePipe.run(outMat).nanosElapsed;

        // Convert single-channel HSV output mat to 3-channel BGR in preparation for streaming
@@ -130,10 +130,7 @@ public class OutputStreamPipeline {
            var draw2dCrosshairResultOnOutput = draw2dCrosshairPipe.run(Pair.of(outMat, targetsToDraw));
            sumPipeNanosElapsed += pipeProfileNanos[4] = draw2dCrosshairResultOnOutput.nanosElapsed;

-            if (settings.solvePNPEnabled
-                    || (settings.solvePNPEnabled
-                            && settings instanceof ColoredShapePipelineSettings
-                            && ((ColoredShapePipelineSettings) settings).contourShape == ContourShape.Circle)) {
+            if (settings.solvePNPEnabled) {
                // Draw 3D Targets on input and output if possible
                pipeProfileNanos[5] = 0;
                pipeProfileNanos[6] = 0;
@@ -182,7 +179,6 @@ public class OutputStreamPipeline {
                sumPipeNanosElapsed,
                fps, // Unused but here just in case
                targetsToDraw,
-                new Frame(new CVMat(outMat), outputFrame.frameStaticProperties),
-                new Frame(new CVMat(inMat), inputFrame.frameStaticProperties));
+                inputAndOutputFrame);
    }
 }
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java
@@ -18,12 +18,8 @@
 package org.photonvision.vision.pipeline;

 import java.util.List;
-import org.opencv.core.Mat;
-import org.photonvision.common.util.math.MathUtils;
-import org.photonvision.raspi.PicamJNI;
-import org.photonvision.vision.camera.CameraQuirk;
 import org.photonvision.vision.frame.Frame;
-import org.photonvision.vision.opencv.CVMat;
+import org.photonvision.vision.frame.FrameThresholdType;
 import org.photonvision.vision.opencv.Contour;
 import org.photonvision.vision.opencv.DualOffsetValues;
 import org.photonvision.vision.pipe.CVPipe.CVPipeResult;
@@ -36,8 +32,6 @@ import org.photonvision.vision.target.TrackedTarget;
 /** Represents a pipeline for tracking retro-reflective targets. */
@SuppressWarnings({"DuplicatedCode"})
 public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectivePipelineSettings> {
-    private final RotateImagePipe rotateImagePipe = new RotateImagePipe();
-    private final HSVPipe hsvPipe = new HSVPipe();
    private final FindContoursPipe findContoursPipe = new FindContoursPipe();
    private final SpeckleRejectPipe speckleRejectPipe = new SpeckleRejectPipe();
    private final FilterContoursPipe filterContoursPipe = new FilterContoursPipe();
@@ -50,11 +44,15 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP

    private final long[] pipeProfileNanos = new long[PipelineProfiler.ReflectivePipeCount];

+    private static final FrameThresholdType PROCESSING_TYPE = FrameThresholdType.HSV;
+
    public ReflectivePipeline() {
+        super(PROCESSING_TYPE);
        settings = new ReflectivePipelineSettings();
    }

    public ReflectivePipeline(ReflectivePipelineSettings settings) {
+        super(PROCESSING_TYPE);
        this.settings = settings;
    }

@@ -67,27 +65,28 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
                        settings.offsetDualPointB,
                        settings.offsetDualPointBArea);

-        var rotateImageParams = new RotateImagePipe.RotateImageParams(settings.inputImageRotationMode);
-        rotateImagePipe.setParams(rotateImageParams);
+        // var rotateImageParams = new
+        // RotateImagePipe.RotateImageParams(settings.inputImageRotationMode);
+        // rotateImagePipe.setParams(rotateImageParams);

-        if (cameraQuirks.hasQuirk(CameraQuirk.PiCam) && PicamJNI.isSupported()) {
-            PicamJNI.setThresholds(
-                    settings.hsvHue.getFirst() / 180d,
-                    settings.hsvSaturation.getFirst() / 255d,
-                    settings.hsvValue.getFirst() / 255d,
-                    settings.hsvHue.getSecond() / 180d,
-                    settings.hsvSaturation.getSecond() / 255d,
-                    settings.hsvValue.getSecond() / 255d);
-            PicamJNI.setInvertHue(settings.hueInverted);
-
-            PicamJNI.setRotation(settings.inputImageRotationMode.value);
-            PicamJNI.setShouldCopyColor(settings.inputShouldShow);
-        } else {
-            var hsvParams =
-                    new HSVPipe.HSVParams(
-                            settings.hsvHue, settings.hsvSaturation, settings.hsvValue, settings.hueInverted);
-            hsvPipe.setParams(hsvParams);
-        }
+        // if (cameraQuirks.hasQuirk(CameraQuirk.PiCam) && LibCameraJNI.isSupported()) {
+        //     LibCameraJNI.setThresholds(
+        //             settings.hsvHue.getFirst() / 180d,
+        //             settings.hsvSaturation.getFirst() / 255d,
+        //             settings.hsvValue.getFirst() / 255d,
+        //             settings.hsvHue.getSecond() / 180d,
+        //             settings.hsvSaturation.getSecond() / 255d,
+        //             settings.hsvValue.getSecond() / 255d);
+        //     //     LibCameraJNI.setInvertHue(settings.hueInverted);
+        //     LibCameraJNI.setRotation(settings.inputImageRotationMode.value);
+        //     //     LibCameraJNI.setShouldCopyColor(settings.inputShouldShow);
+        // } else {
+        //     var hsvParams =
+        //             new HSVPipe.HSVParams(
+        //                     settings.hsvHue, settings.hsvSaturation, settings.hsvValue,
+        // settings.hueInverted);
+        //     hsvPipe.setParams(hsvParams);
+        // }

        var findContoursParams = new FindContoursPipe.FindContoursParams();
        findContoursPipe.setParams(findContoursParams);
@@ -148,40 +147,8 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
    public CVPipelineResult process(Frame frame, ReflectivePipelineSettings settings) {
        long sumPipeNanosElapsed = 0L;

-        CVPipeResult<Mat> hsvPipeResult;
-        Mat rawInputMat;
-        if (frame.image.getMat().channels() != 1) {
-            var rotateImageResult = rotateImagePipe.run(frame.image.getMat());
-            sumPipeNanosElapsed += pipeProfileNanos[0] = rotateImageResult.nanosElapsed;
-
-            rawInputMat = frame.image.getMat();
-
-            hsvPipeResult = hsvPipe.run(rawInputMat);
-            sumPipeNanosElapsed += hsvPipeResult.nanosElapsed;
-            pipeProfileNanos[1] = pipeProfileNanos[1] = hsvPipeResult.nanosElapsed;
-        } else {
-            // Try to copy the color frame.
-            long inputMatPtr = PicamJNI.grabFrame(true);
-            if (inputMatPtr != 0) {
-                // If we grabbed it (in color copy mode), make a new Mat of it
-                rawInputMat = new Mat(inputMatPtr);
-            } else {
-                // Otherwise, the input mat is frame we got from the camera
-                rawInputMat = frame.image.getMat();
-                //                // Otherwise, use a blank/empty mat as placeholder
-                //                rawInputMat = new Mat();
-            }
-
-            // We can skip a few steps if the image is single channel because we've already done them on
-            // the GPU
-            hsvPipeResult = new CVPipeResult<>();
-            hsvPipeResult.output = frame.image.getMat();
-            hsvPipeResult.nanosElapsed = MathUtils.wpiNanoTime() - frame.timestampNanos;
-
-            sumPipeNanosElapsed = pipeProfileNanos[1] = hsvPipeResult.nanosElapsed;
-        }
-
-        CVPipeResult<List<Contour>> findContoursResult = findContoursPipe.run(hsvPipeResult.output);
+        CVPipeResult<List<Contour>> findContoursResult =
+                findContoursPipe.run(frame.processedImage.getMat());
        sumPipeNanosElapsed += pipeProfileNanos[2] = findContoursResult.nanosElapsed;

        CVPipeResult<List<Contour>> speckleRejectResult =
@@ -226,11 +193,6 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP

        PipelineProfiler.printReflectiveProfile(pipeProfileNanos);

-        return new CVPipelineResult(
-                sumPipeNanosElapsed,
-                fps,
-                targetList,
-                new Frame(new CVMat(hsvPipeResult.output), frame.frameStaticProperties),
-                new Frame(new CVMat(rawInputMat), frame.frameStaticProperties));
+        return new CVPipelineResult(sumPipeNanosElapsed, fps, targetList, frame);
    }
 }
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java
@@ -29,26 +29,19 @@ public class CVPipelineResult implements Releasable {
    public final double processingNanos;
    public final double fps;
    public final List<TrackedTarget> targets;
-    public final Frame outputFrame;
-    public final Frame inputFrame;
+    public final Frame inputAndOutputFrame;

    public CVPipelineResult(
-            double processingNanos,
-            double fps,
-            List<TrackedTarget> targets,
-            Frame outputFrame,
-            Frame inputFrame) {
+            double processingNanos, double fps, List<TrackedTarget> targets, Frame inputFrame) {
        this.processingNanos = processingNanos;
        this.fps = fps;
        this.targets = targets != null ? targets : Collections.emptyList();

-        this.outputFrame = outputFrame;
-        this.inputFrame = inputFrame;
+        this.inputAndOutputFrame = inputFrame;
    }

-    public CVPipelineResult(
-            double processingNanos, double fps, List<TrackedTarget> targets, Frame outputFrame) {
-        this(processingNanos, fps, targets, outputFrame, null);
+    public CVPipelineResult(double processingNanos, double fps, List<TrackedTarget> targets) {
+        this(processingNanos, fps, targets, null);
    }

    public boolean hasTargets() {
@@ -59,8 +52,7 @@ public class CVPipelineResult implements Releasable {
        for (TrackedTarget tt : targets) {
            tt.release();
        }
-        outputFrame.release();
-        if (inputFrame != null) inputFrame.release();
+        if (inputAndOutputFrame != null) inputAndOutputFrame.release();
    }

    /**
@@ -68,6 +60,7 @@ public class CVPipelineResult implements Releasable {
     * the latency is relative to the time at which this method is called. Waiting to call this method
     * will change the latency this method returns.
     */
+    @Deprecated
    public double getLatencyMillis() {
        var now = MathUtils.wpiNanoTime();
        return MathUtils.nanosToMillis(now - imageCaptureTimestampNanos);
--- a/photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java
@@ -92,6 +92,28 @@ public class PipelineManager {
        return null;
    }

+    /**
+     * Get the settings for a pipeline by index.
+     *
+     * @param index Index of pipeline whose nickname needs getting.
+     * @return the nickname of the pipeline whose index was provided.
+     */
+    public String getPipelineNickname(int index) {
+        if (index < 0) {
+            switch (index) {
+                case DRIVERMODE_INDEX:
+                    return driverModePipeline.getSettings().pipelineNickname;
+                case CAL_3D_INDEX:
+                    return calibration3dPipeline.getSettings().pipelineNickname;
+            }
+        }
+
+        for (var setting : userPipelineSettings) {
+            if (setting.pipelineIndex == index) return setting.pipelineNickname;
+        }
+        return null;
+    }
+
    /**
     * Gets a list of nicknames for all user pipelines
     *
@@ -181,17 +203,17 @@ public class PipelineManager {
            var desiredPipelineSettings = userPipelineSettings.get(currentPipelineIndex);
            switch (desiredPipelineSettings.pipelineType) {
                case Reflective:
-                    logger.debug("Creatig Reflective pipeline");
+                    logger.debug("Creating Reflective pipeline");
                    currentUserPipeline =
                            new ReflectivePipeline((ReflectivePipelineSettings) desiredPipelineSettings);
                    break;
                case ColoredShape:
-                    logger.debug("Creatig ColoredShape pipeline");
+                    logger.debug("Creating ColoredShape pipeline");
                    currentUserPipeline =
                            new ColoredShapePipeline((ColoredShapePipelineSettings) desiredPipelineSettings);
                    break;
                case AprilTag:
-                    logger.debug("Creatig AprilTag pipeline");
+                    logger.debug("Creating AprilTag pipeline");
                    currentUserPipeline =
                            new AprilTagPipeline((AprilTagPipelineSettings) desiredPipelineSettings);
                    break;
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
@@ -17,10 +17,11 @@

 package org.photonvision.vision.processes;

-import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.cscore.VideoException;
 import edu.wpi.first.math.util.Units;
 import io.javalin.websocket.WsContext;
 import java.util.*;
+import java.util.function.BiConsumer;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.configuration.PhotonConfiguration;
@@ -33,15 +34,13 @@ import org.photonvision.common.hardware.HardwareManager;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.SerializationUtils;
-import org.photonvision.common.util.java.TriConsumer;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.camera.CameraQuirk;
+import org.photonvision.vision.camera.LibcameraGpuSource;
 import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.camera.USBCameraSource;
-import org.photonvision.vision.camera.ZeroCopyPicamSource;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.consumer.FileSaveFrameConsumer;
-import org.photonvision.vision.frame.consumer.MJPGFrameConsumer;
 import org.photonvision.vision.pipeline.AdvancedPipelineSettings;
 import org.photonvision.vision.pipeline.OutputStreamPipeline;
 import org.photonvision.vision.pipeline.ReflectivePipelineSettings;
@@ -49,6 +48,8 @@ import org.photonvision.vision.pipeline.UICalibrationData;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.target.TargetModel;
 import org.photonvision.vision.target.TrackedTarget;
+import org.photonvision.vision.videoStream.SocketVideoStream;
+import org.photonvision.vision.videoStream.SocketVideoStreamManager;

 /**
 * This is the God Class
@@ -57,32 +58,31 @@ import org.photonvision.vision.target.TrackedTarget;
 * provide info on settings changes. VisionModuleManager holds a list of all current vision modules.
 */
 public class VisionModule {
-    private static final int streamFPSCap = 30;
-
    private final Logger logger;
    protected final PipelineManager pipelineManager;
    protected final VisionSource visionSource;
    private final VisionRunner visionRunner;
    private final StreamRunnable streamRunnable;
    private final LinkedList<CVPipelineResultConsumer> resultConsumers = new LinkedList<>();
-    private final LinkedList<CVPipelineResultConsumer> fpsLimitedResultConsumers = new LinkedList<>();
    // Raw result consumers run before any drawing has been done by the OutputStreamPipeline
-    private final LinkedList<TriConsumer<Frame, Frame, List<TrackedTarget>>> rawResultConsumers =
+    private final LinkedList<BiConsumer<Frame, List<TrackedTarget>>> streamResultConsumers =
            new LinkedList<>();
    private final NTDataPublisher ntConsumer;
    private final UIDataPublisher uiDataConsumer;
    protected final int moduleIndex;
    protected final QuirkyCamera cameraQuirks;

-    private long lastFrameConsumeMillis;
    protected TrackedTarget lastPipelineResultBestTarget;

-    MJPGFrameConsumer dashboardInputStreamer;
-    MJPGFrameConsumer dashboardOutputStreamer;
+    private int inputStreamPort = -1;
+    private int outputStreamPort = -1;

    FileSaveFrameConsumer inputFrameSaver;
    FileSaveFrameConsumer outputFrameSaver;

+    SocketVideoStream inputVideoStreamer;
+    SocketVideoStream outputVideoStreamer;
+
    public VisionModule(PipelineManager pipelineManager, VisionSource visionSource, int index) {
        logger =
                new Logger(
@@ -93,7 +93,7 @@ public class VisionModule {
        // Find quirks for the current camera
        if (visionSource instanceof USBCameraSource) {
            cameraQuirks = ((USBCameraSource) visionSource).cameraQuirks;
-        } else if (visionSource instanceof ZeroCopyPicamSource) {
+        } else if (visionSource instanceof LibcameraGpuSource) {
            cameraQuirks = QuirkyCamera.ZeroCopyPiCamera;
        } else {
            cameraQuirks = QuirkyCamera.DefaultCamera;
@@ -130,7 +130,7 @@ public class VisionModule {

        createStreams();

-        recreateFpsLimitedResultConsumers();
+        recreateStreamResultConsumers();

        ntConsumer =
                new NTDataPublisher(
@@ -167,48 +167,44 @@ public class VisionModule {
    }

    private void destroyStreams() {
-        dashboardInputStreamer.close();
-        dashboardOutputStreamer.close();
+        SocketVideoStreamManager.getInstance().removeStream(inputVideoStreamer);
+        SocketVideoStreamManager.getInstance().removeStream(outputVideoStreamer);
    }

    private void createStreams() {
        var camStreamIdx = visionSource.getSettables().getConfiguration().streamIndex;
        // If idx = 0, we want (1181, 1182)
-        var inputStreamPort = 1181 + (camStreamIdx * 2);
-        var outputStreamPort = 1181 + (camStreamIdx * 2) + 1;
-
-        dashboardOutputStreamer =
-                new MJPGFrameConsumer(
-                        visionSource.getSettables().getConfiguration().nickname + "-output", outputStreamPort);
-        dashboardInputStreamer =
-                new MJPGFrameConsumer(
-                        visionSource.getSettables().getConfiguration().uniqueName + "-input", inputStreamPort);
+        this.inputStreamPort = 1181 + (camStreamIdx * 2);
+        this.outputStreamPort = 1181 + (camStreamIdx * 2) + 1;

        inputFrameSaver =
                new FileSaveFrameConsumer(visionSource.getSettables().getConfiguration().nickname, "input");
        outputFrameSaver =
                new FileSaveFrameConsumer(
                        visionSource.getSettables().getConfiguration().nickname, "output");
+
+        inputVideoStreamer = new SocketVideoStream(this.inputStreamPort);
+        outputVideoStreamer = new SocketVideoStream(this.outputStreamPort);
+        SocketVideoStreamManager.getInstance().addStream(inputVideoStreamer);
+        SocketVideoStreamManager.getInstance().addStream(outputVideoStreamer);
    }

-    private void recreateFpsLimitedResultConsumers() {
-        // Important! These must come before the stream result consumers because the stream result
-        // consumers release the frame
-        rawResultConsumers.add((in, out, tgts) -> inputFrameSaver.accept(in));
-        fpsLimitedResultConsumers.add(result -> outputFrameSaver.accept(result.outputFrame));
-
-        fpsLimitedResultConsumers.add(
-                result -> {
-                    if (this.pipelineManager.getCurrentPipelineSettings().inputShouldShow)
-                        dashboardInputStreamer.accept(result.inputFrame);
-                    else dashboardInputStreamer.disabledTick();
+    private void recreateStreamResultConsumers() {
+        streamResultConsumers.add(
+                (frame, tgts) -> {
+                    if (frame != null) inputFrameSaver.accept(frame.colorImage);
                });
-        fpsLimitedResultConsumers.add(
-                result -> {
-                    if (this.pipelineManager.getCurrentPipelineSettings().outputShouldShow)
-                        dashboardOutputStreamer.accept(result.outputFrame);
-                    else dashboardInputStreamer.disabledTick();
-                    ;
+        streamResultConsumers.add(
+                (frame, tgts) -> {
+                    if (frame != null) outputFrameSaver.accept(frame.processedImage);
+                });
+        streamResultConsumers.add(
+                (frame, tgts) -> {
+                    if (frame != null) inputVideoStreamer.accept(frame.colorImage);
+                });
+        streamResultConsumers.add(
+                (frame, tgts) -> {
+                    if (frame != null) outputVideoStreamer.accept(frame.processedImage);
                });
    }

@@ -216,7 +212,7 @@ public class VisionModule {
        private final OutputStreamPipeline outputStreamPipeline;

        private final Object frameLock = new Object();
-        private Frame inputFrame, outputFrame;
+        private Frame latestFrame;
        private AdvancedPipelineSettings settings = new AdvancedPipelineSettings();
        private List<TrackedTarget> targets = new ArrayList<>();

@@ -227,42 +223,35 @@ public class VisionModule {
        }

        public void updateData(
-                Frame inputFrame,
-                Frame outputFrame,
-                AdvancedPipelineSettings settings,
-                List<TrackedTarget> targets) {
+                Frame inputOutputFrame, AdvancedPipelineSettings settings, List<TrackedTarget> targets) {
            synchronized (frameLock) {
-                if (shouldRun && this.inputFrame != null && this.outputFrame != null) {
+                if (shouldRun && this.latestFrame != null) {
                    logger.trace("Fell behind; releasing last unused Mats");
-                    this.inputFrame.release();
-                    this.outputFrame.release();
+                    this.latestFrame.release();
                }

-                this.inputFrame = inputFrame;
-                this.outputFrame = outputFrame;
+                this.latestFrame = inputOutputFrame;
                this.settings = settings;
                this.targets = targets;

-                shouldRun =
-                        inputFrame != null
-                                && !inputFrame.image.getMat().empty()
-                                && outputFrame != null
-                                && !outputFrame.image.getMat().empty();
+                shouldRun = inputOutputFrame != null;
+                // && inputOutputFrame.colorImage != null
+                // && !inputOutputFrame.colorImage.getMat().empty()
+                // && inputOutputFrame.processedImage != null
+                // && !inputOutputFrame.processedImage.getMat().empty();
            }
        }

        @Override
        public void run() {
            while (true) {
-                final Frame inputFrame, outputFrame;
+                final Frame m_frame;
                final AdvancedPipelineSettings settings;
                final List<TrackedTarget> targets;
                final boolean shouldRun;
                synchronized (frameLock) {
-                    inputFrame = this.inputFrame;
-                    outputFrame = this.outputFrame;
-                    this.inputFrame = null;
-                    this.outputFrame = null;
+                    m_frame = this.latestFrame;
+                    this.latestFrame = null;

                    settings = this.settings;
                    targets = this.targets;
@@ -271,19 +260,16 @@ public class VisionModule {
                    this.shouldRun = false;
                }
                if (shouldRun) {
-                    consumeRawResults(inputFrame, outputFrame, targets);
                    try {
-                        CVPipelineResult osr =
-                                outputStreamPipeline.process(inputFrame, outputFrame, settings, targets);
+                        CVPipelineResult osr = outputStreamPipeline.process(m_frame, settings, targets);
+                        consumeResults(m_frame, targets);

-                        consumeFpsLimitedResult(osr);
                    } catch (Exception e) {
                        // Never die
                        logger.error("Exception while running stream runnable!", e);
                    }
                    try {
-                        inputFrame.release();
-                        outputFrame.release();
+                        m_frame.release();
                    } catch (Exception e) {
                        logger.error("Exception freeing frames", e);
                    }
@@ -304,7 +290,7 @@ public class VisionModule {
        streamRunnable.start();
    }

-    public void setFovAndPitch(double fov, Rotation2d pitch) {
+    public void setFov(double fov) {
        var settables = visionSource.getSettables();
        logger.trace(() -> "Setting " + settables.getConfiguration().nickname + ") FOV (" + fov + ")");

@@ -387,6 +373,7 @@ public class VisionModule {

    void setPipeline(int index) {
        logger.info("Setting pipeline to " + index);
+        logger.info("Pipeline name: " + pipelineManager.getPipelineNickname(index));
        pipelineManager.setIndex(index);
        var pipelineSettings = pipelineManager.getPipelineSettings(index);

@@ -406,8 +393,12 @@ public class VisionModule {
        }

        visionSource.getSettables().setExposure(pipelineSettings.cameraExposure);
-        visionSource.getSettables().setAutoExposure(pipelineSettings.cameraAutoExposure);
-
+        try {
+            visionSource.getSettables().setAutoExposure(pipelineSettings.cameraAutoExposure);
+        } catch (VideoException e) {
+            logger.error("Unable to set camera auto exposure!");
+            logger.error(e.toString());
+        }
        if (cameraQuirks.hasQuirk(CameraQuirk.Gain)) {
            // If the gain is disabled for some reason, re-enable it
            if (pipelineSettings.cameraGain == -1) pipelineSettings.cameraGain = 20;
@@ -474,14 +465,14 @@ public class VisionModule {
        outputFrameSaver.updateCameraNickname(newName);

        // Rename streams
-        fpsLimitedResultConsumers.clear();
+        streamResultConsumers.clear();

        // Teardown and recreate streams
        destroyStreams();
        createStreams();

        // Rebuild streamers
-        recreateFpsLimitedResultConsumers();
+        recreateStreamResultConsumers();

        // Push new data to the UI
        saveAndBroadcastAll();
@@ -508,7 +499,7 @@ public class VisionModule {
            internalMap.put("fps", videoModes.get(k).fps);
            internalMap.put(
                    "pixelFormat",
-                    ((videoModes.get(k) instanceof ZeroCopyPicamSource.FPSRatedVideoMode)
+                    ((videoModes.get(k) instanceof LibcameraGpuSource.FPSRatedVideoMode)
                                    ? "kPicam"
                                    : videoModes.get(k).pixelFormat.toString())
                            .substring(1)); // Remove the k prefix
@@ -516,8 +507,8 @@ public class VisionModule {
            temp.put(k, internalMap);
        }
        ret.videoFormatList = temp;
-        ret.outputStreamPort = dashboardOutputStreamer.getCurrentStreamPort();
-        ret.inputStreamPort = dashboardInputStreamer.getCurrentStreamPort();
+        ret.outputStreamPort = this.outputStreamPort;
+        ret.inputStreamPort = this.inputStreamPort;

        var calList = new ArrayList<HashMap<String, Object>>();
        for (var c : visionSource.getSettables().getConfiguration().calibrations) {
@@ -528,7 +519,7 @@ public class VisionModule {
            internalMap.put("width", c.resolution.width);
            internalMap.put("height", c.resolution.height);
            internalMap.put("intrinsics", c.cameraIntrinsics.data);
-            internalMap.put("extrinsics", c.cameraExtrinsics.data);
+            internalMap.put("distCoeffs", c.distCoeffs.data);

            calList.add(internalMap);
        }
@@ -558,16 +549,15 @@ public class VisionModule {
        consumePipelineResult(result);

        // Pipelines like DriverMode and Calibrate3dPipeline have null output frames
-        if (result.inputFrame != null
+        if (result.inputAndOutputFrame != null
                && (pipelineManager.getCurrentPipelineSettings() instanceof AdvancedPipelineSettings)) {
            streamRunnable.updateData(
-                    result.inputFrame,
-                    result.outputFrame,
+                    result.inputAndOutputFrame,
                    (AdvancedPipelineSettings) pipelineManager.getCurrentPipelineSettings(),
                    result.targets);
            // The streamRunnable manages releasing in this case
        } else {
-            consumeFpsLimitedResult(result);
+            consumeResults(result.inputAndOutputFrame, result.targets);

            result.release();
            // In this case we don't bother with a separate streaming thread and we release
@@ -580,20 +570,10 @@ public class VisionModule {
        }
    }

-    private void consumeFpsLimitedResult(CVPipelineResult result) {
-        long dt = System.currentTimeMillis() - lastFrameConsumeMillis;
-        if (dt > 1000 / streamFPSCap) {
-            for (var c : fpsLimitedResultConsumers) {
-                c.accept(result);
-            }
-            lastFrameConsumeMillis = System.currentTimeMillis();
-        }
-    }
-
-    /** Consume results prior to drawing on them. */
-    private void consumeRawResults(Frame inputFrame, Frame outputFrame, List<TrackedTarget> targets) {
-        for (var c : rawResultConsumers) {
-            c.accept(inputFrame, outputFrame, targets);
+    /** Consume stream/target results, no rate limiting applied */
+    private void consumeResults(Frame frame, List<TrackedTarget> targets) {
+        for (var c : streamResultConsumers) {
+            c.accept(frame, targets);
        }
    }

--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModuleChangeSubscriber.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModuleChangeSubscriber.java
@@ -148,9 +148,13 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
                                                    curAdvSettings.offsetDualPointB = newPoint;
                                                    curAdvSettings.offsetDualPointBArea = latestTarget.getArea();
                                                    break;
+                                                default:
+                                                    break;
                                            }
                                        }
                                        break;
+                                    default:
+                                        break;
                                }
                            }
                        }
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionRunner.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionRunner.java
@@ -22,8 +22,9 @@ import java.util.function.Supplier;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.vision.camera.QuirkyCamera;
-import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.FrameProvider;
+import org.photonvision.vision.pipe.impl.HSVPipe;
+import org.photonvision.vision.pipeline.AdvancedPipelineSettings;
 import org.photonvision.vision.pipeline.CVPipeline;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;

@@ -32,7 +33,7 @@ import org.photonvision.vision.pipeline.result.CVPipelineResult;
 public class VisionRunner {
    private final Logger logger;
    private final Thread visionProcessThread;
-    private final Supplier<Frame> frameSupplier;
+    private final FrameProvider frameSupplier;
    private final Supplier<CVPipeline> pipelineSupplier;
    private final Consumer<CVPipelineResult> pipelineResultConsumer;
    private final QuirkyCamera cameraQuirks;
@@ -69,8 +70,29 @@ public class VisionRunner {
    private void update() {
        while (!Thread.interrupted()) {
            var pipeline = pipelineSupplier.get();
+
+            // Tell our camera implementation here what kind of pre-processing we need it to be doing
+            // (pipeline-dependent). I kinda hate how much leak this has...
+            // TODO would a callback object be a better fit?
+            var wantedProcessType = pipeline.getThresholdType();
+            frameSupplier.requestFrameThresholdType(wantedProcessType);
+            var settings = pipeline.getSettings();
+            if (settings instanceof AdvancedPipelineSettings) {
+                var advanced = (AdvancedPipelineSettings) settings;
+                var hsvParams =
+                        new HSVPipe.HSVParams(
+                                advanced.hsvHue, advanced.hsvSaturation, advanced.hsvValue, advanced.hueInverted);
+                // TODO who should deal with preventing this from happening _every single loop_?
+                frameSupplier.requestHsvSettings(hsvParams);
+            }
+            frameSupplier.requestFrameRotation(settings.inputImageRotationMode);
+            frameSupplier.requestFrameCopies(settings.inputShouldShow, settings.outputShouldShow);
+
+            // Grab the new camera frame
            var frame = frameSupplier.get();

+            // There's no guarantee the processing type change will occur this tick, so pipelines should
+            // check themselves
            try {
                var pipelineResult = pipeline.run(frame, cameraQuirks);
                pipelineResultConsumer.accept(pipelineResult);
@@ -78,6 +100,7 @@ public class VisionRunner {
                logger.error("Exception on loop " + loopCount);
                ex.printStackTrace();
            }
+
            loopCount++;
        }
    }
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Sriman Achanta	15fbe29d34	Remove redundant if check in OutputStreamPipeline (#660 ) Co-authored-by: Matt <matthew.morley.ca@gmail.com>	2022-12-30 02:00:14 -05:00
Jack	550194152a	Add RobotPoseEstimator (#571 ) RobotPoseEstimator can pick the most likely pose for the robot given a number of possible poses, using a number of different strategies. Examples are still WIP.	2022-12-30 01:40:13 -05:00
Matt	3a10f49b54	Only run Apriltag pose estimation when enabled (#657 ) Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com>	2022-12-28 13:32:38 -08:00
Matt	7ff630dc44	Replace MMAL driver with Libcamera (#491 ) Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com>	2022-12-28 14:21:41 -05:00
Matt	4088a394f3	Fix typo in main.yml (#659 )	2022-12-28 13:41:29 -05:00
Mohammad Durrani	78ab5e7c1d	Upgrade to jdk 17 (#653 ) Still targets Java 11 language support Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com> Co-authored-by: Matt <matthew.morley.ca@gmail.com>	2022-12-27 15:56:21 -05:00
Matt	14d263a567	Fix dev release artifact path (#654 )	2022-12-27 15:55:59 -05:00
Chris Gerth	cf1a45d35b	Set a compression level to better optimize the latency of the stream by reducing the bytes sent (#656 )	2022-12-27 15:55:43 -05:00
Matt	2ebc27aa3b	Use refactored Apriltag API in WPILib (#644 ) Bumps to a wpilib dev version, until they cut a new release. Should help address the random NPEs from the old JNI. Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com>	2022-12-27 13:47:20 -05:00
Matt	95c55f08cf	Switch to native WebSocket in UI (#649 ) Greatly improves Firefox performance	2022-12-27 10:23:55 -05:00
Paul Rensing	4382b8ea3f	Cpu performance mode & BIG.little tweaks (#633 ) * Add nice value to service file, and give example CPU selection for those who need it. * Use cpufrequtils package to set CPUs into performance mode * Add comment about nice value * Need to say "yes" to installing cpufrequtils, and safer to do so for all installs. Co-authored-by: Matt <matthew.morley.ca@gmail.com>	2022-12-26 23:04:46 -05:00
Chris Gerth	b1905954bc	Fix isRaspian() to properly detect Buster image (#637 ) * Revised isRaspian() call to look in multiple spots to check if we're a Pi or not * wpiformat * linefeed fixup * whoops * WIP updating platform * More platform fixups WIP * Condensed metrics classes, but expanded the configuration to default to file, but fall back on hardcoded commands for certain platforms * Migrate unixSupported to isLinux * applied spotless * wpiformat * Linux metrics (#641) * Move generic commands from PiCmds to LinuxCmds; have PiCmds inherit from LinuxCmds * Better names for variables to save the total memory values * Remove "Bionic" from the architecture; that is not actually determined. * Trigger PhotonVision CI * Dummy change to trigger CI * Run format Update index.html Co-authored-by: Mohammad Durrani <46766905+mdurrani808@users.noreply.github.com> Co-authored-by: Paul Rensing <prensing@gmail.com> Co-authored-by: Matt <matthew.morley.ca@gmail.com>	2022-12-26 22:51:34 -05:00
Mohammad Durrani	548f52e117	Allow JAR update/restart on all linux platforms (#651 ) * Added linux support * Changed to just check linux	2022-12-26 21:40:36 -05:00
Chris Gerth	1971744589	Revert to mjpeg (#645 ) * Reverted to front end using MJPEG streams. Added FPS limiting to the stream. * formatting * fixup - got handlers getting called on error to reload * revised architecture to let a click open a new tab Co-authored-by: Matt <matthew.morley.ca@gmail.com>	2022-12-25 06:55:12 -08:00
Matt	6c51d8ab51	Update license on orthogonalizeRotationMatrix (#615 ) Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com> Co-authored-by: Mohammad Durrani <46766905+mdurrani808@users.noreply.github.com>	2022-12-25 00:08:09 -05:00
Lavi Arzi	8330bf9d92	Expose camera name in PhotonCamera (#523 ) Co-authored-by: Matt <matthew.morley.ca@gmail.com>	2022-12-25 00:01:57 -05:00
amquake	e1b39a1723	Prepare for config.json renaming cameraExtrinsics to distCoeffs (#612 ) Doesn't actually rename in the JSON file yet, but fixes the name everywhere else	2022-12-25 00:01:24 -05:00
Mohammad Durrani	915f784d9d	Add distance, yaw, and robot pose methods to photonlib (#642 )	2022-12-25 00:00:00 -05:00
Chris Gerth	96006fc501	Fix misplaced crosshair when rotated +-90 degrees (#646 )	2022-12-24 19:57:26 -05:00
Matt	4fd7533456	Manage network on all Linux platforms (#630 )	2022-12-17 22:29:27 -06:00
shueja-personal	bb63af601d	Update to wpilib 2023 beta 7 (#607 ) We now need platform specific jars -- reworks actions to support that. Currently only generates 32 bit pi images.	2022-12-16 20:05:23 -05:00
Mohammad Durrani	da1aabae3a	Add avahi daemon to install script (#625 )	2022-12-08 19:23:02 -05:00
Drew Williams	643db9c435	Add check for packet of incorrect length (#629 ) Co-authored-by: Matt <matthew.morley.ca@gmail.com>	2022-12-08 19:22:31 -05:00
sarah-e-c	ec7bef7a4b	Logging for NTDataPublisher (#560 ) * logging for NTDataPublisher * logging name along with index * formatting lol * resolution logging * Removed pipelineManager object from data publisher	2022-12-01 18:35:43 -06:00
Mohammad Durrani	b72f4ca2a9	Update heap size for install script (#622 )	2022-12-01 18:25:29 -06:00
Mohammad Durrani	ffd741ec0a	Add curl (#618 ) * Add curl * goofy wording Co-authored-by: shueja-personal <32416547+shueja-personal@users.noreply.github.com>	2022-12-01 18:24:57 -06:00
Chris Gerth	678961e4f2	Websocket Stream Stats & Robustness Improvements (#605 ) * wip support for a stats overlay * WIP adding stream stats. But.... eeeh. Corporate. * kbits over mbytes * A ton more tweaks: - Increased thread priority for streaming to reduce "stutter/slow" issues - revised client side URL creation order to prevent the possibility of repeat-identical URL's - Improved overlay to only be visible on mouseover, and fully centered in the screen * wpiformat on js	2022-12-01 12:42:21 -06:00
amquake	4c004fc780	README link fix (#598 )	2022-11-14 20:27:29 -05:00
Jack	41a00bc90f	Fix mismatched doc building python version that prevents package install (#596 )	2022-11-13 23:33:35 -05:00
Matt	dcad7f34a2	Fix thinclient address in dev builds and move thinclient (#586 ) * Fix thinclient address in dev builds and move thinclient Update USBFrameProvider.java Create index.html Update index.html Null check stream to prevent spam * Update main.yml Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com>	2022-11-13 15:51:02 -06:00
Matt	72d8f49145	Add orthogonalizeRotationMatrix (#587 ) * Add orthogonalizeRotationMatrix * Update docstring Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com>	2022-11-13 14:49:59 -06:00
Matt	df852410b0	Disable 3d if new resolution is uncalibrated (#591 ) Closes #590 Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com>	2022-11-13 14:32:49 -06:00
Matt	3c7165bb0d	Force photonlib JSON to regenerate every build (#589 )	2022-11-13 14:07:15 -06:00
Ethan Frank	f193a2331a	Fix sim versionEntry NT table path (#569 ) * Fix sim versionEntry NT table path * Fix compile issue that mainTable is not accessible form SimPhotonCamera * Fix format Co-authored-by: Matt <matthew.morley.ca@gmail.com> Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com>	2022-11-13 13:18:55 -06:00
Matt	c7aa84ca41	Add tag16h5 support (#584 ) * Fix target dropdown * Add hamming and decision margin to UI, pipeline * Run spotless * Update index.html * Update index.html * Implement second apriltag size	2022-11-10 18:48:41 -08:00
Matt	209cdbf45f	Re-license apriltag code (#585 ) Relicense under wpilib BSD license	2022-11-09 23:22:47 -05:00
Chris Gerth	e03ec862a8	disallowed non-integer decimation (#573 )	2022-11-09 22:01:58 -06:00
Chris Gerth	8169da5ad4	wip getting stream divisor to update properly (#574 )	2022-11-09 23:01:11 -05:00
shueja-personal	916431b4ff	JSONify the bundled 3D geometry (#578 ) Co-authored-by: Matt M <matthew.morley.ca@gmail.com>	2022-11-09 14:00:46 -05:00
Noah	7dd1719fbd	Expose NT entry change time in PhotonLib (#562 ) Adds target change timestamp to PhotonPipelineResult Co-authored-by: Matt <matthew.morley.ca@gmail.com>	2022-11-07 13:09:55 -05:00
Chris Gerth	b408a58e9e	Sim Updates for 2023 (#512 ) * WIP updating sim stuff for 2023 and pose3d's * vision system build fixups, but test not yet passing. * WIP Sim fixups and working on testcases * Still doesn't work, but closer * tests pass * removed C++ sim support * formatting update * adjusted target height above ground per review * Turns out its unused * missed example removal	2022-11-03 15:05:37 -05:00
Chris Gerth	a64697e714	Added proper state machine to websocket video stream to control connect/disconnect sequence better. (#561 )	2022-11-03 15:05:17 -05:00
Jack	e971db2f52	Fix pipeline setting update not being sent if only autoexposure fails (#565 )	2022-11-03 13:12:21 -04:00
Matt	7b6afd545b	Pull thinclient into built JAR (#558 )	2022-10-31 16:18:02 -04:00
Matt	0f99044468	Update pi image generation zip/xz confusion (#555 ) * Add prints to image generation * Make xz multithreaded * More rename copypasta	2022-10-31 11:27:57 -04:00
sarah-e-c	1412155c50	Replace jcenter with MavenCentral (#554 )	2022-10-31 08:32:49 -04:00
Andrew Gasser	b1280e49d5	Ignore cameras with no supported VideoModes (#550 )	2022-10-30 22:58:22 -04:00
Chris Gerth	aaac6a4fbb	Add Websocket Camera Streaming (#529 ) * WIP adding second websocket handling for cameras * just more WIP * even more wip. Most java-side framework completed, but not yet debugged * IT LIVES. Still needs lots of cleanup. But we're transferring and displaying data! * moved down an architecture layer. Improved multiple-camera handling * Additional WIP to help improve smoothness and performance, though not yet tested * bugfixes galore * tweak compression * spotless * more tweaks for handling slow/intermittent streams * wpilibformat maybe? * clang-format maybe? * WIP - adding thinclient. I don't like it yet, it should be more auto-generated than it is. * thinclient formatting fixups * Reduced amount of empty send data by limiting to only one stream per client (which is all we really need). Framerate is up slightly, overhead is down. * bugfixes, faster streaming, better mjpeg compression settings, thinclient working * spotless and formatting * cmon wpiformat.... * re-added mjpg streams * added a loading GIF to imporve the feeling of responsiveness * formatting * urlparams and built-in thinclient * wpiformat * prevent wpiformat complaints * Removed uint8 array and base64 conversion from client side * Synced up js implementations for ws streaming * formatting/spotless	2022-10-30 13:16:17 -05:00
laviRZ	b68b0ca5f6	Rename artifact to jars (#534 )	2022-10-30 14:14:14 -04:00
Chris Gerth	45d99f1f6b	Added camera quirek to account for Facetime HD Cameras, and fix logging message (#551 )	2022-10-30 14:13:55 -04:00
Jack	a42fef67f2	Fix Camera Calibration Frontend (#542 ) * Fix Start Calibration button requiring a page refresh * Fix camera resolution selection * Fix camera resolution selection so it works with the default selection	2022-10-29 06:57:32 -04:00
Jack	bd4d74c192	Fix missing and incorrectly bound snackbar (#539 ) * Fix missing and incorrectly bound snackbar * Add 5 second timeout	2022-10-29 06:52:59 -04:00
Chris Gerth	c4500ce12b	Added throttling reasons and cpu uptime (#507 ) * Added throttling reasons and cpu uptime * spotless * adding tooltips for the acronyms used * Added icon for suggesting folks should attempt a hover-over for tooltip * wip making the implementaiton more platform independent * spotless * wpiformat * wpilibformat pt 2	2022-10-29 06:50:51 -04:00
Jack	81d19672d2	Change order of drawing to better show axes (#541 )	2022-10-28 17:54:57 -05:00
Andrew Gasser	04bde1b230	Update sim pose estimator example to use 3d (#524 )	2022-10-25 21:11:41 -04:00
Avery Black	4f355f2749	Fix photon-build-action versioning (#535 ) * Describe tags (Do Not Merge) * Try fetch depth 0 * Remove fetch tags * Remove describe action * Apparently more is broken than I thought (oops)	2022-10-24 15:56:49 -04:00
Avery Black	5e604cf98d	Remove 90 degree offset from UI (#533 ) Removes offset originally added to offset broken backend code	2022-10-24 15:18:46 -04:00
Matt	2d7a88e231	Expose both pose solutions (#521 ) * Half-add second pose * add c++ * run wpiformat * Fix c++	2022-10-22 06:42:45 -05:00
amquake	27198a3e32	Don't spam log on client connection retry (#530 ) * dont spam log on connection retry * Move print into ntTick Update NetworkTablesManager.java Co-authored-by: Matt <matthew.morley.ca@gmail.com>	2022-10-21 23:37:22 -04:00
Chris Gerth	fbf6fb304e	Add Auto-Exposure Switch to Calibration Window (#526 )	2022-10-21 22:12:11 -04:00
Avery Black	d24a8d4188	Ci update (#518 ) Update action versions so that github actions stop complaining about Node and set/get-ouput commands.	2022-10-21 20:56:08 -04:00
Matt	def40484e3	Add delay to version check (#466 ) Rate limits version check spam print Co-authored-by: Chris Gerth <gerth2@users.noreply.github.com>	2022-10-21 20:53:28 -04:00
Chris Gerth	aff163fc6a	Pull latest pi image and updates for .xz (previously .zip) (#506 )	2022-10-21 20:50:45 -04:00
Chris Gerth	c392d5fa4d	Exclude more broken cameras (#527 ) * Adding new broken cameras * Fixed up snapcamera enumeration to actually detect snapcamera	2022-10-21 19:39:30 -04:00
Chris Gerth	8dbd428359	Temporarily remove RIO finder from UI (#525 )	2022-10-21 19:36:30 -04:00
Chris Gerth	ccd3a512d6	Add additional try/catch to prevent pigpio communication issues from crashing the main thread (#511 )	2022-10-21 18:10:32 -04:00
Matt	bfc5e45cd0	Restart NT client every 5 seconds if not connected (#467 ) Fun hack to get around photonvision not connecting if it boots before robot code starts Co-authored-by: shueja-personal <32416547+shueja-personal@users.noreply.github.com>	2022-10-18 23:52:13 -04:00
Jack	a1b09100e0	Remove pitch camera configuration (#492 ) * Remove pitch configuration from camera view * Remove pitch config from backend; fix 'this' binding bug * Stylistic choice to remove excessive whitespace br * Spotless apply * Spotless apply 2	2022-10-17 12:41:57 -04:00
Avery Black	2bf7a77885	Update aarch64 apriltag build from CI (#497 )	2022-10-17 07:12:29 -04:00
Andrew Gasser	d1bfb86ab4	Correct image capture time (#501 ) * Correct image capture time `Timer.getFPGATimesptamp()` returns the current time in _seconds_, but `res.getLatencyMillis()` is in _miliseconds_. * Correct image capture time (correctly) * Change double literal to not use suffix Co-authored-by: shueja-personal <32416547+shueja-personal@users.noreply.github.com>	2022-10-16 20:51:48 -07:00
Matt	07904589df	Rotate all solvePNP-ed poses to be 180 about Z facing camera (#500 ) * Rotate all solvePNP-ed poses to be 180 about Z facing camera * Run spotless * Fix test coordinate systems	2022-10-16 17:48:30 -07:00
Jack	5540bbf115	[UI] Fix camera gain slider Vue errors (#493 )	2022-10-12 15:51:53 -04:00