Actually properly match cameras by name fr this time (#1237)

Our current code matches cameras in this order (which I think is objectively wrong and stupid)

- by-id (/dev/v4l/by-id/product-string)
- by path (/dev/videoN)
- product string/name, but ascii only
- asks cscore to reconnect to cameras using `path`, which on linux is actually /dev/videoN. This isn't guaranteed to stick to a camera if you replug them weirdly at runtime.

This is silly and does not consider the actual physical usb port. I propose instead, in this order:

- By physical usb port path and base name
- by physical usb port path and USB VID/PID
- By base name only (with a toggle switch to disable this, and create a new VisionModule instead)
- Give cscore /dev/video/by-path on Linux systems, pinning Photon USBCameras to a particular usb port once created.

This changes lots of things so stay paranoid!

.github/workflows/build.yml

@@ -184,7 +184,7 @@ jobs:
       - name: Publish
         run: |
           chmod +x gradlew
-          ./gradlew photon-lib:publish
+          ./gradlew photon-lib:publish photon-targeting:publish
         env:
           ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
         if: github.event_name == 'push'
@@ -273,14 +273,32 @@ jobs:
             artifact-name: LinuxArm64
             image_suffix: RaspberryPi
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_raspi.img.xz
+            cpu: cortex-a7
+            image_additional_mb: 0
           - os: ubuntu-latest
             artifact-name: LinuxArm64
             image_suffix: limelight2
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_limelight.img.xz
+            cpu: cortex-a7
+            image_additional_mb: 0
+          - os: ubuntu-latest
+            artifact-name: LinuxArm64
+            image_suffix: limelight3
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.5/photonvision_limelight3.img.xz
+            cpu: cortex-a7
+            image_additional_mb: 0
           - os: ubuntu-latest
             artifact-name: LinuxArm64
             image_suffix: orangepi5
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_opi5.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.6/photonvision_opi5.img.xz
+            cpu: cortex-a8
+            image_additional_mb: 4096
+          - os: ubuntu-latest
+            artifact-name: LinuxArm64
+            image_suffix: orangepi5plus
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.6/photonvision_opi5plus.img.xz
+            cpu: cortex-a8
+            image_additional_mb: 4096
 
     runs-on: ${{ matrix.os }}
     name: "Build image - ${{ matrix.image_url }}"
@@ -293,11 +311,25 @@ jobs:
       - uses: actions/download-artifact@v4
         with:
           name: jar-${{ matrix.artifact-name }}
-      # TODO- replace with the arm-runner action and run this inside of the chroot. but this works for now.
-      - name: Generate image
+      - uses: pguyot/arm-runner-action@v2
+        name: Generate image
+        id: generate_image
+        with:
+          base_image: ${{ matrix.image_url }}
+          image_additional_mb: ${{ matrix.image_additional_mb }}
+          optimize_image: yes
+          cpu: ${{ matrix.cpu }}
+          # We do _not_ wanna copy photon into the image. Bind mount instead
+          bind_mount_repository: true
+          commands: |
+            chmod +x scripts/armrunner.sh
+            ./scripts/armrunner.sh
+      - name: Compress image
         run: |
-          chmod +x scripts/generatePiImage.sh
-          ./scripts/generatePiImage.sh ${{ matrix.image_url }} ${{ matrix.image_suffix }}
+          new_jar=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
+          new_image_name=$(basename "${new_jar/.jar/_${{ matrix.image_suffix }}.img}")
+          mv ${{ steps.generate_image.outputs.image }} $new_image_name
+          sudo xz -T 0 -v $new_image_name
       - uses: actions/upload-artifact@v4
         name: Upload image
         with:
@@ -320,6 +352,7 @@ jobs:
           files: |
             **/*.xz
             **/*.jar
+            **/photonlib*.json
         if: github.event_name == 'push'
       # Upload all jars and xz archives
       - uses: softprops/action-gh-release@v1
@@ -327,6 +360,7 @@ jobs:
           files: |
             **/*.xz
             **/*.jar
+            **/photonlib*.json
         if: startsWith(github.ref, 'refs/tags/v')
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/documentation.yml

@@ -68,10 +68,6 @@ jobs:
   release:
     needs: [build-client, run_docs]
 
-    environment:
-      name: github-pages
-      url: ${{ steps.deployment.outputs.page_url }}
-
     runs-on: ubuntu-22.04
     steps:
 
@@ -79,14 +75,12 @@ jobs:
       - uses: actions/download-artifact@v4
 
       - run: find .
-
-      - name: Setup Pages
-        uses: actions/configure-pages@v4
-      - name: Upload artifact
-        uses: actions/upload-pages-artifact@v3
+      - name: copy file via ssh password
+        uses: appleboy/scp-action@v0.1.7
         with:
-          # Upload entire repository
-          path: '.'
-      - name: Deploy to GitHub Pages
-        id: deployment
-        uses: actions/deploy-pages@v4
+          host: ${{ secrets.WEBMASTER_SSH_HOST }}
+          username: ${{ secrets.WEBMASTER_SSH_USERNAME }}
+          password: ${{ secrets.WEBMASTER_SSH_KEY }}
+          port: ${{ secrets.WEBMASTER_SSH_PORT }}
+          source: "*"
+          target: /var/www/html/photonvision-docs/

.styleguide

@@ -18,6 +18,7 @@ modifiableFileExclude {
   \.dll$
   \.webp$
   \.ico$
+  \.rknn$
   gradlew
 }
 

build.gradle

@@ -1,8 +1,10 @@
+import edu.wpi.first.toolchain.*
+
 plugins {
-    id "com.diffplug.spotless" version "6.22.0"
+    id "com.diffplug.spotless" version "6.24.0"
     id "edu.wpi.first.NativeUtils" version "2024.6.1" apply false
     id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-4"
+    id "edu.wpi.first.GradleRIO" version "2024.2.1"
     id 'edu.wpi.first.WpilibTools' version '1.3.0'
     id 'com.google.protobuf' version '0.9.4' apply false
 }
@@ -22,15 +24,17 @@ allprojects {
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2024.1.1-beta-4-35-g141241d"
+    wpilibVersion = "2024.2.1"
     wpimathVersion = wpilibVersion
     openCVversion = "4.8.0-2"
     joglVersion = "2.4.0-rc-20200307"
     javalinVersion = "5.6.2"
     photonGlDriverLibVersion = "dev-v2023.1.0-9-g75fc678"
+    rknnVersion = "dev-v2024.0.0-64-gc0836a6"
     frcYear = "2024"
     mrcalVersion = "dev-v2024.0.0-7-gc976aaa";
 
+
     pubVersion = versionString
     isDev = pubVersion.startsWith("dev")
 
@@ -96,3 +100,7 @@ spotless {
 wrapper {
     gradleVersion '8.4'
 }
+
+ext.getCurrentArch = {
+    return NativePlatforms.desktop
+}

photon-client/index.html

@@ -1,4 +1,4 @@
-<!DOCTYPE html>
+<!doctype html>
 <html lang="en">
   <head>
     <meta charset="UTF-8" />

photon-client/package-lock.json

@@ -31,7 +31,7 @@
         "eslint": "^8.56.0",
         "eslint-plugin-vue": "^9.19.2",
         "npm-run-all": "^4.1.5",
-        "prettier": "^3.1.1",
+        "prettier": "3.2.2",
         "sass": "~1.32",
         "sass-loader": "^13.3.2",
         "terser": "^5.14.2",
@@ -3917,9 +3917,9 @@
       }
     },
     "node_modules/prettier": {
-      "version": "3.1.1",
-      "resolved": "https://registry.npmjs.org/prettier/-/prettier-3.1.1.tgz",
-      "integrity": "sha512-22UbSzg8luF4UuZtzgiUOfcGM8s4tjBv6dJRT7j275NXsy2jb4aJa4NNveul5x4eqlF1wuhuR2RElK71RvmVaw==",
+      "version": "3.2.2",
+      "resolved": "https://registry.npmjs.org/prettier/-/prettier-3.2.2.tgz",
+      "integrity": "sha512-HTByuKZzw7utPiDO523Tt2pLtEyK7OibUD9suEJQrPUCYQqrHr74GGX6VidMrovbf/I50mPqr8j/II6oBAuc5A==",
       "dev": true,
       "bin": {
         "prettier": "bin/prettier.cjs"

photon-client/package.json

@@ -27,17 +27,17 @@
   },
   "devDependencies": {
     "@rushstack/eslint-patch": "^1.3.2",
-    "@vue/eslint-config-prettier": "^9.0.0",
-    "@vue/eslint-config-typescript": "^12.0.0",
-    "prettier": "^3.1.1",
     "@types/node": "^16.11.45",
     "@types/three": "^0.160.0",
     "@vitejs/plugin-vue2": "^2.3.1",
+    "@vue/eslint-config-prettier": "^9.0.0",
+    "@vue/eslint-config-typescript": "^12.0.0",
     "@vue/tsconfig": "^0.5.1",
     "deepmerge": "^4.3.1",
     "eslint": "^8.56.0",
     "eslint-plugin-vue": "^9.19.2",
     "npm-run-all": "^4.1.5",
+    "prettier": "3.2.2",
     "sass": "~1.32",
     "sass-loader": "^13.3.2",
     "terser": "^5.14.2",

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

@@ -25,15 +25,10 @@ const getUniqueVideoFormatsByResolution = (): VideoFormat[] => {
 
       const calib = useCameraSettingsStore().getCalibrationCoeffs(format.resolution);
       if (calib !== undefined) {
-        // Is this the right formula for RMS error? who knows! not me!
-        const perViewSumSquareReprojectionError = calib.observations.flatMap((it) =>
-          it.reprojectionErrors.flatMap((it2) => [it2.x, it2.y])
-        );
         // For each error, square it, sum the squares, and divide by total points N
-        format.mean = Math.sqrt(
-          perViewSumSquareReprojectionError.map((it) => Math.pow(it, 2)).reduce((a, b) => a + b, 0) /
-            perViewSumSquareReprojectionError.length
-        );
+        if (calib.meanErrors.length)
+          format.mean = calib.meanErrors.reduce((a, b) => a + b, 0) / calib.meanErrors.length;
+        else format.mean = NaN;
 
         format.horizontalFOV =
           2 * Math.atan2(format.resolution.width / 2, calib.cameraIntrinsics.data[0]) * (180 / Math.PI);
@@ -109,7 +104,7 @@ const downloadCalibBoard = () => {
           const yPos = chessboardStartY + squareY * squareSizeIn.value;
 
           // Only draw the odd squares to create the chessboard pattern
-          if ((xPos + yPos + 0.25) % 2 === 0) {
+          if (squareY % 2 != squareX % 2) {
             doc.rect(xPos, yPos, squareSizeIn.value, squareSizeIn.value, "F");
           }
         }
@@ -263,7 +258,7 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
               >
                 <td>{{ getResolutionString(value.resolution) }}</td>
                 <td>
-                  {{ value.mean !== undefined ? (isNaN(value.mean) ? "NaN" : value.mean.toFixed(2) + "px") : "-" }}
+                  {{ value.mean !== undefined ? (isNaN(value.mean) ? "Unknown" : value.mean.toFixed(2) + "px") : "-" }}
                 </td>
                 <td>{{ value.horizontalFOV !== undefined ? value.horizontalFOV.toFixed(2) + "°" : "-" }}</td>
                 <td>{{ value.verticalFOV !== undefined ? value.verticalFOV.toFixed(2) + "°" : "-" }}</td>
@@ -311,7 +306,7 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
             />
             <pv-number-input
               v-model="patternWidth"
-              label="Board Width (in)"
+              label="Board Width (squares)"
               tooltip="Width of the board in dots or chessboard squares"
               :disabled="isCalibrating"
               :rules="[(v) => v >= 4 || 'Width must be at least 4']"
@@ -319,7 +314,7 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
             />
             <pv-number-input
               v-model="patternHeight"
-              label="Board Height (in)"
+              label="Board Height (squares)"
               tooltip="Height of the board in dots or chessboard squares"
               :disabled="isCalibrating"
               :rules="[(v) => v >= 4 || 'Height must be at least 4']"

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

@@ -1,51 +1,19 @@
 <script setup lang="ts">
-import type { BoardObservation, CameraCalibrationResult, VideoFormat } from "@/types/SettingTypes";
+import type { CameraCalibrationResult, VideoFormat } from "@/types/SettingTypes";
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
 import { useStateStore } from "@/stores/StateStore";
-import { ref } from "vue";
-import loadingImage from "@/assets/images/loading.svg";
+import { computed, inject, ref } from "vue";
 import { getResolutionString, parseJsonFile } from "@/lib/PhotonUtils";
 
 const props = defineProps<{
   videoFormat: VideoFormat;
 }>();
 
-const getMeanFromView = (o: BoardObservation) => {
-  // Is this the right formula for RMS error? who knows! not me!
-  const perViewSumSquareReprojectionError = o.reprojectionErrors.flatMap((it2) => [it2.x, it2.y]);
-
-  // For each error, square it, sum the squares, and divide by total points N
-  return Math.sqrt(
-    perViewSumSquareReprojectionError.map((it) => Math.pow(it, 2)).reduce((a, b) => a + b, 0) /
-      perViewSumSquareReprojectionError.length
-  );
+const exportCalibration = ref();
+const openExportCalibrationPrompt = () => {
+  exportCalibration.value.click();
 };
 
-// Import and export functions
-const downloadCalibration = () => {
-  const calibData = useCameraSettingsStore().getCalibrationCoeffs(props.videoFormat.resolution);
-  if (calibData === undefined) {
-    useStateStore().showSnackbarMessage({
-      color: "error",
-      message:
-        "Calibration data isn't available for the requested resolution, please calibrate the requested resolution first"
-    });
-    return;
-  }
-
-  const camUniqueName = useCameraSettingsStore().currentCameraSettings.uniqueName;
-  const filename = `photon_calibration_${camUniqueName}_${calibData.resolution.width}x${calibData.resolution.height}.json`;
-  const fileData = JSON.stringify(calibData);
-
-  const element = document.createElement("a");
-  element.style.display = "none";
-  element.setAttribute("href", "data:text/plain;charset=utf-8," + encodeURIComponent(fileData));
-  element.setAttribute("download", filename);
-
-  document.body.appendChild(element);
-  element.click();
-  document.body.removeChild(element);
-};
 const importCalibrationFromPhotonJson = ref();
 const openUploadPhotonCalibJsonPrompt = () => {
   importCalibrationFromPhotonJson.value.click();
@@ -97,19 +65,28 @@ const importCalibration = async () => {
 };
 
 interface ObservationDetails {
-  snapshotSrc: any;
   mean: number;
   index: number;
 }
+
+const currentCalibrationCoeffs = computed<CameraCalibrationResult | undefined>(() =>
+  useCameraSettingsStore().getCalibrationCoeffs(props.videoFormat.resolution)
+);
+
 const getObservationDetails = (): ObservationDetails[] | undefined => {
-  return useCameraSettingsStore()
-    .getCalibrationCoeffs(props.videoFormat.resolution)
-    ?.observations.map((o, i) => ({
-      index: i,
-      mean: parseFloat(getMeanFromView(o).toFixed(2)),
-      snapshotSrc: o.includeObservationInCalibration ? "data:image/png;base64," + o.snapshotData.data : loadingImage
-    }));
+  const coefficients = currentCalibrationCoeffs.value;
+
+  return coefficients?.meanErrors.map((m, i) => ({
+    index: i,
+    mean: parseFloat(m.toFixed(2))
+  }));
 };
+
+const exportCalibrationURL = computed<string>(() =>
+  useCameraSettingsStore().getCalJSONUrl(inject("backendHost") as string, props.videoFormat.resolution)
+);
+const calibrationImageURL = (index: number) =>
+  useCameraSettingsStore().getCalImageUrl(inject<string>("backendHost") as string, props.videoFormat.resolution, index);
 </script>
 
 <template>
@@ -140,19 +117,22 @@ const getObservationDetails = (): ObservationDetails[] | undefined => {
         <v-btn
           color="secondary"
           class="mt-4"
-          :disabled="useCameraSettingsStore().getCalibrationCoeffs(props.videoFormat.resolution) === undefined"
+          :disabled="!currentCalibrationCoeffs"
           style="width: 100%"
-          @click="downloadCalibration"
+          @click="openExportCalibrationPrompt"
         >
           <v-icon left>mdi-export</v-icon>
           <span>Export</span>
         </v-btn>
+        <a
+          ref="exportCalibration"
+          style="color: black; text-decoration: none; display: none"
+          :href="exportCalibrationURL"
+          target="_blank"
+        />
       </v-col>
     </v-row>
-    <v-row
-      v-if="useCameraSettingsStore().getCalibrationCoeffs(props.videoFormat.resolution) !== undefined"
-      class="pt-2"
-    >
+    <v-row v-if="currentCalibrationCoeffs" class="pt-2">
       <v-card-subtitle>Calibration Details</v-card-subtitle>
       <v-simple-table dense style="width: 100%" class="pl-2 pr-2">
         <template #default>
@@ -231,7 +211,9 @@ const getObservationDetails = (): ObservationDetails[] | undefined => {
             </tr>
             <tr>
               <td>Horizontal FOV</td>
-              <td>{{ videoFormat.horizontalFOV !== undefined ? videoFormat.horizontalFOV.toFixed(2) + "°" : "-" }}</td>
+              <td>
+                {{ videoFormat.horizontalFOV !== undefined ? videoFormat.horizontalFOV.toFixed(2) + "°" : "-" }}
+              </td>
             </tr>
             <tr>
               <td>Vertical FOV</td>
@@ -242,11 +224,7 @@ const getObservationDetails = (): ObservationDetails[] | undefined => {
               <td>{{ videoFormat.diagonalFOV !== undefined ? videoFormat.diagonalFOV.toFixed(2) + "°" : "-" }}</td>
             </tr>
             <!-- Board warp, only shown for mrcal-calibrated cameras -->
-            <tr
-              v-if="
-                useCameraSettingsStore().getCalibrationCoeffs(props.videoFormat.resolution)?.calobjectWarp?.length === 2
-              "
-            >
+            <tr v-if="currentCalibrationCoeffs?.calobjectWarp?.length === 2">
               <td>Board warp, X/Y</td>
               <td>
                 {{
@@ -278,7 +256,7 @@ const getObservationDetails = (): ObservationDetails[] | undefined => {
         <template #expanded-item="{ headers, item }">
           <td :colspan="headers.length">
             <div style="display: flex; justify-content: center; width: 100%">
-              <img :src="item.snapshotSrc" alt="observation image" class="snapshot-preview pt-2 pb-2" />
+              <img :src="calibrationImageURL(item.index)" alt="observation image" class="snapshot-preview pt-2 pb-2" />
             </div>
           </td>
         </template>

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

@@ -3,22 +3,79 @@ import PvSelect from "@/components/common/pv-select.vue";
 import PvNumberInput from "@/components/common/pv-number-input.vue";
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
 import { useStateStore } from "@/stores/StateStore";
-import { ref, watchEffect } from "vue";
+import { computed, ref, watchEffect } from "vue";
+import { type CameraSettingsChangeRequest, ValidQuirks } from "@/types/SettingTypes";
 
-const currentFov = ref();
+const tempSettingsStruct = ref<CameraSettingsChangeRequest>({
+  fov: useCameraSettingsStore().currentCameraSettings.fov.value,
+  quirksToChange: Object.assign({}, useCameraSettingsStore().currentCameraSettings.cameraQuirks.quirks)
+});
+
+const arducamSelectWrapper = computed<number>({
+  get: () => {
+    if (tempSettingsStruct.value.quirksToChange.ArduOV9281) return 1;
+    else if (tempSettingsStruct.value.quirksToChange.ArduOV2311) return 2;
+    else return 0;
+  },
+  set: (v) => {
+    switch (v) {
+      case 1:
+        tempSettingsStruct.value.quirksToChange.ArduOV9281 = true;
+        tempSettingsStruct.value.quirksToChange.ArduOV2311 = false;
+        break;
+      case 2:
+        tempSettingsStruct.value.quirksToChange.ArduOV9281 = false;
+        tempSettingsStruct.value.quirksToChange.ArduOV2311 = true;
+        break;
+      default:
+        tempSettingsStruct.value.quirksToChange.ArduOV9281 = false;
+        tempSettingsStruct.value.quirksToChange.ArduOV2311 = false;
+        break;
+    }
+  }
+});
+
+const currentCameraIsArducam = computed<boolean>(
+  () => useCameraSettingsStore().currentCameraSettings.cameraQuirks.quirks.ArduCamCamera
+);
+
+const settingsHaveChanged = (): boolean => {
+  const a = tempSettingsStruct.value;
+  const b = useCameraSettingsStore().currentCameraSettings;
+
+  for (const q in ValidQuirks) {
+    if (a.quirksToChange[q] != b.cameraQuirks.quirks[q]) return true;
+  }
+
+  return a.fov != b.fov.value;
+};
+
+const resetTempSettingsStruct = () => {
+  tempSettingsStruct.value.fov = useCameraSettingsStore().currentCameraSettings.fov.value;
+  tempSettingsStruct.value.quirksToChange = Object.assign(
+    {},
+    useCameraSettingsStore().currentCameraSettings.cameraQuirks.quirks
+  );
+};
 
 const saveCameraSettings = () => {
   useCameraSettingsStore()
-    .updateCameraSettings({ fov: currentFov.value }, false)
+    .updateCameraSettings(tempSettingsStruct.value)
     .then((response) => {
-      useCameraSettingsStore().currentCameraSettings.fov.value = currentFov.value;
       useStateStore().showSnackbarMessage({
         color: "success",
         message: response.data.text || response.data
       });
+
+      // Update the local settings cause the backend checked their validity. Assign is to deref value
+      useCameraSettingsStore().currentCameraSettings.fov.value = tempSettingsStruct.value.fov;
+      useCameraSettingsStore().currentCameraSettings.cameraQuirks.quirks = Object.assign(
+        {},
+        tempSettingsStruct.value.quirksToChange
+      );
     })
     .catch((error) => {
-      currentFov.value = useCameraSettingsStore().currentCameraSettings.fov.value;
+      resetTempSettingsStruct();
       if (error.response) {
         useStateStore().showSnackbarMessage({
           color: "error",
@@ -39,7 +96,8 @@ const saveCameraSettings = () => {
 };
 
 watchEffect(() => {
-  currentFov.value = useCameraSettingsStore().currentCameraSettings.fov.value;
+  // Reset temp settings on remote camera settings change
+  resetTempSettingsStruct();
 });
 </script>
 
@@ -52,15 +110,9 @@ watchEffect(() => {
         label="Camera"
         :items="useCameraSettingsStore().cameraNames"
         :select-cols="8"
-        @input="
-          (args) => {
-            currentFov = useCameraSettingsStore().cameras[args].fov.value;
-            useCameraSettingsStore().setCurrentCameraIndex(args);
-          }
-        "
       />
       <pv-number-input
-        v-model="currentFov"
+        v-model="tempSettingsStruct.fov"
         :tooltip="
           !useCameraSettingsStore().currentCameraSettings.fov.managedByVendor
             ? 'Field of view (in degrees) of the camera measured across the diagonal of the frame, in a video mode which covers the whole sensor area.'
@@ -70,12 +122,24 @@ watchEffect(() => {
         :disabled="useCameraSettingsStore().currentCameraSettings.fov.managedByVendor"
         :label-cols="4"
       />
+      <pv-select
+        v-show="currentCameraIsArducam"
+        v-model="arducamSelectWrapper"
+        label="Arducam Model"
+        :items="[
+          { name: 'None', value: 0, disabled: true },
+          { name: 'OV9281', value: 1 },
+          { name: 'OV2311', value: 2 }
+        ]"
+        :select-cols="8"
+      />
       <br />
       <v-btn
-        style="margin-top: 10px"
+        class="mt-2 mb-3"
+        style="width: 100%"
         small
         color="secondary"
-        :disabled="currentFov === useCameraSettingsStore().currentCameraSettings.fov.value"
+        :disabled="!settingsHaveChanged()"
         @click="saveCameraSettings"
       >
         <v-icon left> mdi-content-save </v-icon>

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

@@ -40,12 +40,21 @@ const localValue = computed<[number, number]>({
   }
 });
 
-const changeFromSlot = (v: number, i: number) => {
+const changeFromSlot = (v: string, i: number) => {
+  // v comes in as a string, not a number, for some reason
+  // if v is undefined, take a guess and set it to 0
+  const val = Math.max(props.min, Math.min(parseFloat(v) || 0, props.max));
+
   // localValue.value must be replaced for a reactive change to take place
   const temp = localValue.value;
-  temp[i] = v;
+  temp[i] = val;
   localValue.value = temp;
 };
+
+const checkNumberRange = (v: string): boolean => {
+  const val: number = parseFloat(v);
+  return isFinite(val) && val >= props.min && val <= props.max;
+};
 </script>
 
 <template>
@@ -79,6 +88,7 @@ const changeFromSlot = (v: number, i: number) => {
               :max="max"
               :min="min"
               :step="step"
+              :rules="[checkNumberRange]"
               type="number"
               style="width: 60px"
               @input="(v) => changeFromSlot(v, 0)"
@@ -95,6 +105,7 @@ const changeFromSlot = (v: number, i: number) => {
               :max="max"
               :min="min"
               :step="step"
+              :rules="[checkNumberRange]"
               type="number"
               style="width: 60px"
               @input="(v) => changeFromSlot(v, 1)"

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

@@ -7,6 +7,7 @@ import { computed, ref } from "vue";
 import PvIcon from "@/components/common/pv-icon.vue";
 import PvInput from "@/components/common/pv-input.vue";
 import { PipelineType } from "@/types/PipelineTypes";
+import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
 
 const changeCurrentCameraIndex = (index: number) => {
   useCameraSettingsStore().setCurrentCameraIndex(index, true);
@@ -24,6 +25,9 @@ const changeCurrentCameraIndex = (index: number) => {
     case PipelineType.Aruco:
       pipelineType.value = WebsocketPipelineType.Aruco;
       break;
+    case PipelineType.ObjectDetection:
+      pipelineType.value = WebsocketPipelineType.ObjectDetection;
+      break;
   }
 };
 
@@ -121,6 +125,18 @@ const cancelPipelineNameEdit = () => {
 const showPipelineCreationDialog = ref(false);
 const newPipelineName = ref("");
 const newPipelineType = ref<WebsocketPipelineType>(useCameraSettingsStore().currentWebsocketPipelineType);
+const validNewPipelineTypes = computed(() => {
+  const pipelineTypes = [
+    { name: "Reflective", value: WebsocketPipelineType.Reflective },
+    { name: "Colored Shape", value: WebsocketPipelineType.ColoredShape },
+    { name: "AprilTag", value: WebsocketPipelineType.AprilTag },
+    { name: "Aruco", value: WebsocketPipelineType.Aruco }
+  ];
+  if (useSettingsStore().general.rknnSupported) {
+    pipelineTypes.push({ name: "Object Detection", value: WebsocketPipelineType.ObjectDetection });
+  }
+  return pipelineTypes;
+});
 const showCreatePipelineDialog = () => {
   newPipelineName.value = "";
   newPipelineType.value = useCameraSettingsStore().currentWebsocketPipelineType;
@@ -154,6 +170,9 @@ const pipelineTypesWrapper = computed<{ name: string; value: number }[]>(() => {
     { name: "AprilTag", value: WebsocketPipelineType.AprilTag },
     { name: "Aruco", value: WebsocketPipelineType.Aruco }
   ];
+  if (useSettingsStore().general.rknnSupported) {
+    pipelineTypes.push({ name: "Object Detection", value: WebsocketPipelineType.ObjectDetection });
+  }
 
   if (useCameraSettingsStore().isDriverMode) {
     pipelineTypes.push({ name: "Driver Mode", value: WebsocketPipelineType.DriverMode });
@@ -208,6 +227,9 @@ useCameraSettingsStore().$subscribe((mutation, state) => {
     case PipelineType.Aruco:
       pipelineType.value = WebsocketPipelineType.Aruco;
       break;
+    case PipelineType.ObjectDetection:
+      pipelineType.value = WebsocketPipelineType.ObjectDetection;
+      break;
   }
 });
 </script>
@@ -350,12 +372,7 @@ useCameraSettingsStore().$subscribe((mutation, state) => {
             :select-cols="12 - 3"
             label="Tracking Type"
             tooltip="Pipeline type, which changes the type of processing that will happen on input frames"
-            :items="[
-              { name: 'Reflective', value: WebsocketPipelineType.Reflective },
-              { name: 'Colored Shape', value: WebsocketPipelineType.ColoredShape },
-              { name: 'AprilTag', value: WebsocketPipelineType.AprilTag },
-              { name: 'Aruco', value: WebsocketPipelineType.Aruco }
-            ]"
+            :items="validNewPipelineTypes"
           />
         </v-card-text>
         <v-divider />

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

@@ -8,6 +8,7 @@ import ThresholdTab from "@/components/dashboard/tabs/ThresholdTab.vue";
 import ContoursTab from "@/components/dashboard/tabs/ContoursTab.vue";
 import AprilTagTab from "@/components/dashboard/tabs/AprilTagTab.vue";
 import ArucoTab from "@/components/dashboard/tabs/ArucoTab.vue";
+import ObjectDetectionTab from "@/components/dashboard/tabs/ObjectDetectionTab.vue";
 import OutputTab from "@/components/dashboard/tabs/OutputTab.vue";
 import TargetsTab from "@/components/dashboard/tabs/TargetsTab.vue";
 import PnPTab from "@/components/dashboard/tabs/PnPTab.vue";
@@ -40,6 +41,10 @@ const allTabs = Object.freeze({
     tabName: "Aruco",
     component: ArucoTab
   },
+  objectDetectionTab: {
+    tabName: "Object Detection",
+    component: ObjectDetectionTab
+  },
   outputTab: {
     tabName: "Output",
     component: OutputTab
@@ -75,6 +80,7 @@ const getTabGroups = (): ConfigOption[][] => {
         allTabs.contoursTab,
         allTabs.apriltagTab,
         allTabs.arucoTab,
+        allTabs.objectDetectionTab,
         allTabs.outputTab
       ],
       [allTabs.targetsTab, allTabs.pnpTab, allTabs.map3dTab]
@@ -82,14 +88,21 @@ const getTabGroups = (): ConfigOption[][] => {
   } else if (lgAndDown) {
     return [
       [allTabs.inputTab],
-      [allTabs.thresholdTab, allTabs.contoursTab, allTabs.apriltagTab, allTabs.arucoTab, allTabs.outputTab],
+      [
+        allTabs.thresholdTab,
+        allTabs.contoursTab,
+        allTabs.apriltagTab,
+        allTabs.arucoTab,
+        allTabs.objectDetectionTab,
+        allTabs.outputTab
+      ],
       [allTabs.targetsTab, allTabs.pnpTab, allTabs.map3dTab]
     ];
   } else if (xl) {
     return [
       [allTabs.inputTab],
       [allTabs.thresholdTab],
-      [allTabs.contoursTab, allTabs.apriltagTab, allTabs.arucoTab, allTabs.outputTab],
+      [allTabs.contoursTab, allTabs.apriltagTab, allTabs.arucoTab, allTabs.objectDetectionTab, allTabs.outputTab],
       [allTabs.targetsTab, allTabs.pnpTab, allTabs.map3dTab]
     ];
   }
@@ -103,17 +116,20 @@ const tabGroups = computed<ConfigOption[][]>(() => {
   const allow3d = useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled;
   const isAprilTag = useCameraSettingsStore().currentWebsocketPipelineType === WebsocketPipelineType.AprilTag;
   const isAruco = useCameraSettingsStore().currentWebsocketPipelineType === WebsocketPipelineType.Aruco;
+  const isObjectDetection =
+    useCameraSettingsStore().currentWebsocketPipelineType === WebsocketPipelineType.ObjectDetection;
 
   return getTabGroups()
     .map((tabGroup) =>
       tabGroup.filter(
         (tabConfig) =>
           !(!allow3d && tabConfig.tabName === "3D") && //Filter out 3D tab any time 3D isn't calibrated
-          !((!allow3d || isAprilTag || isAruco) && tabConfig.tabName === "PnP") && //Filter out the PnP config tab if 3D isn't available, or we're doing AprilTags
-          !((isAprilTag || isAruco) && tabConfig.tabName === "Threshold") && //Filter out threshold tab if we're doing AprilTags
-          !((isAprilTag || isAruco) && tabConfig.tabName === "Contours") && //Filter out contours if we're doing AprilTags
+          !((!allow3d || isAprilTag || isAruco || isObjectDetection) && tabConfig.tabName === "PnP") && //Filter out the PnP config tab if 3D isn't available, or we're doing AprilTags
+          !((isAprilTag || isAruco || isObjectDetection) && tabConfig.tabName === "Threshold") && //Filter out threshold tab if we're doing AprilTags
+          !((isAprilTag || isAruco || isObjectDetection) && tabConfig.tabName === "Contours") && //Filter out contours if we're doing AprilTags
           !(!isAprilTag && tabConfig.tabName === "AprilTag") && //Filter out apriltag unless we actually are doing AprilTags
-          !(!isAruco && tabConfig.tabName === "Aruco") //Filter out aruco unless we actually are doing Aruco
+          !(!isAruco && tabConfig.tabName === "Aruco") &&
+          !(!isObjectDetection && tabConfig.tabName === "Object Detection") //Filter out aruco unless we actually are doing Aruco
       )
     )
     .filter((it) => it.length); // Remove empty tab groups

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

@@ -14,13 +14,12 @@ const currentPipelineSettings = computed<ActivePipelineSettings>(
   () => useCameraSettingsStore().currentPipelineSettings
 );
 
-const interactiveCols = computed(
-  () =>
-    (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
-    (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)
-)
-  ? 9
-  : 8;
+const interactiveCols = computed(() =>
+  (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
+  (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)
+    ? 9
+    : 8
+);
 </script>
 
 <template>

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

@@ -14,13 +14,12 @@ const currentPipelineSettings = computed<ActivePipelineSettings>(
   () => useCameraSettingsStore().currentPipelineSettings
 );
 
-const interactiveCols = computed(
-  () =>
-    (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
-    (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)
-)
-  ? 9
-  : 8;
+const interactiveCols = computed(() =>
+  (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
+  (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)
+    ? 9
+    : 8
+);
 </script>
 
 <template>

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

@@ -49,13 +49,12 @@ const contourRadius = computed<[number, number]>({
   }
 });
 
-const interactiveCols = computed(
-  () =>
-    (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
-    (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)
-)
-  ? 9
-  : 8;
+const interactiveCols = computed(() =>
+  (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
+  (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)
+    ? 9
+    : 8
+);
 </script>
 
 <template>

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

@@ -63,13 +63,12 @@ const handleStreamResolutionChange = (value: number) => {
   );
 };
 
-const interactiveCols = computed(
-  () =>
-    (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
-    (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)
-)
-  ? 9
-  : 8;
+const interactiveCols = computed(() =>
+  (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
+  (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)
+    ? 9
+    : 8
+);
 </script>
 
 <template>

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

@@ -0,0 +1,83 @@
+<script setup lang="ts">
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
+import { type ActivePipelineSettings, PipelineType } from "@/types/PipelineTypes";
+import PvSlider from "@/components/common/pv-slider.vue";
+import { computed, getCurrentInstance } from "vue";
+import { useStateStore } from "@/stores/StateStore";
+
+// TODO fix pipeline typing in order to fix this, the store settings call should be able to infer that only valid pipeline type settings are exposed based on pre-checks for the entire config section
+// Defer reference to store access method
+const currentPipelineSettings = computed<ActivePipelineSettings>(
+  () => useCameraSettingsStore().currentPipelineSettings
+);
+
+// TODO fix pv-range-slider so that store access doesn't need to be deferred
+const contourArea = computed<[number, number]>({
+  get: () => Object.values(useCameraSettingsStore().currentPipelineSettings.contourArea) as [number, number],
+  set: (v) => (useCameraSettingsStore().currentPipelineSettings.contourArea = v)
+});
+const contourRatio = computed<[number, number]>({
+  get: () => Object.values(useCameraSettingsStore().currentPipelineSettings.contourRatio) as [number, number],
+  set: (v) => (useCameraSettingsStore().currentPipelineSettings.contourRatio = v)
+});
+
+const interactiveCols = computed(() =>
+  (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
+  (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)
+    ? 9
+    : 8
+);
+</script>
+
+<template>
+  <div v-if="currentPipelineSettings.pipelineType === PipelineType.ObjectDetection">
+    <pv-slider
+      v-model="currentPipelineSettings.confidence"
+      class="pt-2"
+      :slider-cols="interactiveCols"
+      label="Confidence"
+      tooltip="The minimum confidence for a detection to be considered valid. Bigger numbers mean fewer but more probable detections are allowed through."
+      :min="0"
+      :max="1"
+      :step="0.01"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ confidence: value }, false)"
+    />
+    <pv-range-slider
+      v-model="contourArea"
+      label="Area"
+      :min="0"
+      :max="100"
+      :slider-cols="interactiveCols"
+      :step="0.01"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourArea: value }, false)"
+    />
+    <pv-range-slider
+      v-model="contourRatio"
+      label="Ratio (W/H)"
+      tooltip="Min and max ratio between the width and height of a contour's bounding rectangle"
+      :min="0"
+      :max="100"
+      :slider-cols="interactiveCols"
+      :step="0.01"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourRatio: value }, false)"
+    />
+    <pv-select
+      v-model="useCameraSettingsStore().currentPipelineSettings.contourTargetOrientation"
+      label="Target Orientation"
+      tooltip="Used to determine how to calculate target landmarks, as well as aspect ratio"
+      :items="['Portrait', 'Landscape']"
+      :select-cols="interactiveCols"
+      @input="
+        (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourTargetOrientation: value }, false)
+      "
+    />
+    <pv-select
+      v-model="currentPipelineSettings.contourSortMode"
+      label="Target Sort"
+      tooltip="Chooses the sorting mode used to determine the 'best' targets to provide to user code"
+      :select-cols="interactiveCols"
+      :items="['Largest', 'Smallest', 'Highest', 'Lowest', 'Rightmost', 'Leftmost', 'Centermost']"
+      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourSortMode: value }, false)"
+    />
+  </div>
+</template>

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

@@ -46,13 +46,12 @@ const currentPipelineSettings = computed<ActivePipelineSettings>(
   () => useCameraSettingsStore().currentPipelineSettings
 );
 
-const interactiveCols = computed(
-  () =>
-    (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
-    (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)
-)
-  ? 9
-  : 8;
+const interactiveCols = computed(() =>
+  (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
+  (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)
+    ? 9
+    : 8
+);
 </script>
 
 <template>

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

@@ -6,13 +6,12 @@ import PvSlider from "@/components/common/pv-slider.vue";
 import { computed, getCurrentInstance } from "vue";
 import { useStateStore } from "@/stores/StateStore";
 
-const interactiveCols = computed(
-  () =>
-    (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
-    (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)
-)
-  ? 9
-  : 8;
+const interactiveCols = computed(() =>
+  (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
+  (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)
+    ? 9
+    : 8
+);
 </script>
 
 <template>

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

@@ -48,6 +48,10 @@ const resetCurrentBuffer = () => {
               >
                 Fiducial ID
               </th>
+              <template v-if="currentPipelineSettings.pipelineType === PipelineType.ObjectDetection">
+                <th class="text-center white--text">Class</th>
+                <th class="text-center white--text">Confidence</th>
+              </template>
               <template v-if="!useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled">
                 <th class="text-center white--text">Pitch &theta;&deg;</th>
                 <th class="text-center white--text">Yaw &theta;&deg;</th>
@@ -85,6 +89,18 @@ const resetCurrentBuffer = () => {
               >
                 {{ target.fiducialId }}
               </td>
+              <td
+                v-if="currentPipelineSettings.pipelineType === PipelineType.ObjectDetection"
+                class="text-center white--text"
+              >
+                {{ useStateStore().currentPipelineResults?.classNames[target.classId] }}
+              </td>
+              <td
+                v-if="currentPipelineSettings.pipelineType === PipelineType.ObjectDetection"
+                class="text-center white--text"
+              >
+                {{ target.confidence.toFixed(2) }}
+              </td>
               <template v-if="!useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled">
                 <td class="text-center">{{ target.pitch.toFixed(2) }}&deg;</td>
                 <td class="text-center">{{ target.yaw.toFixed(2) }}&deg;</td>

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

@@ -124,13 +124,12 @@ onBeforeUnmount(() => {
   cameraStream.removeEventListener("click", handleStreamClick);
 });
 
-const interactiveCols = computed(
-  () =>
-    (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
-    (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)
-)
-  ? 9
-  : 8;
+const interactiveCols = computed(() =>
+  (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
+  (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)
+    ? 9
+    : 8
+);
 </script>
 
 <template>

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

@@ -27,42 +27,54 @@ const generalMetrics = computed<MetricItem[]>(() => [
     value: useSettingsStore().general.gpuAcceleration || "Unknown"
   }
 ]);
-const platformMetrics = computed<MetricItem[]>(() => [
-  {
-    header: "CPU Temp",
-    value: useSettingsStore().metrics.cpuTemp === undefined ? "Unknown" : `${useSettingsStore().metrics.cpuTemp}°C`
-  },
-  {
-    header: "CPU Usage",
-    value: useSettingsStore().metrics.cpuUtil === undefined ? "Unknown" : `${useSettingsStore().metrics.cpuUtil}%`
-  },
-  {
-    header: "CPU Memory Usage",
-    value:
-      useSettingsStore().metrics.ramUtil === undefined || useSettingsStore().metrics.cpuMem === undefined
-        ? "Unknown"
-        : `${useSettingsStore().metrics.ramUtil || "Unknown"}MB of ${useSettingsStore().metrics.cpuMem}MB`
-  },
-  {
-    header: "GPU Memory Usage",
-    value:
-      useSettingsStore().metrics.gpuMemUtil === undefined || useSettingsStore().metrics.gpuMem === undefined
-        ? "Unknown"
-        : `${useSettingsStore().metrics.gpuMemUtil}MB of ${useSettingsStore().metrics.gpuMem}MB`
-  },
-  {
-    header: "CPU Throttling",
-    value: useSettingsStore().metrics.cpuThr || "Unknown"
-  },
-  {
-    header: "CPU Uptime",
-    value: useSettingsStore().metrics.cpuUptime || "Unknown"
-  },
-  {
-    header: "Disk Usage",
-    value: useSettingsStore().metrics.diskUtilPct || "Unknown"
+
+const platformMetrics = computed<MetricItem[]>(() => {
+  const stats = [
+    {
+      header: "CPU Temp",
+      value: useSettingsStore().metrics.cpuTemp === undefined ? "Unknown" : `${useSettingsStore().metrics.cpuTemp}°C`
+    },
+    {
+      header: "CPU Usage",
+      value: useSettingsStore().metrics.cpuUtil === undefined ? "Unknown" : `${useSettingsStore().metrics.cpuUtil}%`
+    },
+    {
+      header: "CPU Memory Usage",
+      value:
+        useSettingsStore().metrics.ramUtil === undefined || useSettingsStore().metrics.cpuMem === undefined
+          ? "Unknown"
+          : `${useSettingsStore().metrics.ramUtil || "Unknown"}MB of ${useSettingsStore().metrics.cpuMem}MB`
+    },
+    {
+      header: "GPU Memory Usage",
+      value:
+        useSettingsStore().metrics.gpuMemUtil === undefined || useSettingsStore().metrics.gpuMem === undefined
+          ? "Unknown"
+          : `${useSettingsStore().metrics.gpuMemUtil}MB of ${useSettingsStore().metrics.gpuMem}MB`
+    },
+    {
+      header: "CPU Throttling",
+      value: useSettingsStore().metrics.cpuThr || "Unknown"
+    },
+    {
+      header: "CPU Uptime",
+      value: useSettingsStore().metrics.cpuUptime || "Unknown"
+    },
+    {
+      header: "Disk Usage",
+      value: useSettingsStore().metrics.diskUtilPct || "Unknown"
+    }
+  ];
+
+  if (useSettingsStore().metrics.npuUsage) {
+    stats.push({
+      header: "NPU Usage",
+      value: useSettingsStore().metrics.npuUsage || "Unknown"
+    });
   }
-]);
+
+  return stats;
+});
 
 const metricsLastFetched = ref("Never");
 const fetchMetrics = () => {

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

@@ -1,16 +1,21 @@
 <script setup lang="ts">
 import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
-import { computed, ref } from "vue";
+import { computed, ref, watchEffect } from "vue";
 import PvInput from "@/components/common/pv-input.vue";
 import PvRadio from "@/components/common/pv-radio.vue";
 import PvSwitch from "@/components/common/pv-switch.vue";
 import PvSelect from "@/components/common/pv-select.vue";
-import { NetworkConnectionType, type NetworkSettings } from "@/types/SettingTypes";
+import { type ConfigurableNetworkSettings, NetworkConnectionType } from "@/types/SettingTypes";
 import { useStateStore } from "@/stores/StateStore";
 
-const settingsValid = ref(true);
 // Copy object to remove reference to store
-const tempSettingsStruct = ref<NetworkSettings>(Object.assign({}, useSettingsStore().network));
+const tempSettingsStruct = ref<ConfigurableNetworkSettings>(Object.assign({}, useSettingsStore().network));
+const resetTempSettingsStruct = () => {
+  tempSettingsStruct.value = Object.assign({}, useSettingsStore().network);
+};
+
+const settingsValid = ref(true);
+
 const isValidNetworkTablesIP = (v: string | undefined): boolean => {
   // Check if it is a valid team number between 1-9999
   const teamNumberRegex = /^[1-9][0-9]{0,3}$/;
@@ -52,28 +57,47 @@ const settingsHaveChanged = (): boolean => {
     a.runNTServer !== b.runNTServer ||
     a.shouldManage !== b.shouldManage ||
     a.shouldPublishProto !== b.shouldPublishProto ||
-    a.canManage !== b.canManage ||
     a.networkManagerIface !== b.networkManagerIface ||
     a.setStaticCommand !== b.setStaticCommand ||
-    a.setDHCPcommand !== b.setDHCPcommand
+    a.setDHCPcommand !== b.setDHCPcommand ||
+    a.matchCamerasOnlyByPath !== b.matchCamerasOnlyByPath
   );
 };
 
 const saveGeneralSettings = () => {
   const changingStaticIp = useSettingsStore().network.connectionType === NetworkConnectionType.Static;
 
-  // Update with new values
-  Object.assign(useSettingsStore().network, tempSettingsStruct.value);
+  // replace undefined members with empty strings for backend
+  const payload = {
+    connectionType: tempSettingsStruct.value.connectionType,
+    hostname: tempSettingsStruct.value.hostname,
+    networkManagerIface: tempSettingsStruct.value.networkManagerIface || "",
+    ntServerAddress: tempSettingsStruct.value.ntServerAddress,
+    runNTServer: tempSettingsStruct.value.runNTServer,
+    setDHCPcommand: tempSettingsStruct.value.setDHCPcommand || "",
+    setStaticCommand: tempSettingsStruct.value.setStaticCommand || "",
+    shouldManage: tempSettingsStruct.value.shouldManage,
+    shouldPublishProto: tempSettingsStruct.value.shouldPublishProto,
+    matchCamerasOnlyByPath: tempSettingsStruct.value.matchCamerasOnlyByPath,
+    staticIp: tempSettingsStruct.value.staticIp
+  };
 
   useSettingsStore()
-    .saveGeneralSettings()
+    .updateGeneralSettings(payload)
     .then((response) => {
       useStateStore().showSnackbarMessage({
         message: response.data.text || response.data,
         color: "success"
       });
+
+      // Update the local settings cause the backend checked their validity. Assign is to deref value
+      useSettingsStore().network = {
+        ...useSettingsStore().network,
+        ...Object.assign({}, tempSettingsStruct.value)
+      };
     })
     .catch((error) => {
+      resetTempSettingsStruct();
       if (error.response) {
         if (error.status === 504 || changingStaticIp) {
           useStateStore().showSnackbarMessage({
@@ -106,10 +130,17 @@ const currentNetworkInterfaceIndex = computed<number>({
   get: () => useSettingsStore().networkInterfaceNames.indexOf(useSettingsStore().network.networkManagerIface || ""),
   set: (v) => (tempSettingsStruct.value.networkManagerIface = useSettingsStore().networkInterfaceNames[v])
 });
+
+watchEffect(() => {
+  // Reset temp settings on remote network settings change
+  resetTempSettingsStruct();
+});
 </script>
 
 <template>
   <v-card dark class="mb-3 pr-6 pb-3" style="background-color: #006492">
+    <v-card-title>Global Settings</v-card-title>
+    <v-divider />
     <v-card-title>Networking</v-card-title>
     <div class="ml-5">
       <v-form ref="form" v-model="settingsValid">
@@ -136,42 +167,63 @@ const currentNetworkInterfaceIndex = computed<number>({
           The NetworkTables Server Address is not set or is invalid. NetworkTables is unable to connect.
         </v-banner>
         <pv-radio
+          v-show="!useSettingsStore().network.networkingDisabled"
           v-model="tempSettingsStruct.connectionType"
           label="IP Assignment Mode"
           tooltip="DHCP will make the radio (router) automatically assign an IP address; this may result in an IP address that changes across reboots. Static IP assignment means that you pick the IP address and it won't change."
           :input-cols="12 - 4"
           :list="['DHCP', 'Static']"
-          :disabled="!(tempSettingsStruct.shouldManage && tempSettingsStruct.canManage)"
+          :disabled="
+            !tempSettingsStruct.shouldManage ||
+            !useSettingsStore().network.canManage ||
+            useSettingsStore().network.networkingDisabled
+          "
         />
         <pv-input
+          v-show="!useSettingsStore().network.networkingDisabled"
           v-if="tempSettingsStruct.connectionType === NetworkConnectionType.Static"
           v-model="tempSettingsStruct.staticIp"
           :input-cols="12 - 4"
           label="Static IP"
           :rules="[(v) => isValidIPv4(v) || 'Invalid IPv4 address']"
-          :disabled="!(tempSettingsStruct.shouldManage && tempSettingsStruct.canManage)"
+          :disabled="
+            !tempSettingsStruct.shouldManage ||
+            !useSettingsStore().network.canManage ||
+            useSettingsStore().network.networkingDisabled
+          "
         />
         <pv-input
+          v-show="!useSettingsStore().network.networkingDisabled"
           v-model="tempSettingsStruct.hostname"
           label="Hostname"
           :input-cols="12 - 4"
           :rules="[(v) => isValidHostname(v) || 'Invalid hostname']"
-          :disabled="!(tempSettingsStruct.shouldManage && tempSettingsStruct.canManage)"
+          :disabled="
+            !tempSettingsStruct.shouldManage ||
+            !useSettingsStore().network.canManage ||
+            useSettingsStore().network.networkingDisabled
+          "
         />
         <v-divider class="pb-3" />
         <span style="font-weight: 700">Advanced Networking</span>
         <pv-switch
+          v-show="!useSettingsStore().network.networkingDisabled"
           v-model="tempSettingsStruct.shouldManage"
-          :disabled="!tempSettingsStruct.canManage"
+          :disabled="!useSettingsStore().network.canManage || useSettingsStore().network.networkingDisabled"
           label="Manage Device Networking"
           tooltip="If enabled, Photon will manage device hostname and network settings."
           :label-cols="4"
           class="pt-2"
         />
         <pv-select
+          v-show="!useSettingsStore().network.networkingDisabled"
           v-model="currentNetworkInterfaceIndex"
           label="NetworkManager interface"
-          :disabled="!(tempSettingsStruct.shouldManage && tempSettingsStruct.canManage)"
+          :disabled="
+            !tempSettingsStruct.shouldManage ||
+            !useSettingsStore().network.canManage ||
+            useSettingsStore().network.networkingDisabled
+          "
           :select-cols="12 - 4"
           tooltip="Name of the interface PhotonVision should manage the IP address of"
           :items="useSettingsStore().networkInterfaceNames"
@@ -180,7 +232,8 @@ const currentNetworkInterfaceIndex = computed<number>({
           v-show="
             !useSettingsStore().networkInterfaceNames.length &&
             tempSettingsStruct.shouldManage &&
-            tempSettingsStruct.canManage
+            useSettingsStore().network.canManage &&
+            !useSettingsStore().network.networkingDisabled
           "
           rounded
           color="red"
@@ -205,6 +258,9 @@ const currentNetworkInterfaceIndex = computed<number>({
         >
           This mode is intended for debugging; it should be off for proper usage. PhotonLib will NOT work!
         </v-banner>
+
+        <v-divider />
+        <v-card-title>Miscellaneous</v-card-title>
         <pv-switch
           v-model="tempSettingsStruct.shouldPublishProto"
           label="Also Publish Protobuf"
@@ -223,6 +279,14 @@ const currentNetworkInterfaceIndex = computed<number>({
           This mode is intended for debugging; it should be off for field use. You may notice a performance hit by using
           this mode.
         </v-banner>
+        <pv-switch
+          v-model="tempSettingsStruct.matchCamerasOnlyByPath"
+          label="Match cameras by-path ONLY"
+          tooltip="ONLY match cameras by the USB port they're plugged into + (basename or USB VID/PID), and never only by the device product string"
+          class="mt-3 mb-2"
+          :label-cols="4"
+        />
+        <v-divider class="mb-3" />
       </v-form>
       <v-btn
         color="accent"

photon-client/src/stores/settings/CameraSettingsStore.ts

@@ -3,7 +3,7 @@ import type {
   CalibrationBoardTypes,
   CameraCalibrationResult,
   CameraSettings,
-  ConfigurableCameraSettings,
+  CameraSettingsChangeRequest,
   Resolution,
   RobotOffsetType,
   VideoFormat
@@ -103,21 +103,17 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
         isCSICamera: d.isCSICamera,
         pipelineNicknames: d.pipelineNicknames,
         currentPipelineIndex: d.currentPipelineIndex,
-        pipelineSettings: d.currentPipelineSettings
+        pipelineSettings: d.currentPipelineSettings,
+        cameraQuirks: d.cameraQuirks
       }));
     },
     /**
      * Update the configurable camera settings.
      *
      * @param data camera settings to save.
-     * @param updateStore whether or not to update the store. This is useful if the input field already models the store reference.
      * @param cameraIndex the index of the camera.
      */
-    updateCameraSettings(
-      data: ConfigurableCameraSettings,
-      updateStore = true,
-      cameraIndex: number = useStateStore().currentCameraIndex
-    ) {
+    updateCameraSettings(data: CameraSettingsChangeRequest, cameraIndex: number = useStateStore().currentCameraIndex) {
       // The camera settings endpoint doesn't actually require all data, instead, it needs key data such as the FOV
       const payload = {
         settings: {
@@ -125,9 +121,6 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
         },
         index: cameraIndex
       };
-      if (updateStore) {
-        this.currentCameraSettings.fov.value = data.fov;
-      }
       return axios.post("/settings/camera", payload);
     },
     /**
@@ -423,6 +416,23 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
       cameraIndex: number = useStateStore().currentCameraIndex
     ): CameraCalibrationResult | undefined {
       return this.cameras[cameraIndex].completeCalibrations.find((v) => resolutionsAreEqual(v.resolution, resolution));
+    },
+    getCalImageUrl(host: string, resolution: Resolution, idx: number, cameraIdx = useStateStore().currentCameraIndex) {
+      const url = new URL(`http://${host}/api/utils/getCalSnapshot`);
+      url.searchParams.set("width", Math.round(resolution.width).toFixed(0));
+      url.searchParams.set("height", Math.round(resolution.height).toFixed(0));
+      url.searchParams.set("snapshotIdx", Math.round(idx).toFixed(0));
+      url.searchParams.set("cameraIdx", Math.round(cameraIdx).toFixed(0));
+
+      return url.href;
+    },
+    getCalJSONUrl(host: string, resolution: Resolution, cameraIdx = useStateStore().currentCameraIndex) {
+      const url = new URL(`http://${host}/api/utils/getCalibrationJSON`);
+      url.searchParams.set("width", Math.round(resolution.width).toFixed(0));
+      url.searchParams.set("height", Math.round(resolution.height).toFixed(0));
+      url.searchParams.set("cameraIdx", Math.round(cameraIdx).toFixed(0));
+
+      return url.href;
     }
   }
 });

photon-client/src/stores/settings/GeneralSettingsStore.ts

@@ -27,7 +27,8 @@ export const useSettingsStore = defineStore("settings", {
       gpuAcceleration: undefined,
       hardwareModel: undefined,
       hardwarePlatform: undefined,
-      mrCalWorking: true
+      mrCalWorking: true,
+      rknnSupported: false
     },
     network: {
       ntServerAddress: "",
@@ -43,7 +44,9 @@ export const useSettingsStore = defineStore("settings", {
           connName: "Example Wired Connection",
           devName: "eth0"
         }
-      ]
+      ],
+      networkingDisabled: false,
+      matchCamerasOnlyByPath: false
     },
     lighting: {
       supported: true,
@@ -58,7 +61,8 @@ export const useSettingsStore = defineStore("settings", {
       gpuMemUtil: undefined,
       cpuThr: undefined,
       cpuUptime: undefined,
-      diskUtilPct: undefined
+      diskUtilPct: undefined,
+      npuUsage: undefined
     },
     currentFieldLayout: {
       field: {
@@ -90,7 +94,8 @@ export const useSettingsStore = defineStore("settings", {
         gpuMemUtil: data.gpuMemUtil || undefined,
         cpuThr: data.cpuThr || undefined,
         cpuUptime: data.cpuUptime || undefined,
-        diskUtilPct: data.diskUtilPct || undefined
+        diskUtilPct: data.diskUtilPct || undefined,
+        npuUsage: data.npuUsage || undefined
       };
     },
     updateGeneralSettingsFromWebsocket(data: WebsocketSettingsUpdate) {
@@ -99,25 +104,14 @@ export const useSettingsStore = defineStore("settings", {
         hardwareModel: data.general.hardwareModel || undefined,
         hardwarePlatform: data.general.hardwarePlatform || undefined,
         gpuAcceleration: data.general.gpuAcceleration || undefined,
-        mrCalWorking: data.general.mrCalWorking
+        mrCalWorking: data.general.mrCalWorking,
+        rknnSupported: data.general.rknnSupported
       };
       this.lighting = data.lighting;
       this.network = data.networkSettings;
       this.currentFieldLayout = data.atfl;
     },
-    saveGeneralSettings() {
-      const payload: Required<ConfigurableNetworkSettings> = {
-        connectionType: this.network.connectionType,
-        hostname: this.network.hostname,
-        networkManagerIface: this.network.networkManagerIface || "",
-        ntServerAddress: this.network.ntServerAddress,
-        runNTServer: this.network.runNTServer,
-        setDHCPcommand: this.network.setDHCPcommand || "",
-        setStaticCommand: this.network.setStaticCommand || "",
-        shouldManage: this.network.shouldManage,
-        shouldPublishProto: this.network.shouldPublishProto,
-        staticIp: this.network.staticIp
-      };
+    updateGeneralSettings(payload: Required<ConfigurableNetworkSettings>) {
       return axios.post("/settings/general", payload);
     },
     /**

photon-client/src/types/PhotonTrackingTypes.ts

@@ -54,6 +54,8 @@ export interface PhotonTarget {
   ambiguity: number;
   // -1 if not set
   fiducialId: number;
+  confidence: number;
+  classId: number;
   // undefined if 3d isn't enabled
   pose?: Transform3d;
 }
@@ -70,4 +72,6 @@ export interface PipelineResult {
   targets: PhotonTarget[];
   // undefined if multitag failed or non-tag pipeline
   multitagResult?: MultitagResult;
+  // Object detection class names -- empty if not doing object detection
+  classNames: string[];
 }

photon-client/src/types/PipelineTypes.ts

@@ -5,7 +5,8 @@ export enum PipelineType {
   Reflective = 2,
   ColoredShape = 3,
   AprilTag = 4,
-  Aruco = 5
+  Aruco = 5,
+  ObjectDetection = 6
 }
 
 export enum AprilTagFamily {
@@ -281,14 +282,39 @@ export const DefaultArucoPipelineSettings: ArucoPipelineSettings = {
   doSingleTargetAlways: false
 };
 
+export interface ObjectDetectionPipelineSettings extends PipelineSettings {
+  pipelineType: PipelineType.ObjectDetection;
+  confidence: number;
+  nms: number;
+  box_thresh: number;
+}
+export type ConfigurableObjectDetectionPipelineSettings = Partial<
+  Omit<ObjectDetectionPipelineSettings, "pipelineType">
+> &
+  ConfigurablePipelineSettings;
+export const DefaultObjectDetectionPipelineSettings: ObjectDetectionPipelineSettings = {
+  ...DefaultPipelineSettings,
+  pipelineType: PipelineType.ObjectDetection,
+  cameraGain: 20,
+  targetModel: TargetModel.InfiniteRechargeHighGoalOuter,
+  ledMode: true,
+  outputShowMultipleTargets: false,
+  cameraExposure: 6,
+  confidence: 0.9,
+  nms: 0.45,
+  box_thresh: 0.25
+};
+
 export type ActivePipelineSettings =
   | ReflectivePipelineSettings
   | ColoredShapePipelineSettings
   | AprilTagPipelineSettings
-  | ArucoPipelineSettings;
+  | ArucoPipelineSettings
+  | ObjectDetectionPipelineSettings;
 
 export type ActiveConfigurablePipelineSettings =
   | ConfigurableReflectivePipelineSettings
   | ConfigurableColoredShapePipelineSettings
   | ConfigurableAprilTagPipelineSettings
-  | ConfigurableArucoPipelineSettings;
+  | ConfigurableArucoPipelineSettings
+  | ConfigurableObjectDetectionPipelineSettings;

photon-client/src/types/SettingTypes.ts

@@ -7,6 +7,7 @@ export interface GeneralSettings {
   hardwareModel?: string;
   hardwarePlatform?: string;
   mrCalWorking: boolean;
+  rknnSupported: boolean;
 }
 
 export interface MetricData {
@@ -19,6 +20,7 @@ export interface MetricData {
   cpuThr?: string;
   cpuUptime?: string;
   diskUtilPct?: string;
+  npuUsage?: string;
 }
 
 export enum NetworkConnectionType {
@@ -44,9 +46,14 @@ export interface NetworkSettings {
   setStaticCommand?: string;
   setDHCPcommand?: string;
   networkInterfaceNames: NetworkInterfaceType[];
+  networkingDisabled: boolean;
+  matchCamerasOnlyByPath: boolean;
 }
 
-export type ConfigurableNetworkSettings = Omit<NetworkSettings, "canManage" | "networkInterfaceNames">;
+export type ConfigurableNetworkSettings = Omit<
+  NetworkSettings,
+  "canManage" | "networkInterfaceNames" | "networkingDisabled"
+>;
 
 export interface LightingSettings {
   supported: boolean;
@@ -133,10 +140,30 @@ export interface CameraCalibrationResult {
   distCoeffs: JsonMatOfDouble;
   observations: BoardObservation[];
   calobjectWarp?: number[];
+  // We might have to omit observations for bandwith, so backend will send us this
+  numSnapshots: number;
+  meanErrors: number[];
 }
 
-export interface ConfigurableCameraSettings {
-  fov: number;
+export enum ValidQuirks {
+  AWBGain = "AWBGain",
+  AdjustableFocus = "AdjustableFocus",
+  ArduOV9281 = "ArduOV9281",
+  ArduOV2311 = "ArduOV2311",
+  ArduCamCamera = "ArduCamCamera",
+  CompletelyBroken = "CompletelyBroken",
+  FPSCap100 = "FPSCap100",
+  Gain = "Gain",
+  PiCam = "PiCam",
+  StickyFPS = "StickyFPS"
+}
+
+export interface QuirkyCamera {
+  baseName: string;
+  usbVid: number;
+  usbPid: number;
+  displayName: string;
+  quirks: Record<ValidQuirks, boolean>;
 }
 
 export interface CameraSettings {
@@ -159,15 +186,22 @@ export interface CameraSettings {
   currentPipelineIndex: number;
   pipelineNicknames: string[];
   pipelineSettings: ActivePipelineSettings;
+
+  cameraQuirks: QuirkyCamera;
   isCSICamera: boolean;
 }
 
+export interface CameraSettingsChangeRequest {
+  fov: number;
+  quirksToChange: Record<ValidQuirks, boolean>;
+}
+
 export const PlaceholderCameraSettings: CameraSettings = {
   nickname: "Placeholder Camera",
   uniqueName: "Placeholder Name",
   fov: {
     value: 70,
-    managedByVendor: true
+    managedByVendor: false
   },
   stream: {
     inputPort: 0,
@@ -226,13 +260,33 @@ export const PlaceholderCameraSettings: CameraSettings = {
           snapshotName: "img0.png",
           snapshotData: { rows: 480, cols: 640, type: CvType.CV_8U, data: "" }
         }
-      ]
+      ],
+      numSnapshots: 1,
+      meanErrors: [123.45]
     }
   ],
   pipelineNicknames: ["Placeholder Pipeline"],
   lastPipelineIndex: 0,
   currentPipelineIndex: 0,
   pipelineSettings: DefaultAprilTagPipelineSettings,
+  cameraQuirks: {
+    displayName: "Blank 1",
+    baseName: "Blank 2",
+    usbVid: -1,
+    usbPid: -1,
+    quirks: {
+      AWBGain: false,
+      AdjustableFocus: false,
+      ArduOV9281: false,
+      ArduOV2311: false,
+      ArduCamCamera: false,
+      CompletelyBroken: false,
+      FPSCap100: false,
+      Gain: false,
+      PiCam: false,
+      StickyFPS: false
+    }
+  },
   isCSICamera: false
 };
 

photon-client/src/types/WebsocketDataTypes.ts

@@ -4,7 +4,8 @@ import type {
   LightingSettings,
   LogLevel,
   MetricData,
-  NetworkSettings
+  NetworkSettings,
+  QuirkyCamera
 } from "@/types/SettingTypes";
 import type { ActivePipelineSettings } from "@/types/PipelineTypes";
 import type { AprilTagFieldLayout, PipelineResult } from "@/types/PhotonTrackingTypes";
@@ -56,6 +57,7 @@ export interface WebsocketCameraSettingsUpdate {
   outputStreamPort: number;
   pipelineNicknames: string[];
   videoFormatList: WebsocketVideoFormat;
+  cameraQuirks: QuirkyCamera;
 }
 export interface WebsocketNTUpdate {
   connected: boolean;
@@ -99,5 +101,6 @@ export enum WebsocketPipelineType {
   Reflective = 0,
   ColoredShape = 1,
   AprilTag = 2,
-  Aruco = 3
+  Aruco = 3,
+  ObjectDetection = 4
 }

photon-client/vite.config.ts

@@ -10,25 +10,22 @@ export default defineConfig({
   plugins: [
     Vue2(),
     Components({
-      resolvers: [
-          VuetifyResolver()
-      ],
+      resolvers: [VuetifyResolver()],
       dts: true,
       transformer: "vue2",
-      types: [{
-        from: "vue-router",
-        names: ["RouterLink", "RouterView"]
-      }],
+      types: [
+        {
+          from: "vue-router",
+          names: ["RouterLink", "RouterView"]
+        }
+      ],
       version: 2.7
     })
   ],
   css: {
     preprocessorOptions: {
       sass: {
-        additionalData: [
-          "@import \"@/assets/styles/variables.scss\"",
-          ""
-        ].join("\n")
+        additionalData: ["@import \"@/assets/styles/variables.scss\"", ""].join("\n")
       }
     }
   },

photon-core/build.gradle

@@ -1,7 +1,31 @@
+plugins {
+    id 'edu.wpi.first.WpilibTools' version '1.3.0'
+}
+
 import java.nio.file.Path
 
 apply from: "${rootDir}/shared/common.gradle"
 
+wpilibTools.deps.wpilibVersion = wpi.versions.wpilibVersion.get()
+
+def nativeConfigName = 'wpilibNatives'
+def nativeConfig = configurations.create(nativeConfigName)
+
+def nativeTasks = wpilibTools.createExtractionTasks {
+    configurationName = nativeConfigName
+}
+
+nativeTasks.addToSourceSetResources(sourceSets.main)
+
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpimath")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("cscore")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("apriltag")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("hal")
+nativeConfig.dependencies.add wpilibTools.deps.wpilibOpenCv("frc" + wpi.frcYear.get(), wpi.versions.opencvVersion.get())
+
 dependencies {
     // JOGL stuff (currently we only distribute for aarch64, which is Pi 4)
     implementation "org.jogamp.gluegen:gluegen-rt:$joglVersion"
@@ -13,7 +37,8 @@ dependencies {
     implementation 'org.zeroturnaround:zt-zip:1.14'
 
     implementation "org.xerial:sqlite-jdbc:3.41.0.0"
-
+    implementation "org.photonvision:rknn_jni-jni:$rknnVersion:linuxarm64"
+    implementation "org.photonvision:rknn_jni-java:$rknnVersion"
     implementation "org.photonvision:photon-libcamera-gl-driver-jni:$photonGlDriverLibVersion:linuxarm64"
     implementation "org.photonvision:photon-libcamera-gl-driver-java:$photonGlDriverLibVersion"
 

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

@@ -23,10 +23,12 @@ import com.fasterxml.jackson.annotation.JsonProperty;
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.List;
+import java.util.Optional;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.camera.CameraType;
+import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.pipeline.CVPipelineSettings;
 import org.photonvision.vision.pipeline.DriverModePipelineSettings;
 import org.photonvision.vision.processes.PipelineManager;
@@ -46,8 +48,16 @@ public class CameraConfiguration {
     /** Can be either path (ex /dev/videoX) or index (ex 1). */
     public String path = "";
 
+    public QuirkyCamera cameraQuirks;
+
     @JsonIgnore public String[] otherPaths = {};
 
+    @JsonProperty("usbVID")
+    public int usbVID = -1;
+
+    @JsonProperty("usbPID")
+    public int usbPID = -1;
+
     public CameraType cameraType = CameraType.UsbCamera;
     public double FOV = 70;
     public final List<CameraCalibrationCoefficients> calibrations;
@@ -93,16 +103,22 @@ public class CameraConfiguration {
             @JsonProperty("FOV") double FOV,
             @JsonProperty("path") String path,
             @JsonProperty("cameraType") CameraType cameraType,
+            @JsonProperty("cameraQuirks") QuirkyCamera cameraQuirks,
             @JsonProperty("calibration") List<CameraCalibrationCoefficients> calibrations,
-            @JsonProperty("currentPipelineIndex") int currentPipelineIndex) {
+            @JsonProperty("currentPipelineIndex") int currentPipelineIndex,
+            @JsonProperty("usbVID") int usbVID,
+            @JsonProperty("usbPID") int usbPID) {
         this.baseName = baseName;
         this.uniqueName = uniqueName;
         this.nickname = nickname;
         this.FOV = FOV;
         this.path = path;
         this.cameraType = cameraType;
+        this.cameraQuirks = cameraQuirks;
         this.calibrations = calibrations != null ? calibrations : new ArrayList<>();
         this.currentPipelineIndex = currentPipelineIndex;
+        this.usbPID = usbPID;
+        this.usbVID = usbVID;
 
         logger.debug(
                 "Creating camera configuration for "
@@ -151,6 +167,17 @@ public class CameraConfiguration {
         calibrations.add(calibration);
     }
 
+    /**
+     * Get a unique descriptor of the USB port this camera is attached to. EG
+     * "/dev/v4l/by-path/platform-fc800000.usb-usb-0:1.3:1.0-video-index0"
+     *
+     * @return
+     */
+    @JsonIgnore
+    public Optional<String> getUSBPath() {
+        return Arrays.stream(otherPaths).filter(path -> path.contains("/by-path/")).findFirst();
+    }
+
     @Override
     public String toString() {
         return "CameraConfiguration [baseName="
@@ -165,6 +192,8 @@ public class CameraConfiguration {
                 + Arrays.toString(otherPaths)
                 + ", cameraType="
                 + cameraType
+                + ", cameraQuirks="
+                + cameraQuirks
                 + ", FOV="
                 + FOV
                 + ", calibrations="

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

@@ -50,6 +50,10 @@ public class ConfigManager {
     private final Thread settingsSaveThread;
     private long saveRequestTimestamp = -1;
 
+    // special case flag to disable flushing settings to disk at shutdown. Avoids the jvm shutdown
+    // hook overwriting the settings we just uploaded
+    private boolean flushOnShutdown = true;
+
     enum ConfigSaveStrategy {
         SQL,
         LEGACY,
@@ -296,4 +300,26 @@ public class ConfigManager {
             }
         }
     }
+
+    /** Get (and create if not present) the subfolder where ML models are stored */
+    public File getModelsDirectory() {
+        var ret = new File(configDirectoryFile, "models");
+        if (!ret.exists()) ret.mkdirs();
+        return ret;
+    }
+
+    /**
+     * Disable flushing settings to disk as part of our JVM exit hook. Used to prevent uploading all
+     * settings from getting its new configs overwritten at program exit and before theyre all loaded.
+     */
+    public void disableFlushOnShutdown() {
+        this.flushOnShutdown = false;
+    }
+
+    public void onJvmExit() {
+        if (flushOnShutdown) {
+            logger.info("Force-flushing settings...");
+            saveToDisk();
+        }
+    }
 }

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

@@ -0,0 +1,64 @@
+/*
+ * 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.configuration;
+
+/**
+ * Add migrations by adding the SQL commands for each migration sequentially to this array. DO NOT
+ * edit or delete existing SQL commands. That will lead to producing an icompatible database.
+ *
+ * <p>You can use multiple SQL statements in one migration step as long as you separate them with a
+ * semicolon (;).
+ */
+public final class DatabaseSchema {
+    public static final String[] migrations = {
+        // #1 - initial schema
+        "CREATE TABLE IF NOT EXISTS global (\n"
+                + " filename TINYTEXT PRIMARY KEY,\n"
+                + " contents mediumtext NOT NULL\n"
+                + ");"
+                + "CREATE TABLE IF NOT EXISTS cameras (\n"
+                + " unique_name TINYTEXT PRIMARY KEY,\n"
+                + " config_json text NOT NULL,\n"
+                + " drivermode_json text NOT NULL,\n"
+                + " pipeline_jsons mediumtext NOT NULL\n"
+                + ");",
+        // #2 - add column otherpaths_json
+        "ALTER TABLE cameras ADD COLUMN otherpaths_json TEXT NOT NULL DEFAULT '[]';",
+        // add future migrations here
+    };
+
+    // Constants for the tables and column to help prevent typos in SQL queries
+    // Update these tables to keep them constant with the current schema
+    public final class Tables {
+        // These constants should match the current SQL name of each table
+        public static final String GLOBAL = "global";
+        public static final String CAMERAS = "cameras";
+    }
+
+    public final class Columns {
+        // These constants should match the current SQL name of each column
+        static final String GLB_FILENAME = "filename";
+        static final String GLB_CONTENTS = "contents";
+
+        static final String CAM_UNIQUE_NAME = "unique_name";
+        static final String CAM_CONFIG_JSON = "config_json";
+        static final String CAM_DRIVERMODE_JSON = "drivermode_json";
+        static final String CAM_PIPELINE_JSONS = "pipeline_jsons";
+        static final String CAM_OTHERPATHS_JSON = "otherpaths_json";
+    }
+}

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

@@ -20,6 +20,24 @@ package org.photonvision.common.configuration;
 public class HardwareSettings {
     public int ledBrightnessPercentage = 100;
 
+    @Override
+    public int hashCode() {
+        final int prime = 31;
+        int result = 1;
+        result = prime * result + ledBrightnessPercentage;
+        return result;
+    }
+
+    @Override
+    public boolean equals(Object obj) {
+        if (this == obj) return true;
+        if (obj == null) return false;
+        if (getClass() != obj.getClass()) return false;
+        HardwareSettings other = (HardwareSettings) obj;
+        if (ledBrightnessPercentage != other.ledBrightnessPercentage) return false;
+        return true;
+    }
+
     @Override
     public String toString() {
         return "HardwareSettings [ledBrightnessPercentage=" + ledBrightnessPercentage + "]";

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

@@ -196,7 +196,7 @@ class LegacyConfigProvider extends ConfigProvider {
             }
         }
         if (atfl == null) {
-            logger.info("Loading default apriltags for 2023 field...");
+            logger.info("Loading default apriltags for 2024 field...");
             try {
                 atfl = AprilTagFields.kDefaultField.loadAprilTagLayoutField();
             } catch (UncheckedIOException e) {

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

@@ -39,6 +39,12 @@ public class NetworkConfig {
     public boolean shouldManage;
     public boolean shouldPublishProto = false;
 
+    /**
+     * If we should ONLY match cameras by path, and NEVER only by base-name. For now default to false
+     * to preserve old matching logic
+     */
+    public boolean matchCamerasOnlyByPath = false;
+
     @JsonIgnore public static final String NM_IFACE_STRING = "${interface}";
     @JsonIgnore public static final String NM_IP_STRING = "${ipaddr}";
 
@@ -76,7 +82,8 @@ public class NetworkConfig {
             @JsonProperty("shouldPublishProto") boolean shouldPublishProto,
             @JsonProperty("networkManagerIface") String networkManagerIface,
             @JsonProperty("setStaticCommand") String setStaticCommand,
-            @JsonProperty("setDHCPcommand") String setDHCPcommand) {
+            @JsonProperty("setDHCPcommand") String setDHCPcommand,
+            @JsonProperty("matchCamerasOnlyByPath") boolean matchCamerasOnlyByPath) {
         this.ntServerAddress = ntServerAddress;
         this.connectionType = connectionType;
         this.staticIp = staticIp;
@@ -86,6 +93,7 @@ public class NetworkConfig {
         this.networkManagerIface = networkManagerIface;
         this.setStaticCommand = setStaticCommand;
         this.setDHCPcommand = setDHCPcommand;
+        this.matchCamerasOnlyByPath = matchCamerasOnlyByPath;
         setShouldManage(shouldManage);
     }
 

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

@@ -0,0 +1,104 @@
+/*
+ * 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.configuration;
+
+import java.io.File;
+import java.io.FileOutputStream;
+import java.io.IOException;
+import java.nio.file.Files;
+import java.nio.file.Paths;
+import java.util.List;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
+import org.photonvision.rknn.RknnJNI;
+
+public class NeuralNetworkModelManager {
+    private static NeuralNetworkModelManager INSTANCE;
+    private static final Logger logger = new Logger(NeuralNetworkModelManager.class, LogGroup.Config);
+
+    private final String MODEL_NAME = "note-640-640-yolov5s.rknn";
+    private final RknnJNI.ModelVersion modelVersion = RknnJNI.ModelVersion.YOLO_V5;
+    private File defaultModelFile;
+    private List<String> labels;
+
+    public static NeuralNetworkModelManager getInstance() {
+        if (INSTANCE == null) {
+            INSTANCE = new NeuralNetworkModelManager();
+        }
+        return INSTANCE;
+    }
+
+    /**
+     * Perform initial setup and extract default model from JAR to the filesystem
+     *
+     * @param modelsFolder Where models live
+     */
+    public void initialize(File modelsFolder) {
+        var modelResourcePath = "/models/" + MODEL_NAME;
+        this.defaultModelFile = new File(modelsFolder, MODEL_NAME);
+        extractResource(modelResourcePath, defaultModelFile);
+
+        File labelsFile = new File(modelsFolder, "labels_v5.txt");
+        var labelResourcePath = "/models/" + labelsFile.getName();
+        extractResource(labelResourcePath, labelsFile);
+
+        try {
+            labels = Files.readAllLines(Paths.get(labelsFile.getPath()));
+        } catch (IOException e) {
+            logger.error("Error reading labels.txt", e);
+        }
+    }
+
+    private void extractResource(String resourcePath, File outputFile) {
+        try (var in = NeuralNetworkModelManager.class.getResourceAsStream(resourcePath)) {
+            if (in == null) {
+                logger.error("Failed to find jar resource at " + resourcePath);
+                return;
+            }
+
+            if (!outputFile.exists()) {
+                try (FileOutputStream fos = new FileOutputStream(outputFile)) {
+                    int read = -1;
+                    byte[] buffer = new byte[1024];
+                    while ((read = in.read(buffer)) != -1) {
+                        fos.write(buffer, 0, read);
+                    }
+                } catch (IOException e) {
+                    logger.error("Error extracting resource to " + outputFile.toPath().toString(), e);
+                }
+            } else {
+                logger.info(
+                        "File " + outputFile.toPath().toString() + " already exists. Skipping extraction.");
+            }
+        } catch (IOException e) {
+            logger.error("Error finding jar resource " + resourcePath, e);
+        }
+    }
+
+    public File getDefaultRknnModel() {
+        return defaultModelFile;
+    }
+
+    public List<String> getLabels() {
+        return labels;
+    }
+
+    public RknnJNI.ModelVersion getModelVersion() {
+        return modelVersion;
+    }
+}

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

@@ -25,11 +25,14 @@ import java.util.Map;
 import java.util.stream.Collectors;
 import org.photonvision.PhotonVersion;
 import org.photonvision.common.hardware.Platform;
+import org.photonvision.common.networking.NetworkManager;
 import org.photonvision.common.networking.NetworkUtils;
 import org.photonvision.common.util.SerializationUtils;
+import org.photonvision.jni.RknnDetectorJNI;
 import org.photonvision.mrcal.MrCalJNILoader;
 import org.photonvision.raspi.LibCameraJNILoader;
-import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
+import org.photonvision.vision.calibration.UICameraCalibrationCoefficients;
+import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.processes.VisionModule;
 import org.photonvision.vision.processes.VisionModuleManager;
 import org.photonvision.vision.processes.VisionSource;
@@ -119,16 +122,10 @@ public class PhotonConfiguration {
         // Hack active interfaces into networkSettings
         var netConfigMap = networkConfig.toHashMap();
         netConfigMap.put("networkInterfaceNames", NetworkUtils.getAllWiredInterfaces());
+        netConfigMap.put("networkingDisabled", NetworkManager.getInstance().networkingIsDisabled);
 
         settingsSubmap.put("networkSettings", netConfigMap);
 
-        map.put(
-                "cameraSettings",
-                VisionModuleManager.getInstance().getModules().stream()
-                        .map(VisionModule::toUICameraConfig)
-                        .map(SerializationUtils::objectToHashMap)
-                        .collect(Collectors.toList()));
-
         var lightingConfig = new UILightingConfig();
         lightingConfig.brightness = hardwareSettings.ledBrightnessPercentage;
         lightingConfig.supported = !hardwareConfig.ledPins.isEmpty();
@@ -141,7 +138,8 @@ public class PhotonConfiguration {
                 LibCameraJNILoader.isSupported()
                         ? "Zerocopy Libcamera Working"
                         : ""); // TODO add support for other types of GPU accel
-        generalSubmap.put("mrCalWorking", MrCalJNILoader.isWorking());
+        generalSubmap.put("mrCalWorking", MrCalJNILoader.getInstance().isLoaded());
+        generalSubmap.put("rknnSupported", RknnDetectorJNI.getInstance().isLoaded());
         generalSubmap.put("hardwareModel", hardwareConfig.deviceName);
         generalSubmap.put("hardwarePlatform", Platform.getPlatformName());
         settingsSubmap.put("general", generalSubmap);
@@ -176,8 +174,9 @@ public class PhotonConfiguration {
         public HashMap<Integer, HashMap<String, Object>> videoFormatList;
         public int outputStreamPort;
         public int inputStreamPort;
-        public List<CameraCalibrationCoefficients> calibrations;
+        public List<UICameraCalibrationCoefficients> calibrations;
         public boolean isFovConfigurable = true;
+        public QuirkyCamera cameraQuirks;
         public boolean isCSICamera;
     }
 }

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

@@ -30,6 +30,8 @@ import java.util.HashMap;
 import java.util.List;
 import java.util.Objects;
 import java.util.stream.Collectors;
+import org.photonvision.common.configuration.DatabaseSchema.Columns;
+import org.photonvision.common.configuration.DatabaseSchema.Tables;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.file.JacksonUtils;
@@ -47,13 +49,7 @@ import org.photonvision.vision.pipeline.DriverModePipelineSettings;
 public class SqlConfigProvider extends ConfigProvider {
     private static final Logger logger = new Logger(SqlConfigProvider.class, LogGroup.Config);
 
-    static class TableKeys {
-        static final String CAM_UNIQUE_NAME = "unique_name";
-        static final String CONFIG_JSON = "config_json";
-        static final String DRIVERMODE_JSON = "drivermode_json";
-        static final String OTHERPATHS_JSON = "otherpaths_json";
-        static final String PIPELINE_JSONS = "pipeline_jsons";
-
+    static class GlobalKeys {
         static final String NETWORK_CONFIG = "networkConfig";
         static final String HARDWARE_CONFIG = "hardwareConfig";
         static final String HARDWARE_SETTINGS = "hardwareSettings";
@@ -61,14 +57,24 @@ public class SqlConfigProvider extends ConfigProvider {
     }
 
     private static final String dbName = "photon.sqlite";
+    // private final File rootFolder;
     private final String dbPath;
+    private final String url;
 
     private final Object m_mutex = new Object();
-    private final File rootFolder;
 
-    public SqlConfigProvider(Path rootFolder) {
-        this.rootFolder = rootFolder.toFile();
+    public SqlConfigProvider(Path rootPath) {
+        File rootFolder = rootPath.toFile();
+        // Make sure root dir exists
+        if (!rootFolder.exists()) {
+            if (rootFolder.mkdirs()) {
+                logger.debug("Root config folder did not exist. Created!");
+            } else {
+                logger.error("Failed to create root config folder!");
+            }
+        }
         dbPath = Path.of(rootFolder.toString(), dbName).toAbsolutePath().toString();
+        url = "jdbc:sqlite:" + dbPath;
         logger.debug("Using database " + dbPath);
         initDatabase();
     }
@@ -80,91 +86,136 @@ public class SqlConfigProvider extends ConfigProvider {
         return config;
     }
 
-    private Connection createConn() {
-        String url = "jdbc:sqlite:" + dbPath;
-
+    private Connection createConn(boolean autoCommit) {
+        Connection conn = null;
         try {
-            var conn = DriverManager.getConnection(url);
-            conn.setAutoCommit(false);
-            return conn;
+            conn = DriverManager.getConnection(url);
+            conn.setAutoCommit(autoCommit);
         } catch (SQLException e) {
             logger.error("Error creating connection", e);
-            return null;
         }
+        return conn;
+    }
+
+    private Connection createConn() {
+        return createConn(false);
     }
 
     private void tryCommit(Connection conn) {
         try {
             conn.commit();
-        } catch (SQLException e) {
-            logger.error("Err committing changes: ", e);
+        } catch (SQLException e1) {
+            logger.error("Err committing changes: ", e1);
             try {
                 conn.rollback();
-            } catch (SQLException e1) {
-                logger.error("Err rolling back changes: ", e);
+            } catch (SQLException e2) {
+                logger.error("Err rolling back changes: ", e2);
             }
         }
     }
 
-    private void initDatabase() {
-        // Make sure root dir exists
+    private int getIntPragma(String pragma) {
+        int retval = 0;
+        try (Connection conn = createConn(true);
+                Statement stmt = conn.createStatement()) {
+            ResultSet rs = stmt.executeQuery("PRAGMA " + pragma + ";");
+            retval = rs.getInt(1);
+        } catch (SQLException e) {
+            logger.error("Error querying " + pragma, e);
+        }
+        return retval;
+    }
 
-        if (!rootFolder.exists()) {
-            if (rootFolder.mkdirs()) {
-                logger.debug("Root config folder did not exist. Created!");
-            } else {
-                logger.error("Failed to create root config folder!");
+    private int getSchemaVersion() {
+        return getIntPragma("schema_version");
+    }
+
+    public int getUserVersion() {
+        return getIntPragma("user_version");
+    }
+
+    private void setUserVersion(Connection conn, int value) {
+        try (Statement stmt = conn.createStatement()) {
+            stmt.execute("PRAGMA user_version = " + value + ";");
+        } catch (SQLException e) {
+            logger.error("Error setting user_version to ", e);
+        }
+    }
+
+    private void doMigration(int index) throws SQLException {
+        logger.debug("Running migration step " + index);
+        try (Connection conn = createConn();
+                Statement stmt = conn.createStatement()) {
+            for (String sql : DatabaseSchema.migrations[index].split(";")) {
+                stmt.addBatch(sql);
+            }
+            stmt.executeBatch();
+            setUserVersion(conn, index + 1);
+            tryCommit(conn);
+        } catch (SQLException e) {
+            logger.error("Error with migration step " + index, e);
+            throw e;
+        }
+    }
+
+    private void initDatabase() {
+        int userVersion = getUserVersion();
+        int expectedVersion = DatabaseSchema.migrations.length;
+
+        if (userVersion < expectedVersion) {
+            // older database, run migrations
+
+            // first, check to see if this is one of the ones from 2024 beta that need special handling
+            if (userVersion == 0 && getSchemaVersion() > 0) {
+                String sql =
+                        "SELECT COUNT(*) AS CNTREC FROM pragma_table_info('cameras') WHERE name='otherpaths_json';";
+                try (Connection conn = createConn(true);
+                        Statement stmt = conn.createStatement();
+                        ResultSet rs = stmt.executeQuery(sql); ) {
+                    if (rs.getInt("CNTREC") == 0) {
+                        // need to add otherpaths_json
+                        userVersion = 1;
+                    } else {
+                        // already there, no need to add the column
+                        userVersion = 2;
+                    }
+                    setUserVersion(conn, userVersion);
+                } catch (SQLException e) {
+                    logger.error(
+                            "Could not determine the version of the database. Try deleting "
+                                    + dbName
+                                    + "and restart photonvision.",
+                            e);
+                }
+            }
+
+            logger.debug("Older database version. Migrating ... ");
+            try {
+                for (int index = userVersion; index < expectedVersion; index++) {
+                    doMigration(index);
+                }
+                logger.debug("Database migration complete");
+            } catch (SQLException e) {
+                logger.error("Error with database migration", e);
             }
         }
 
-        Connection conn = null;
-        Statement createGlobalTableStatement = null, createCameraTableStatement = null;
-        try {
-            conn = createConn();
-            if (conn == null) {
-                logger.error("No connection, cannot init db");
-                return;
-            }
-
-            // Create global settings table. Just a dumb table with list of jsons and their
-            // name
-            try {
-                createGlobalTableStatement = conn.createStatement();
-                String sql =
-                        "CREATE TABLE IF NOT EXISTS global (\n"
-                                + " filename TINYTEXT PRIMARY KEY,\n"
-                                + " contents mediumtext NOT NULL\n"
-                                + ");";
-                createGlobalTableStatement.execute(sql);
-            } catch (SQLException e) {
-                logger.error("Err creating global table", e);
-            }
-
-            // Create cameras table, key is the camera unique name
-            try {
-                createCameraTableStatement = conn.createStatement();
-                var sql =
-                        "CREATE TABLE IF NOT EXISTS cameras (\n"
-                                + " unique_name TINYTEXT PRIMARY KEY,\n"
-                                + " config_json text NOT NULL,\n"
-                                + " drivermode_json text NOT NULL,\n"
-                                + " otherpaths_json text NOT NULL,\n"
-                                + " pipeline_jsons mediumtext NOT NULL\n"
-                                + ");";
-                createCameraTableStatement.execute(sql);
-            } catch (SQLException e) {
-                logger.error("Err creating cameras table", e);
-            }
-
-            this.tryCommit(conn);
-        } finally {
-            try {
-                if (createGlobalTableStatement != null) createGlobalTableStatement.close();
-                if (createCameraTableStatement != null) createCameraTableStatement.close();
-                if (conn != null) conn.close();
-            } catch (SQLException e) {
-                e.printStackTrace();
-            }
+        // Warn if the database still isn't at the correct version
+        userVersion = getUserVersion();
+        if (userVersion > expectedVersion) {
+            // database must be from a newer version, so warn
+            logger.warn(
+                    "This database is from a newer version of PhotonVision. Check that you are running the right version of PhotonVision.");
+        } else if (userVersion < expectedVersion) {
+            // migration didn't work, so warn
+            logger.warn(
+                    "This database migration failed. Expected version: "
+                            + expectedVersion
+                            + ", got version: "
+                            + userVersion);
+        } else {
+            // migration worked
+            logger.info("Using correct database version: " + userVersion);
         }
     }
 
@@ -212,7 +263,7 @@ public class SqlConfigProvider extends ConfigProvider {
             try {
                 hardwareConfig =
                         JacksonUtils.deserialize(
-                                getOneConfigFile(conn, TableKeys.HARDWARE_CONFIG), HardwareConfig.class);
+                                getOneConfigFile(conn, GlobalKeys.HARDWARE_CONFIG), HardwareConfig.class);
             } catch (IOException e) {
                 logger.error("Could not deserialize hardware config! Loading defaults");
                 hardwareConfig = new HardwareConfig();
@@ -221,7 +272,7 @@ public class SqlConfigProvider extends ConfigProvider {
             try {
                 hardwareSettings =
                         JacksonUtils.deserialize(
-                                getOneConfigFile(conn, TableKeys.HARDWARE_SETTINGS), HardwareSettings.class);
+                                getOneConfigFile(conn, GlobalKeys.HARDWARE_SETTINGS), HardwareSettings.class);
             } catch (IOException e) {
                 logger.error("Could not deserialize hardware settings! Loading defaults");
                 hardwareSettings = new HardwareSettings();
@@ -230,7 +281,7 @@ public class SqlConfigProvider extends ConfigProvider {
             try {
                 networkConfig =
                         JacksonUtils.deserialize(
-                                getOneConfigFile(conn, TableKeys.NETWORK_CONFIG), NetworkConfig.class);
+                                getOneConfigFile(conn, GlobalKeys.NETWORK_CONFIG), NetworkConfig.class);
             } catch (IOException e) {
                 logger.error("Could not deserialize network config! Loading defaults");
                 networkConfig = new NetworkConfig();
@@ -239,7 +290,7 @@ public class SqlConfigProvider extends ConfigProvider {
             try {
                 atfl =
                         JacksonUtils.deserialize(
-                                getOneConfigFile(conn, TableKeys.ATFL_CONFIG_FILE), AprilTagFieldLayout.class);
+                                getOneConfigFile(conn, GlobalKeys.ATFL_CONFIG_FILE), AprilTagFieldLayout.class);
             } catch (IOException e) {
                 logger.error("Could not deserialize apriltag layout! Loading defaults");
                 try {
@@ -273,12 +324,15 @@ public class SqlConfigProvider extends ConfigProvider {
         PreparedStatement query = null;
         try {
             query =
-                    conn.prepareStatement("SELECT contents FROM global where filename=\"" + filename + "\"");
+                    conn.prepareStatement(
+                            String.format(
+                                    "SELECT %s FROM %s WHERE %s = \"%s\"",
+                                    Columns.GLB_CONTENTS, Tables.GLOBAL, Columns.GLB_FILENAME, filename));
 
             var result = query.executeQuery();
 
             while (result.next()) {
-                return result.getString("contents");
+                return result.getString(Columns.GLB_CONTENTS);
             }
         } catch (SQLException e) {
             logger.error("SQL Err getting file " + filename, e);
@@ -297,8 +351,14 @@ public class SqlConfigProvider extends ConfigProvider {
         try {
             // Replace this camera's row with the new settings
             var sqlString =
-                    "REPLACE INTO cameras (unique_name, config_json, drivermode_json, otherpaths_json, pipeline_jsons) VALUES "
-                            + "(?,?,?,?,?);";
+                    String.format(
+                            "REPLACE INTO %s (%s, %s, %s, %s, %s) VALUES (?,?,?,?,?);",
+                            Tables.CAMERAS,
+                            Columns.CAM_UNIQUE_NAME,
+                            Columns.CAM_CONFIG_JSON,
+                            Columns.CAM_DRIVERMODE_JSON,
+                            Columns.CAM_OTHERPATHS_JSON,
+                            Columns.CAM_PIPELINE_JSONS);
 
             for (var c : config.getCameraConfigurations().entrySet()) {
                 PreparedStatement statement = conn.prepareStatement(sqlString);
@@ -372,13 +432,16 @@ public class SqlConfigProvider extends ConfigProvider {
         PreparedStatement statement3 = null;
         try {
             // Replace this camera's row with the new settings
-            var sqlString = "REPLACE INTO global (filename, contents) VALUES " + "(?,?);";
+            var sqlString =
+                    String.format(
+                            "REPLACE INTO %s (%s, %s) VALUES (?,?);",
+                            Tables.GLOBAL, Columns.GLB_FILENAME, Columns.GLB_CONTENTS);
 
             if (!skipSavingHWSet) {
                 statement1 = conn.prepareStatement(sqlString);
                 addFile(
                         statement1,
-                        TableKeys.HARDWARE_SETTINGS,
+                        GlobalKeys.HARDWARE_SETTINGS,
                         JacksonUtils.serializeToString(config.getHardwareSettings()));
                 statement1.executeUpdate();
             }
@@ -387,7 +450,7 @@ public class SqlConfigProvider extends ConfigProvider {
                 statement2 = conn.prepareStatement(sqlString);
                 addFile(
                         statement2,
-                        TableKeys.NETWORK_CONFIG,
+                        GlobalKeys.NETWORK_CONFIG,
                         JacksonUtils.serializeToString(config.getNetworkConfig()));
                 statement2.executeUpdate();
                 statement2.close();
@@ -397,7 +460,7 @@ public class SqlConfigProvider extends ConfigProvider {
                 statement3 = conn.prepareStatement(sqlString);
                 addFile(
                         statement3,
-                        TableKeys.HARDWARE_CONFIG,
+                        GlobalKeys.HARDWARE_CONFIG,
                         JacksonUtils.serializeToString(config.getHardwareConfig()));
                 statement3.executeUpdate();
                 statement3.close();
@@ -432,7 +495,10 @@ public class SqlConfigProvider extends ConfigProvider {
             }
 
             // Replace this camera's row with the new settings
-            var sqlString = "REPLACE INTO global (filename, contents) VALUES " + "(?,?);";
+            var sqlString =
+                    String.format(
+                            "REPLACE INTO %s (%s, %s) VALUES (?,?);",
+                            Tables.GLOBAL, Columns.GLB_FILENAME, Columns.GLB_CONTENTS);
 
             statement1 = conn.prepareStatement(sqlString);
             addFile(statement1, fname, Files.readString(path));
@@ -461,25 +527,25 @@ public class SqlConfigProvider extends ConfigProvider {
     @Override
     public boolean saveUploadedHardwareConfig(Path uploadPath) {
         skipSavingHWCfg = true;
-        return saveOneFile(TableKeys.HARDWARE_CONFIG, uploadPath);
+        return saveOneFile(GlobalKeys.HARDWARE_CONFIG, uploadPath);
     }
 
     @Override
     public boolean saveUploadedHardwareSettings(Path uploadPath) {
         skipSavingHWSet = true;
-        return saveOneFile(TableKeys.HARDWARE_SETTINGS, uploadPath);
+        return saveOneFile(GlobalKeys.HARDWARE_SETTINGS, uploadPath);
     }
 
     @Override
     public boolean saveUploadedNetworkConfig(Path uploadPath) {
         skipSavingNWCfg = true;
-        return saveOneFile(TableKeys.NETWORK_CONFIG, uploadPath);
+        return saveOneFile(GlobalKeys.NETWORK_CONFIG, uploadPath);
     }
 
     @Override
     public boolean saveUploadedAprilTagFieldLayout(Path uploadPath) {
         skipSavingAPRTG = true;
-        return saveOneFile(TableKeys.ATFL_CONFIG_FILE, uploadPath);
+        return saveOneFile(GlobalKeys.ATFL_CONFIG_FILE, uploadPath);
     }
 
     private HashMap<String, CameraConfiguration> loadCameraConfigs(Connection conn) {
@@ -491,12 +557,13 @@ public class SqlConfigProvider extends ConfigProvider {
             query =
                     conn.prepareStatement(
                             String.format(
-                                    "SELECT %s, %s, %s, %s, %s FROM cameras",
-                                    TableKeys.CAM_UNIQUE_NAME,
-                                    TableKeys.CONFIG_JSON,
-                                    TableKeys.DRIVERMODE_JSON,
-                                    TableKeys.OTHERPATHS_JSON,
-                                    TableKeys.PIPELINE_JSONS));
+                                    "SELECT %s, %s, %s, %s, %s FROM %s",
+                                    Columns.CAM_UNIQUE_NAME,
+                                    Columns.CAM_CONFIG_JSON,
+                                    Columns.CAM_DRIVERMODE_JSON,
+                                    Columns.CAM_OTHERPATHS_JSON,
+                                    Columns.CAM_PIPELINE_JSONS,
+                                    Tables.CAMERAS));
 
             var result = query.executeQuery();
 
@@ -504,18 +571,18 @@ public class SqlConfigProvider extends ConfigProvider {
             while (result.next()) {
                 List<String> dummyList = new ArrayList<>();
 
-                var uniqueName = result.getString(TableKeys.CAM_UNIQUE_NAME);
+                var uniqueName = result.getString(Columns.CAM_UNIQUE_NAME);
                 var config =
                         JacksonUtils.deserialize(
-                                result.getString(TableKeys.CONFIG_JSON), CameraConfiguration.class);
+                                result.getString(Columns.CAM_CONFIG_JSON), CameraConfiguration.class);
                 var driverMode =
                         JacksonUtils.deserialize(
-                                result.getString(TableKeys.DRIVERMODE_JSON), DriverModePipelineSettings.class);
+                                result.getString(Columns.CAM_DRIVERMODE_JSON), DriverModePipelineSettings.class);
                 var otherPaths =
-                        JacksonUtils.deserialize(result.getString(TableKeys.OTHERPATHS_JSON), String[].class);
+                        JacksonUtils.deserialize(result.getString(Columns.CAM_OTHERPATHS_JSON), String[].class);
                 List<?> pipelineSettings =
                         JacksonUtils.deserialize(
-                                result.getString(TableKeys.PIPELINE_JSONS), dummyList.getClass());
+                                result.getString(Columns.CAM_PIPELINE_JSONS), dummyList.getClass());
 
                 List<CVPipelineSettings> loadedSettings = new ArrayList<>();
                 for (var str : pipelineSettings) {

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

@@ -26,6 +26,7 @@ public enum DataChangeDestination {
     DCD_ACTIVEPIPELINESETTINGS,
     DCD_GENSETTINGS,
     DCD_UI,
+    DCD_WEBSERVER,
     DCD_OTHER;
 
     public static final List<DataChangeDestination> AllDestinations =

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

@@ -26,6 +26,7 @@ import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.SerializationUtils;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
+import org.photonvision.vision.pipeline.result.CalibrationPipelineResult;
 
 public class UIDataPublisher implements CVPipelineResultConsumer {
     private static final Logger logger = new Logger(UIDataPublisher.class, LogGroup.VisionModule);
@@ -41,17 +42,24 @@ public class UIDataPublisher implements CVPipelineResultConsumer {
     public void accept(CVPipelineResult result) {
         long now = System.currentTimeMillis();
 
-        // only update the UI at 15hz
+        // only update the UI at 10hz
         if (lastUIResultUpdateTime + 1000.0 / 10.0 > now) return;
 
         var dataMap = new HashMap<String, Object>();
         dataMap.put("fps", result.fps);
         dataMap.put("latency", result.getLatencyMillis());
         var uiTargets = new ArrayList<HashMap<String, Object>>(result.targets.size());
-        for (var t : result.targets) {
-            uiTargets.add(t.toHashMap());
+
+        // We don't actually need to send targets during calibration and it can take up a lot (up to
+        // 1.2Mbps for 60 snapshots) of target results with no pitch/yaw/etc set
+        if (!(result instanceof CalibrationPipelineResult)) {
+            for (var t : result.targets) {
+                uiTargets.add(t.toHashMap());
+            }
         }
+
         dataMap.put("targets", uiTargets);
+        dataMap.put("classNames", result.objectDetectionClassNames);
 
         // Only send Multitag Results if they are present, similar to 3d pose
         if (result.multiTagResult.estimatedPose.isPresent) {

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

@@ -145,8 +145,7 @@ public class HardwareManager {
         logger.info("Shutting down LEDs...");
         if (visionLED != null) visionLED.setState(false);
 
-        logger.info("Force-flushing settings...");
-        ConfigManager.getInstance().saveToDisk();
+        ConfigManager.getInstance().onJvmExit();
     }
 
     public boolean restartDevice() {

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

@@ -43,6 +43,7 @@ public enum Platform {
             true,
             OSType.LINUX,
             true), // Raspberry Pi 3/4 with a 64-bit image
+    LINUX_RK3588_64("Linux AARCH 64-bit with RK3588", "linuxarm64", false, OSType.LINUX, true),
     LINUX_AARCH64(
             "Linux AARCH64", "linuxarm64", false, OSType.LINUX, true), // Jetson Nano, Jetson TX2
 
@@ -94,6 +95,10 @@ public enum Platform {
         return currentPlatform.osType == OSType.LINUX;
     }
 
+    public static boolean isRK3588() {
+        return Platform.isOrangePi() || Platform.isCoolPi4b();
+    }
+
     public static boolean isRaspberryPi() {
         return currentPlatform.isPi;
     }
@@ -186,7 +191,11 @@ public enum Platform {
                 return LINUX_32;
             } else if (RuntimeDetector.isArm64()) {
                 // TODO - os detection needed?
-                return LINUX_AARCH64;
+                if (isOrangePi()) {
+                    return LINUX_RK3588_64;
+                } else {
+                    return LINUX_AARCH64;
+                }
             } else if (RuntimeDetector.isArm32()) {
                 return LINUX_ARM32;
             } else {
@@ -204,6 +213,14 @@ public enum Platform {
         return fileHasText("/proc/cpuinfo", "Raspberry Pi");
     }
 
+    private static boolean isOrangePi() {
+        return fileHasText("/proc/device-tree/model", "Orange Pi 5");
+    }
+
+    private static boolean isCoolPi4b() {
+        return fileHasText("/proc/device-tree/model", "CoolPi 4B");
+    }
+
     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");

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

@@ -28,6 +28,7 @@ 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.hardware.metrics.cmds.RK3588Cmds;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.ShellExec;
@@ -44,6 +45,8 @@ public class MetricsManager {
             cmds = new FileCmds();
         } else if (Platform.isRaspberryPi()) {
             cmds = new PiCmds(); // Pi's can use a hardcoded command set
+        } else if (Platform.isRK3588()) {
+            cmds = new RK3588Cmds(); // RK3588 chipset hardcoded command set
         } else if (Platform.isLinux()) {
             cmds = new LinuxCmds(); // Linux/Unix platforms assume a nominal command set
         } else {
@@ -89,6 +92,10 @@ public class MetricsManager {
         return safeExecute(cmds.cpuThrottleReasonCmd);
     }
 
+    public String getNpuUsage() {
+        return safeExecute(cmds.npuUsageCommand);
+    }
+
     private String gpuMemSave = null;
 
     public String getGPUMemorySplit() {
@@ -125,6 +132,7 @@ public class MetricsManager {
         metrics.put("ramUtil", this.getUsedRam());
         metrics.put("gpuMemUtil", this.getMallocedMemory());
         metrics.put("diskUtilPct", this.getUsedDiskPct());
+        metrics.put("npuUsage", this.getNpuUsage());
 
         DataChangeService.getInstance().publishEvent(OutgoingUIEvent.wrappedOf("metrics", metrics));
     }

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

@@ -29,6 +29,8 @@ public class CmdBase {
     // GPU
     public String gpuMemoryCommand = "";
     public String gpuMemUsageCommand = "";
+    // NPU
+    public String npuUsageCommand = "";
     // RAM
     public String ramUsageCommand = "";
     // Disk

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

@@ -22,7 +22,7 @@ import org.photonvision.common.configuration.HardwareConfig;
 public class LinuxCmds extends CmdBase {
     public void initCmds(HardwareConfig config) {
         // CPU
-        cpuMemoryCommand = "free -m | awk 'FNR == 2 {print $3}'";
+        cpuMemoryCommand = "free -m | awk 'FNR == 2 {print $2}'";
 
         // TODO: boards have lots of thermal devices. Hard to pick the CPU
 

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

@@ -25,7 +25,6 @@ public class PiCmds extends LinuxCmds {
         super.initCmds(config);
 
         // CPU
-        cpuMemoryCommand = "free -m | awk 'FNR == 2 {print $2}'";
         cpuTemperatureCommand = "sed 's/.\\{3\\}$/.&/' /sys/class/thermal/thermal_zone0/temp";
         cpuThrottleReasonCmd =
                 "if   ((  $(( $(vcgencmd get_throttled | grep -Eo 0x[0-9a-fA-F]*) & 0x01 )) != 0x00 )); then echo \"LOW VOLTAGE\"; "

photon-core/src/main/java/org/photonvision/common/hardware/metrics/cmds/RK3588Cmds.java

@@ -0,0 +1,50 @@
+/*
+ * 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 RK3588Cmds extends LinuxCmds {
+    /** Applies pi-specific commands, ignoring any input configuration */
+    public void initCmds(HardwareConfig config) {
+        super.initCmds(config);
+
+        // CPU Temperature
+        /* The RK3588 chip has 7 thermal zones that can be accessed via:
+         *       /sys/class/thermal/thermal_zoneX/temp
+         * where X is an interger from 0 to 6.
+         *
+         * || Zone || Location    || Comments                                                ||
+         * |    0  |  soc         |  soc thermal (near the center of the chip)                |
+         * |    1  |  bigcore0    |  CPU Big Core A76_0/1 (CPU4 and CPU5)                     |
+         * |    2  |  bigcore1    |  CPU Big Core A76_2/3 (CPU6 and CPU7)                     |
+         * |    3  |  littlecore  |  CPU Small Core A55_0/1/2/3 (CPU0, CPU1, CPU2, and CPU3)  |
+         * |    4  |  center      |  also called PD_CENTER                                    |
+         * |    5  |  gpu         |  GPU                                                      |
+         * |    6  |  npu         |  NPU                                                      |
+         *
+         * Sources:
+         *   - http://forum.armsom.org/t/topic/51/3
+         *   - https://lore.kernel.org/lkml/7276280.TLKafQO6qx@archbook/
+         */
+        cpuTemperatureCommand =
+                "cat /sys/class/thermal/thermal_zone1/temp | awk '{printf \"%.1f\", $1/1000}'";
+
+        npuUsageCommand = "cat /sys/kernel/debug/rknpu/load | sed 's/NPU load://; s/^ *//; s/ *$//'";
+    }
+}

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

@@ -19,6 +19,10 @@ package org.photonvision.common.networking;
 
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.configuration.NetworkConfig;
+import org.photonvision.common.dataflow.DataChangeDestination;
+import org.photonvision.common.dataflow.DataChangeService;
+import org.photonvision.common.dataflow.DataChangeSource;
+import org.photonvision.common.dataflow.events.DataChangeEvent;
 import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
@@ -43,6 +47,7 @@ public class NetworkManager {
     public void initialize(boolean shouldManage) {
         isManaged = shouldManage && !networkingIsDisabled;
         if (!isManaged) {
+            logger.info("Network management is disabled.");
             return;
         }
 
@@ -147,5 +152,13 @@ public class NetworkManager {
 
     public void reinitialize() {
         initialize(ConfigManager.getInstance().getConfig().getNetworkConfig().shouldManage());
+
+        DataChangeService.getInstance()
+                .publishEvent(
+                        new DataChangeEvent<Boolean>(
+                                DataChangeSource.DCS_OTHER,
+                                DataChangeDestination.DCD_WEBSERVER,
+                                "restartServer",
+                                true));
     }
 }

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

@@ -144,6 +144,24 @@ public class TestUtils {
         }
     }
 
+    public enum WPI2024Images {
+        kBackAmpZone_117in,
+        kSpeakerCenter_143in;
+
+        public static double FOV = 68.5;
+
+        public final Path path;
+
+        Path getPath() {
+            var filename = this.toString().substring(1);
+            return Path.of("2024", filename + ".jpg");
+        }
+
+        WPI2024Images() {
+            this.path = getPath();
+        }
+    }
+
     public enum WPI2023Apriltags {
         k162_36_Angle,
         k162_36_Straight,

photon-core/src/main/java/org/photonvision/jni/PhotonJNICommon.java

@@ -26,12 +26,15 @@ import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 
 public abstract class PhotonJNICommon {
-    static boolean libraryLoaded = false;
+    public abstract boolean isLoaded();
+
+    public abstract void setLoaded(boolean state);
+
     protected static Logger logger = null;
 
-    protected static synchronized void forceLoad(Class<?> clazz, List<String> libraries)
-            throws IOException {
-        if (libraryLoaded) return;
+    protected static synchronized void forceLoad(
+            PhotonJNICommon instance, Class<?> clazz, List<String> libraries) throws IOException {
+        if (instance.isLoaded()) return;
         if (logger == null) logger = new Logger(clazz, LogGroup.Camera);
 
         for (var libraryName : libraries) {
@@ -42,7 +45,7 @@ public abstract class PhotonJNICommon {
                 var in = clazz.getResourceAsStream("/nativelibraries/" + arch_name + "/" + nativeLibName);
 
                 if (in == null) {
-                    libraryLoaded = false;
+                    instance.setLoaded(false);
                     return;
                 }
 
@@ -69,15 +72,11 @@ public abstract class PhotonJNICommon {
                 break;
             }
         }
-        libraryLoaded = true;
+        instance.setLoaded(true);
     }
 
-    protected static synchronized void forceLoad(Class<?> clazz, String libraryName)
-            throws IOException {
-        forceLoad(clazz, List.of(libraryName));
-    }
-
-    public static boolean isWorking() {
-        return libraryLoaded;
+    protected static synchronized void forceLoad(
+            PhotonJNICommon instance, Class<?> clazz, String libraryName) throws IOException {
+        forceLoad(instance, clazz, List.of(libraryName));
     }
 }

photon-core/src/main/java/org/photonvision/jni/RknnDetectorJNI.java

@@ -0,0 +1,137 @@
+/*
+ * 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.jni;
+
+import java.io.IOException;
+import java.util.Arrays;
+import java.util.List;
+import java.util.concurrent.CopyOnWriteArrayList;
+import java.util.stream.Collectors;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
+import org.photonvision.common.util.TestUtils;
+import org.photonvision.rknn.RknnJNI;
+import org.photonvision.rknn.RknnJNI.RknnResult;
+import org.photonvision.vision.opencv.CVMat;
+import org.photonvision.vision.pipe.impl.NeuralNetworkPipeResult;
+
+public class RknnDetectorJNI extends PhotonJNICommon {
+    private static final Logger logger = new Logger(RknnDetectorJNI.class, LogGroup.General);
+    private boolean isLoaded;
+    private static RknnDetectorJNI instance = null;
+
+    private RknnDetectorJNI() {
+        isLoaded = false;
+    }
+
+    public static RknnDetectorJNI getInstance() {
+        if (instance == null) instance = new RknnDetectorJNI();
+
+        return instance;
+    }
+
+    public static synchronized void forceLoad() throws IOException {
+        TestUtils.loadLibraries();
+
+        forceLoad(getInstance(), RknnDetectorJNI.class, List.of("rga", "rknnrt", "rknn_jni"));
+    }
+
+    @Override
+    public boolean isLoaded() {
+        return isLoaded;
+    }
+
+    @Override
+    public void setLoaded(boolean state) {
+        isLoaded = state;
+    }
+
+    public static class RknnObjectDetector {
+        long objPointer = -1;
+        private List<String> labels;
+        private final Object lock = new Object();
+        private static final CopyOnWriteArrayList<Long> detectors = new CopyOnWriteArrayList<>();
+
+        public RknnObjectDetector(String modelPath, List<String> labels, RknnJNI.ModelVersion version) {
+            synchronized (lock) {
+                objPointer = RknnJNI.create(modelPath, labels.size(), version.ordinal(), -1);
+                detectors.add(objPointer);
+                System.out.println(
+                        "Created " + objPointer + "! Detectors: " + Arrays.toString(detectors.toArray()));
+            }
+            this.labels = labels;
+        }
+
+        public List<String> getClasses() {
+            return labels;
+        }
+
+        /**
+         * Detect forwards using this model
+         *
+         * @param in The image to process
+         * @param nmsThresh Non-maximum supression threshold. Probably should not change
+         * @param boxThresh Minimum confidence for a box to be added. Basically just confidence
+         *     threshold
+         */
+        public List<NeuralNetworkPipeResult> detect(CVMat in, double nmsThresh, double boxThresh) {
+            RknnResult[] ret;
+            synchronized (lock) {
+                // We can technically be asked to detect and the lock might be acquired _after_ release has
+                // been called. This would mean objPointer would be invalid which would call everything to
+                // explode.
+                if (objPointer > 0) {
+                    ret = RknnJNI.detect(objPointer, in.getMat().getNativeObjAddr(), nmsThresh, boxThresh);
+                } else {
+                    logger.warn("Detect called after destroy -- giving up");
+                    return List.of();
+                }
+            }
+            if (ret == null) {
+                return List.of();
+            }
+            return List.of(ret).stream()
+                    .map(it -> new NeuralNetworkPipeResult(it.rect, it.class_id, it.conf))
+                    .collect(Collectors.toList());
+        }
+
+        public void release() {
+            synchronized (lock) {
+                if (objPointer > 0) {
+                    RknnJNI.destroy(objPointer);
+                    detectors.remove(objPointer);
+                    System.out.println(
+                            "Killed " + objPointer + "! Detectors: " + Arrays.toString(detectors.toArray()));
+                    objPointer = -1;
+                } else {
+                    logger.error("RKNN Detector has already been destroyed!");
+                }
+            }
+        }
+    }
+
+    // public static void createRknnDetector() {
+    //     objPointer =
+    //             RknnJNI.create(
+    //                     NeuralNetworkModelManager.getInstance()
+    //                             .getDefaultRknnModel()
+    //                             .getAbsolutePath()
+    //                             .toString(),
+    //                     NeuralNetworkModelManager.getInstance().getLabels().size());
+    // }
+}

photon-core/src/main/java/org/photonvision/mrcal/MrCalJNILoader.java

@@ -24,6 +24,19 @@ import org.photonvision.common.util.TestUtils;
 import org.photonvision.jni.PhotonJNICommon;
 
 public class MrCalJNILoader extends PhotonJNICommon {
+    private boolean isLoaded;
+    private static MrCalJNILoader instance = null;
+
+    private MrCalJNILoader() {
+        isLoaded = false;
+    }
+
+    public static synchronized MrCalJNILoader getInstance() {
+        if (instance == null) instance = new MrCalJNILoader();
+
+        return instance;
+    }
+
     public static synchronized void forceLoad() throws IOException {
         // Force load opencv
         TestUtils.loadLibraries();
@@ -32,6 +45,7 @@ public class MrCalJNILoader extends PhotonJNICommon {
         if (Platform.isWindows()) {
             // Order is correct to match dependencies of libraries
             forceLoad(
+                    MrCalJNILoader.getInstance(),
                     MrCalJNILoader.class,
                     List.of(
                             "libamd",
@@ -39,18 +53,30 @@ public class MrCalJNILoader extends PhotonJNICommon {
                             "libcolamd",
                             "libccolamd",
                             "openblas",
+                            "libwinpthread-1",
                             "libgcc_s_seh-1",
+                            "libquadmath-0",
                             "libgfortran-5",
                             "liblapack",
                             "libcholmod",
                             "mrcal_jni"));
         } else {
             // Nothing else to do on linux
-            forceLoad(MrCalJNILoader.class, List.of("mrcal_jni"));
+            forceLoad(MrCalJNILoader.getInstance(), MrCalJNILoader.class, List.of("mrcal_jni"));
         }
 
-        if (!MrCalJNILoader.isWorking()) {
+        if (!MrCalJNILoader.getInstance().isLoaded()) {
             throw new IOException("Unable to load mrcal JNI!");
         }
     }
+
+    @Override
+    public boolean isLoaded() {
+        return isLoaded;
+    }
+
+    @Override
+    public void setLoaded(boolean state) {
+        isLoaded = state;
+    }
 }

photon-core/src/main/java/org/photonvision/vision/calibration/BoardObservation.java

@@ -24,7 +24,7 @@ import java.util.List;
 import org.opencv.core.Point;
 import org.opencv.core.Point3;
 
-public final class BoardObservation {
+public final class BoardObservation implements Cloneable {
     // Expected feature 3d location in the camera frame
     @JsonProperty("locationInObjectSpace")
     public List<Point3> locationInObjectSpace;
@@ -68,4 +68,33 @@ public final class BoardObservation {
         this.snapshotName = snapshotName;
         this.snapshotData = snapshotData;
     }
+
+    @Override
+    public String toString() {
+        return "BoardObservation [locationInObjectSpace="
+                + locationInObjectSpace
+                + ", locationInImageSpace="
+                + locationInImageSpace
+                + ", reprojectionErrors="
+                + reprojectionErrors
+                + ", optimisedCameraToObject="
+                + optimisedCameraToObject
+                + ", includeObservationInCalibration="
+                + includeObservationInCalibration
+                + ", snapshotName="
+                + snapshotName
+                + ", snapshotData="
+                + snapshotData
+                + "]";
+    }
+
+    @Override
+    public BoardObservation clone() {
+        try {
+            return (BoardObservation) super.clone();
+        } catch (CloneNotSupportedException e) {
+            System.err.println("Guhhh clone buh");
+            return null;
+        }
+    }
 }

photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java

@@ -54,6 +54,9 @@ public class CameraCalibrationCoefficients implements Releasable {
     @JsonProperty("calobjectSpacing")
     public final double calobjectSpacing;
 
+    @JsonProperty("lensmodel")
+    public final CameraLensModel lensmodel;
+
     @JsonIgnore private final double[] intrinsicsArr = new double[9];
     @JsonIgnore private final double[] distCoeffsArr = new double[5];
 
@@ -83,13 +86,15 @@ public class CameraCalibrationCoefficients implements Releasable {
             @JsonProperty("calobjectWarp") double[] calobjectWarp,
             @JsonProperty("observations") List<BoardObservation> observations,
             @JsonProperty("calobjectSize") Size calobjectSize,
-            @JsonProperty("calobjectSpacing") double calobjectSpacing) {
+            @JsonProperty("calobjectSpacing") double calobjectSpacing,
+            @JsonProperty("lensmodel") CameraLensModel lensmodel) {
         this.resolution = resolution;
         this.cameraIntrinsics = cameraIntrinsics;
         this.distCoeffs = distCoeffs;
         this.calobjectWarp = calobjectWarp;
         this.calobjectSize = calobjectSize;
         this.calobjectSpacing = calobjectSpacing;
+        this.lensmodel = lensmodel;
 
         // Legacy migration just to make sure that observations is at worst empty and never null
         if (observations == null) {
@@ -174,7 +179,8 @@ public class CameraCalibrationCoefficients implements Releasable {
                 new double[0],
                 List.of(),
                 new Size(0, 0),
-                0);
+                0,
+                CameraLensModel.LENSMODEL_OPENCV);
     }
 
     @Override
@@ -185,8 +191,8 @@ public class CameraCalibrationCoefficients implements Releasable {
                 + cameraIntrinsics
                 + ", distCoeffs="
                 + distCoeffs
-                + ", observations="
-                + observations
+                + ", observationslen="
+                + observations.size()
                 + ", calobjectWarp="
                 + Arrays.toString(calobjectWarp)
                 + ", intrinsicsArr="
@@ -195,4 +201,16 @@ public class CameraCalibrationCoefficients implements Releasable {
                 + Arrays.toString(distCoeffsArr)
                 + "]";
     }
+
+    public UICameraCalibrationCoefficients cloneWithoutObservations() {
+        return new UICameraCalibrationCoefficients(
+                resolution,
+                cameraIntrinsics,
+                distCoeffs,
+                calobjectWarp,
+                observations,
+                calobjectSize,
+                calobjectSpacing,
+                lensmodel);
+    }
 }

photon-core/src/main/java/org/photonvision/vision/calibration/CameraLensModel.java

@@ -0,0 +1,34 @@
+/*
+ * 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.calibration;
+
+/**
+ * What kind of camera lens model our intrinsics are modeling. For more info see:
+ * https://docs.opencv.org/4.x/dc/dbb/tutorial_py_calibration.html
+ * https://mrcal.secretsauce.net/lensmodels.html#org4e95788
+ */
+public enum CameraLensModel {
+    /** OpenCV[4,5,8,12]-based model */
+    LENSMODEL_OPENCV,
+    /** Mrcal steriographic lens model. See LENSMODEL_STEREOGRAPHIC in the mrcal docs */
+    LENSMODEL_STERIOGRAPHIC,
+    /**
+     * Mrcal splined-steriographic lens model. See LENSMODEL_SPLINED_STEREOGRAPHIC_ in the mrcal docs
+     */
+    LENSMODEL_SPLINED_STERIOGRAPHIC
+}

photon-core/src/main/java/org/photonvision/vision/calibration/JsonImageMat.java

@@ -76,4 +76,17 @@ public class JsonImageMat implements Releasable {
     public void release() {
         if (wrappedMat != null) wrappedMat.release();
     }
+
+    @Override
+    public String toString() {
+        return "JsonImageMat [rows="
+                + rows
+                + ", cols="
+                + cols
+                + ", type="
+                + type
+                + ", datalen="
+                + data.length()
+                + "]";
+    }
 }

photon-core/src/main/java/org/photonvision/vision/calibration/JsonMatOfDouble.java

@@ -40,7 +40,7 @@ public class JsonMatOfDouble implements Releasable {
     @JsonIgnore private Mat wrappedMat = null;
     @JsonIgnore private Matrix wpilibMat = null;
 
-    private MatOfDouble wrappedMatOfDouble;
+    @JsonIgnore private MatOfDouble wrappedMatOfDouble;
 
     public JsonMatOfDouble(int rows, int cols, double[] data) {
         this(rows, cols, CvType.CV_64FC1, data);

photon-core/src/main/java/org/photonvision/vision/calibration/UICameraCalibrationCoefficients.java

@@ -0,0 +1,59 @@
+/*
+ * 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.calibration;
+
+import java.util.List;
+import java.util.stream.Collectors;
+import org.opencv.core.Size;
+
+public class UICameraCalibrationCoefficients extends CameraCalibrationCoefficients {
+    public int numSnapshots;
+    public List<Double> meanErrors;
+
+    public UICameraCalibrationCoefficients(
+            Size resolution,
+            JsonMatOfDouble cameraIntrinsics,
+            JsonMatOfDouble distCoeffs,
+            double[] calobjectWarp,
+            List<BoardObservation> observations,
+            Size calobjectSize,
+            double calobjectSpacing,
+            CameraLensModel lensmodel) {
+        // yeet observations, keep all else
+        super(
+                resolution,
+                cameraIntrinsics,
+                distCoeffs,
+                calobjectWarp,
+                List.of(),
+                calobjectSize,
+                calobjectSpacing,
+                lensmodel);
+
+        this.numSnapshots = observations.size();
+        this.meanErrors =
+                observations.stream()
+                        .map(
+                                it2 ->
+                                        it2.reprojectionErrors.stream()
+                                                .mapToDouble(it -> Math.sqrt(it.x * it.x + it.y * it.y))
+                                                .average()
+                                                .orElse(0))
+                        .collect(Collectors.toList());
+    }
+}

photon-core/src/main/java/org/photonvision/vision/camera/CameraInfo.java

@@ -19,6 +19,7 @@ package org.photonvision.vision.camera;
 
 import edu.wpi.first.cscore.UsbCameraInfo;
 import java.util.Arrays;
+import java.util.Optional;
 
 public class CameraInfo extends UsbCameraInfo {
     public final CameraType cameraType;
@@ -68,6 +69,16 @@ public class CameraInfo extends UsbCameraInfo {
         return getBaseName().replaceAll(" ", "_");
     }
 
+    /**
+     * Get a unique descriptor of the USB port this camera is attached to. EG
+     * "/dev/v4l/by-path/platform-fc800000.usb-usb-0:1.3:1.0-video-index0"
+     *
+     * @return
+     */
+    public Optional<String> getUSBPath() {
+        return Arrays.stream(otherPaths).filter(path -> path.contains("/by-path/")).findFirst();
+    }
+
     @Override
     public boolean equals(Object o) {
         if (o == this) return true;
@@ -79,4 +90,19 @@ public class CameraInfo extends UsbCameraInfo {
                 && productId == other.productId
                 && vendorId == other.vendorId;
     }
+
+    @Override
+    public String toString() {
+        return "CameraInfo [cameraType="
+                + cameraType
+                + "baseName="
+                + getBaseName()
+                + ", vid="
+                + vendorId
+                + ", pid="
+                + productId
+                + ", otherPaths="
+                + Arrays.toString(otherPaths)
+                + "]";
+    }
 }

photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java

@@ -32,4 +32,13 @@ public enum CameraQuirk {
     AdjustableFocus,
     /** Changing FPS repeatedly with small delay does not work correctly */
     StickyFPS,
+    /** Camera is an arducam. This means it shares VID/PID with other arducams (ew) */
+    ArduCamCamera,
+    /**
+     * Camera is an arducam ov9281 which has a funky exposure issue where it is defined in v4l as
+     * 1-5000 instead of 1-75
+     */
+    ArduOV9281,
+    /** Dummy quirk to tell OV2311 from OV9281 */
+    ArduOV2311,
 }

photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java

@@ -17,6 +17,8 @@
 
 package org.photonvision.vision.camera;
 
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonProperty;
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.HashMap;
@@ -47,8 +49,32 @@ public class 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
-                    new QuirkyCamera(0x6366, 0x0c45, CameraQuirk.StickyFPS) // Arducam OV2311
-                    );
+                    // Generic arducam. Since OV2311 can't be differentiated at first boot, apply stickyFPS to
+                    // the generic case, too
+                    new QuirkyCamera(
+                            0x0c45,
+                            0x6366,
+                            "",
+                            "Arducam Generic",
+                            CameraQuirk.ArduCamCamera,
+                            CameraQuirk.StickyFPS),
+                    // Arducam OV2311
+                    new QuirkyCamera(
+                            0x0c45,
+                            0x6366,
+                            "OV2311",
+                            "OV2311",
+                            CameraQuirk.ArduCamCamera,
+                            CameraQuirk.ArduOV2311,
+                            CameraQuirk.StickyFPS),
+                    // Arducam OV9281
+                    new QuirkyCamera(
+                            0x0c45,
+                            0x6366,
+                            "OV9281",
+                            "OV9281",
+                            CameraQuirk.ArduCamCamera,
+                            CameraQuirk.ArduOV9281));
 
     public static final QuirkyCamera DefaultCamera = new QuirkyCamera(0, 0, "");
     public static final QuirkyCamera ZeroCopyPiCamera =
@@ -60,9 +86,19 @@ public class QuirkyCamera {
                     CameraQuirk.Gain,
                     CameraQuirk.AWBGain); // PiCam (special zerocopy version)
 
+    @JsonProperty("baseName")
     public final String baseName;
+
+    @JsonProperty("usbVid")
     public final int usbVid;
+
+    @JsonProperty("usbPid")
     public final int usbPid;
+
+    @JsonProperty("displayName")
+    public final String displayName;
+
+    @JsonProperty("quirks")
     public final HashMap<CameraQuirk, Boolean> quirks;
 
     /**
@@ -85,9 +121,24 @@ public class QuirkyCamera {
      * @param quirks Camera quirks
      */
     private QuirkyCamera(int usbVid, int usbPid, String baseName, CameraQuirk... quirks) {
+        this(usbVid, usbPid, baseName, "", quirks);
+    }
+
+    /**
+     * Creates a QuirkyCamera that matches by USB VID/PID and name
+     *
+     * @param usbVid USB VID of camera
+     * @param usbPid USB PID of camera
+     * @param baseName CSCore name of camera
+     * @param displayName Human-friendly quicky camera name
+     * @param quirks Camera quirks
+     */
+    private QuirkyCamera(
+            int usbVid, int usbPid, String baseName, String displayName, CameraQuirk... quirks) {
         this.usbVid = usbVid;
         this.usbPid = usbPid;
         this.baseName = baseName;
+        this.displayName = displayName;
 
         this.quirks = new HashMap<>();
         for (var q : quirks) {
@@ -98,6 +149,20 @@ public class QuirkyCamera {
         }
     }
 
+    @JsonCreator
+    public QuirkyCamera(
+            @JsonProperty("baseName") String baseName,
+            @JsonProperty("usbVid") int usbVid,
+            @JsonProperty("usbPid") int usbPid,
+            @JsonProperty("displayName") String displayName,
+            @JsonProperty("quirks") HashMap<CameraQuirk, Boolean> quirks) {
+        this.baseName = baseName;
+        this.usbPid = usbPid;
+        this.usbVid = usbVid;
+        this.quirks = quirks;
+        this.displayName = displayName;
+    }
+
     public boolean hasQuirk(CameraQuirk quirk) {
         return quirks.get(quirk);
     }
@@ -144,8 +209,39 @@ public class QuirkyCamera {
                 && Objects.equals(quirks, that.quirks);
     }
 
+    @Override
+    public String toString() {
+        String ret =
+                "QuirkyCamera [baseName="
+                        + baseName
+                        + ", displayName="
+                        + displayName
+                        + ", usbVid="
+                        + usbVid
+                        + ", usbPid="
+                        + usbPid
+                        + ", quirks="
+                        + quirks.toString()
+                        + "]";
+        return ret;
+    }
+
     @Override
     public int hashCode() {
         return Objects.hash(usbVid, usbPid, baseName, quirks);
     }
+
+    /**
+     * Add/remove quirks from the camera we're controlling
+     *
+     * @param quirksToChange map of true/false for quirks we should change
+     */
+    public void updateQuirks(HashMap<CameraQuirk, Boolean> quirksToChange) {
+        for (var q : quirksToChange.entrySet()) {
+            var quirk = q.getKey();
+            var hasQuirk = q.getValue();
+
+            this.quirks.put(quirk, hasQuirk);
+        }
+    }
 }

photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java

@@ -45,26 +45,36 @@ public class USBCameraSource extends VisionSource {
     private FrameProvider usbFrameProvider;
     private final CvSink cvSink;
 
-    private QuirkyCamera cameraQuirks;
-
     public USBCameraSource(CameraConfiguration config) {
         super(config);
 
         logger = new Logger(USBCameraSource.class, config.nickname, LogGroup.Camera);
-        camera = new UsbCamera(config.nickname, config.path);
+        // cscore will auto-reconnect to the camera path we give it. v4l does not guarantee that if i
+        // swap cameras around, the same /dev/videoN ID will be assigned to that camera. So instead
+        // default to pinning to a particular USB port, or by "path" (appears to be a global identifier)
+        // on Windows.
+        camera = new UsbCamera(config.nickname, config.getUSBPath().orElse(config.path));
         cvSink = CameraServer.getVideo(this.camera);
 
-        cameraQuirks =
-                QuirkyCamera.getQuirkyCamera(
-                        camera.getInfo().productId, camera.getInfo().vendorId, config.baseName);
+        // set vid/pid if not done already for future matching
+        if (config.usbVID < 0) config.usbVID = this.camera.getInfo().vendorId;
+        if (config.usbPID < 0) config.usbPID = this.camera.getInfo().productId;
 
-        if (cameraQuirks.hasQuirks()) {
-            logger.info("Quirky camera detected: " + cameraQuirks.baseName);
+        if (getCameraConfiguration().cameraQuirks == null)
+            getCameraConfiguration().cameraQuirks =
+                    QuirkyCamera.getQuirkyCamera(
+                            camera.getInfo().vendorId, camera.getInfo().productId, config.baseName);
+
+        if (getCameraConfiguration().cameraQuirks.hasQuirks()) {
+            logger.info("Quirky camera detected: " + getCameraConfiguration().cameraQuirks.baseName);
         }
 
-        if (cameraQuirks.hasQuirk(CameraQuirk.CompletelyBroken)) {
+        if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.CompletelyBroken)) {
             // set some defaults, as these should never be used.
-            logger.info("Camera " + cameraQuirks.baseName + " is not supported for PhotonVision");
+            logger.info(
+                    "Camera "
+                            + getCameraConfiguration().cameraQuirks.baseName
+                            + " is not supported for PhotonVision");
             usbCameraSettables = null;
             usbFrameProvider = null;
         } else {
@@ -88,7 +98,9 @@ public class USBCameraSource extends VisionSource {
     public USBCameraSource(CameraConfiguration config, int pid, int vid, boolean unitTest) {
         this(config);
 
-        cameraQuirks = QuirkyCamera.getQuirkyCamera(pid, vid, config.baseName);
+        if (getCameraConfiguration().cameraQuirks == null)
+            getCameraConfiguration().cameraQuirks =
+                    QuirkyCamera.getQuirkyCamera(pid, vid, config.baseName);
 
         if (unitTest)
             usbFrameProvider =
@@ -99,7 +111,7 @@ public class USBCameraSource extends VisionSource {
     }
 
     void disableAutoFocus() {
-        if (cameraQuirks.hasQuirk(CameraQuirk.AdjustableFocus)) {
+        if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.AdjustableFocus)) {
             try {
                 camera.getProperty("focus_auto").set(0);
                 camera.getProperty("focus_absolute").set(0); // Focus into infinity
@@ -110,7 +122,7 @@ public class USBCameraSource extends VisionSource {
     }
 
     public QuirkyCamera getCameraQuirks() {
-        return this.cameraQuirks;
+        return getCameraConfiguration().cameraQuirks;
     }
 
     @Override
@@ -124,17 +136,21 @@ public class USBCameraSource extends VisionSource {
     }
 
     public class USBCameraSettables extends VisionSourceSettables {
+        // We need to remember the last exposure set when exiting auto exposure mode so we can restore
+        // it
+        private double last_exposure = -1;
+
         protected USBCameraSettables(CameraConfiguration configuration) {
             super(configuration);
             getAllVideoModes();
-            if (!cameraQuirks.hasQuirk(CameraQuirk.StickyFPS))
+            if (!configuration.cameraQuirks.hasQuirk(CameraQuirk.StickyFPS))
                 if (!videoModes.isEmpty()) setVideoMode(videoModes.get(0)); // fixes double FPS set
         }
 
         public void setAutoExposure(boolean cameraAutoExposure) {
             logger.debug("Setting auto exposure to " + cameraAutoExposure);
 
-            if (cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
+            if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
                 // Case, we know this is a picam. Go through v4l2-ctl interface directly
 
                 // Common settings
@@ -166,20 +182,46 @@ public class USBCameraSource extends VisionSource {
             } else {
                 // Case - this is some other USB cam. Default to wpilib's implementation
 
-                var canSetWhiteBalance = !cameraQuirks.hasQuirk(CameraQuirk.Gain);
+                var canSetWhiteBalance = !getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.Gain);
 
                 if (!cameraAutoExposure) {
                     // Pick a bunch of reasonable setting defaults for vision processing retroreflective
                     if (canSetWhiteBalance) {
-                        camera.setWhiteBalanceManual(4000); // Auto white-balance disabled, 4000K preset
+                        // Linux kernel bump changed names -- now called white_balance_automatic and
+                        // white_balance_temperature
+                        if (camera.getProperty("white_balance_automatic").getKind() != Kind.kNone) {
+                            // 1=auto, 0=manual
+                            camera.getProperty("white_balance_automatic").set(0);
+                            camera.getProperty("white_balance_temperature").set(4000);
+                        } else {
+                            camera.setWhiteBalanceManual(4000); // Auto white-balance disabled, 4000K preset
+                        }
+
+                        // Most cameras leave exposure time absolute at the last value from their AE algorithm.
+                        // Set it back to the exposure slider value
+                        setExposure(this.last_exposure);
                     }
                 } else {
                     // Pick a bunch of reasonable setting defaults for driver, fiducials, or otherwise
                     // nice-for-humans
                     if (canSetWhiteBalance) {
-                        camera.setWhiteBalanceAuto(); // Auto white-balance enabled
+                        // Linux kernel bump changed names -- now called white_balance_automatic
+                        if (camera.getProperty("white_balance_automatic").getKind() != Kind.kNone) {
+                            // 1=auto, 0=manual
+                            camera.getProperty("white_balance_automatic").set(1);
+                        } else {
+                            camera.setWhiteBalanceAuto(); // Auto white-balance enabled
+                        }
+                    }
+
+                    // Linux kernel bump changed names -- exposure_auto is now called auto_exposure
+                    if (camera.getProperty("auto_exposure").getKind() != Kind.kNone) {
+                        var prop = camera.getProperty("auto_exposure");
+                        // 3=auto-aperature
+                        prop.set((int) 3);
+                    } else {
+                        camera.setExposureAuto(); // auto exposure enabled
                     }
-                    camera.setExposureAuto(); // auto exposure enabled
                 }
             }
         }
@@ -207,17 +249,30 @@ public class USBCameraSource extends VisionSource {
             if (exposure >= 0.0) {
                 try {
                     int scaledExposure = 1;
-                    if (cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
+                    if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
                         scaledExposure = Math.round(timeToPiCamRawExposure(pctToExposureTimeUs(exposure)));
                         logger.debug("Setting camera raw exposure to " + scaledExposure);
                         camera.getProperty("raw_exposure_time_absolute").set(scaledExposure);
                         camera.getProperty("raw_exposure_time_absolute").set(scaledExposure);
 
-                    } else if (camera.getProperty("exposure_time_absolute").getKind() != Kind.kNone) {
-                        // Seems like the name changed at some point in v4l? set it instead
-                        var prop = camera.getProperty("exposure_time_absolute");
-                        var exposure_manual_val =
-                                MathUtils.map(Math.round(exposure), 0, 100, prop.getMin(), prop.getMax());
+                        // Yay thanks v4l for changing names randomly
+                    } else if (camera.getProperty("exposure_time_absolute").getKind() != Kind.kNone
+                            && camera.getProperty("auto_exposure").getKind() != Kind.kNone) {
+                        // 1=manual-aperature
+                        camera.getProperty("auto_exposure").set(1);
+
+                        // Seems like the name changed at some point in v4l? set it ouyrselves too
+                        var prop = camera.getProperty("raw_exposure_time_absolute");
+
+                        var propMin = prop.getMin();
+                        var propMax = prop.getMax();
+
+                        if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.ArduOV9281)) {
+                            propMin = 1;
+                            propMax = 75;
+                        }
+
+                        var exposure_manual_val = MathUtils.map(Math.round(exposure), 0, 100, propMin, propMax);
                         prop.set((int) exposure_manual_val);
                     } else {
                         scaledExposure = (int) Math.round(exposure);
@@ -228,6 +283,7 @@ public class USBCameraSource extends VisionSource {
                 } catch (VideoException e) {
                     logger.error("Failed to set camera exposure!", e);
                 }
+                this.last_exposure = exposure;
             }
         }
 
@@ -244,7 +300,7 @@ public class USBCameraSource extends VisionSource {
         @Override
         public void setGain(int gain) {
             try {
-                if (cameraQuirks.hasQuirk(CameraQuirk.Gain)) {
+                if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.Gain)) {
                     camera.getProperty("gain_automatic").set(0);
                     camera.getProperty("gain").set(gain);
                 }
@@ -278,7 +334,7 @@ public class USBCameraSource extends VisionSource {
                 List<VideoMode> videoModesList = new ArrayList<>();
                 try {
                     VideoMode[] modes;
-                    if (cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
+                    if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
                         modes =
                                 new VideoMode[] {
                                     new VideoMode(PixelFormat.kBGR, 320, 240, 90),
@@ -306,13 +362,13 @@ public class USBCameraSource extends VisionSource {
                         }
 
                         // On picam, filter non-bgr modes for performance
-                        if (cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
+                        if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
                             if (videoMode.pixelFormat != PixelFormat.kBGR) {
                                 continue;
                             }
                         }
 
-                        if (cameraQuirks.hasQuirk(CameraQuirk.FPSCap100)) {
+                        if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.FPSCap100)) {
                             if (videoMode.fps > 100) {
                                 continue;
                             }
@@ -347,6 +403,7 @@ public class USBCameraSource extends VisionSource {
                 // Sort by resolution
                 var sortedList =
                         videoModesList.stream()
+                                .distinct() // remove redundant video mode entries
                                 .sorted(((a, b) -> (b.width + b.height) - (a.width + a.height)))
                                 .collect(Collectors.toList());
                 Collections.reverse(sortedList);
@@ -370,7 +427,7 @@ public class USBCameraSource extends VisionSource {
     @Override
     public boolean isVendorCamera() {
         return ConfigManager.getInstance().getConfig().getHardwareConfig().hasPresetFOV()
-                && cameraQuirks.hasQuirk(CameraQuirk.PiCam);
+                && getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.PiCam);
     }
 
     @Override
@@ -391,15 +448,22 @@ public class USBCameraSource extends VisionSource {
         if (cvSink == null) {
             if (other.cvSink != null) return false;
         } else if (!cvSink.equals(other.cvSink)) return false;
-        if (cameraQuirks == null) {
-            if (other.cameraQuirks != null) return false;
-        } else if (!cameraQuirks.equals(other.cameraQuirks)) return false;
+        if (getCameraConfiguration().cameraQuirks == null) {
+            if (other.getCameraConfiguration().cameraQuirks != null) return false;
+        } else if (!getCameraConfiguration()
+                .cameraQuirks
+                .equals(other.getCameraConfiguration().cameraQuirks)) return false;
         return true;
     }
 
     @Override
     public int hashCode() {
         return Objects.hash(
-                camera, usbCameraSettables, usbFrameProvider, cameraConfiguration, cvSink, cameraQuirks);
+                camera,
+                usbCameraSettables,
+                usbFrameProvider,
+                cameraConfiguration,
+                cvSink,
+                getCameraConfiguration().cameraQuirks);
     }
 }

photon-core/src/main/java/org/photonvision/vision/opencv/Contour.java

@@ -47,6 +47,16 @@ public class Contour implements Releasable {
         this.mat = mat;
     }
 
+    public Contour(Rect2d box) {
+        // no easy way to convert a Rect2d to Mat, diy it. Order is tl tr br bl
+        this.mat =
+                new MatOfPoint(
+                        box.tl(),
+                        new Point(box.x + box.width, box.y),
+                        box.br(),
+                        new Point(box.x, box.y + box.height));
+    }
+
     public MatOfPoint2f getMat2f() {
         if (mat2f == null) {
             mat2f = new MatOfPoint2f(mat.toArray());

photon-core/src/main/java/org/photonvision/vision/opencv/ContourSortMode.java

@@ -25,15 +25,15 @@ public enum ContourSortMode {
             Comparator.comparingDouble(PotentialTarget::getArea)
                     .reversed()), // reversed so that zero index has the largest size
     Smallest(Largest.getComparator().reversed()),
-    Highest(Comparator.comparingDouble(rect -> rect.getMinAreaRect().center.y)),
+    Highest(Comparator.comparingDouble(tgt -> tgt.getMinAreaRect().center.y)),
     Lowest(Highest.getComparator().reversed()),
-    Leftmost(Comparator.comparingDouble(target -> target.getMinAreaRect().center.x * -1)),
+    Leftmost(Comparator.comparingDouble(tgt -> tgt.getMinAreaRect().center.x * -1)),
     Rightmost(Leftmost.getComparator().reversed()),
     Centermost(
             Comparator.comparingDouble(
-                    rect ->
-                            (Math.pow(rect.getMinAreaRect().center.y, 2)
-                                    + Math.pow(rect.getMinAreaRect().center.x, 2))));
+                    tgt ->
+                            (Math.pow(tgt.getMinAreaRect().center.y, 2)
+                                    + Math.pow(tgt.getMinAreaRect().center.x, 2))));
 
     private final Comparator<PotentialTarget> m_comparator;
 

photon-core/src/main/java/org/photonvision/vision/pipe/CVPipe.java

@@ -33,6 +33,10 @@ public abstract class CVPipe<I, O, P> {
         this.params = params;
     }
 
+    public P getParams() {
+        return this.params;
+    }
+
     /**
      * Runs the process for the pipe.
      *

photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipe.java

@@ -44,6 +44,13 @@ public class ArucoDetectionPipe
     @Override
     protected List<ArucoDetectionResult> process(CVMat in) {
         var imgMat = in.getMat();
+
+        // Sanity check -- image should not be empty
+        if (imgMat.empty()) {
+            // give up is best we can do here
+            return List.of();
+        }
+
         var detections = photonDetector.detect(imgMat);
         // manually do corner refinement ourselves
         if (params.useCornerRefinement) {

photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java

@@ -35,6 +35,7 @@ import org.photonvision.mrcal.MrCalJNI.MrCalResult;
 import org.photonvision.mrcal.MrCalJNILoader;
 import org.photonvision.vision.calibration.BoardObservation;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
+import org.photonvision.vision.calibration.CameraLensModel;
 import org.photonvision.vision.calibration.JsonImageMat;
 import org.photonvision.vision.calibration.JsonMatOfDouble;
 import org.photonvision.vision.pipe.CVPipe;
@@ -76,7 +77,7 @@ public class Calibrate3dPipe
 
         CameraCalibrationCoefficients ret;
         var start = System.nanoTime();
-        if (MrCalJNILoader.isWorking() && params.useMrCal) {
+        if (MrCalJNILoader.getInstance().isLoaded() && params.useMrCal) {
             logger.debug("Calibrating with mrcal!");
             ret = calibrateMrcal(in);
         } else {
@@ -158,7 +159,8 @@ public class Calibrate3dPipe
                 new double[0],
                 observations,
                 new Size(params.boardWidth, params.boardHeight),
-                params.squareSize);
+                params.squareSize,
+                CameraLensModel.LENSMODEL_OPENCV);
     }
 
     protected CameraCalibrationCoefficients calibrateMrcal(
@@ -240,7 +242,8 @@ public class Calibrate3dPipe
                 new double[] {result.warp_x, result.warp_y},
                 observations,
                 new Size(params.boardWidth, params.boardHeight),
-                params.squareSize);
+                params.squareSize,
+                CameraLensModel.LENSMODEL_OPENCV);
     }
 
     private List<BoardObservation> createObservations(

photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipeline.java

@@ -15,7 +15,7 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-package org.photonvision.vision.pipeline;
+package org.photonvision.vision.pipe.impl;
 
 import edu.wpi.first.math.util.Units;
 import java.util.ArrayList;
@@ -36,10 +36,10 @@ 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.CalculateFPSPipe;
-import org.photonvision.vision.pipe.impl.Calibrate3dPipe;
-import org.photonvision.vision.pipe.impl.FindBoardCornersPipe;
 import org.photonvision.vision.pipe.impl.FindBoardCornersPipe.FindBoardCornersPipeResult;
+import org.photonvision.vision.pipeline.CVPipeline;
+import org.photonvision.vision.pipeline.Calibration3dPipelineSettings;
+import org.photonvision.vision.pipeline.UICalibrationData;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.pipeline.result.CalibrationPipelineResult;
 

photon-core/src/main/java/org/photonvision/vision/pipe/impl/DrawCalibrationPipe.java

@@ -22,6 +22,7 @@ import java.util.List;
 import org.apache.commons.lang3.tuple.Pair;
 import org.opencv.core.Mat;
 import org.opencv.core.Point;
+import org.opencv.core.Scalar;
 import org.opencv.imgproc.Imgproc;
 import org.photonvision.common.util.ColorHelper;
 import org.photonvision.vision.frame.FrameDivisor;
@@ -31,22 +32,44 @@ import org.photonvision.vision.target.TrackedTarget;
 public class DrawCalibrationPipe
         extends MutatingPipe<
                 Pair<Mat, List<TrackedTarget>>, DrawCalibrationPipe.DrawCalibrationPipeParams> {
+    Scalar[] chessboardColors =
+            new Scalar[] {
+                ColorHelper.colorToScalar(Color.RED, 0.4),
+                ColorHelper.colorToScalar(Color.ORANGE, 0.4),
+                ColorHelper.colorToScalar(Color.GREEN, 0.4),
+                ColorHelper.colorToScalar(Color.BLUE, 0.4),
+                ColorHelper.colorToScalar(Color.MAGENTA, 0.4),
+            };
+
     @Override
     protected Void process(Pair<Mat, List<TrackedTarget>> in) {
         var image = in.getLeft();
 
+        var imgSz = image.size();
+        var diag = Math.hypot(imgSz.width, imgSz.height);
+
+        // heuristic: about 4px at a diagonal of 750px, or .5%, 'looks good'. keep it at least 3px at
+        // worst tho
+        int r = (int) Math.max(diag * 4.0 / 750.0, 3);
+        int thickness = (int) Math.max(diag * 1.0 / 600.0, 1);
+
+        int i = 0;
         for (var target : in.getRight()) {
             for (var c : target.getTargetCorners()) {
                 c =
                         new Point(
                                 c.x / params.divisor.value.doubleValue(), c.y / params.divisor.value.doubleValue());
-                var r = 4;
+
                 var r2 = r / Math.sqrt(2);
-                var color = ColorHelper.colorToScalar(Color.RED, 0.4);
-                Imgproc.circle(image, c, r, color, 1);
-                Imgproc.line(image, new Point(c.x - r2, c.y - r2), new Point(c.x + r2, c.y + r2), color);
-                Imgproc.line(image, new Point(c.x + r2, c.y - r2), new Point(c.x - r2, c.y + r2), color);
+                var color = chessboardColors[i % chessboardColors.length];
+                Imgproc.circle(image, c, r, color, thickness);
+                Imgproc.line(
+                        image, new Point(c.x - r2, c.y - r2), new Point(c.x + r2, c.y + r2), color, thickness);
+                Imgproc.line(
+                        image, new Point(c.x + r2, c.y - r2), new Point(c.x - r2, c.y + r2), color, thickness);
             }
+
+            i++;
         }
 
         return null;

photon-core/src/main/java/org/photonvision/vision/pipe/impl/FilterObjectDetectionsPipe.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 java.util.ArrayList;
+import java.util.List;
+import org.photonvision.common.util.numbers.DoubleCouple;
+import org.photonvision.vision.frame.FrameStaticProperties;
+import org.photonvision.vision.pipe.CVPipe;
+
+public class FilterObjectDetectionsPipe
+        extends CVPipe<
+                List<NeuralNetworkPipeResult>,
+                List<NeuralNetworkPipeResult>,
+                FilterObjectDetectionsPipe.FilterContoursParams> {
+    List<NeuralNetworkPipeResult> m_filteredContours = new ArrayList<>();
+
+    @Override
+    protected List<NeuralNetworkPipeResult> process(List<NeuralNetworkPipeResult> in) {
+        m_filteredContours.clear();
+        for (var contour : in) {
+            filterContour(contour);
+        }
+
+        return m_filteredContours;
+    }
+
+    private void filterContour(NeuralNetworkPipeResult contour) {
+        var boc = contour.box;
+
+        // Area filtering
+        double areaPercentage = boc.area() / params.getFrameStaticProperties().imageArea * 100.0;
+        double minAreaPercentage = params.getArea().getFirst();
+        double maxAreaPercentage = params.getArea().getSecond();
+        if (areaPercentage < minAreaPercentage || areaPercentage > maxAreaPercentage) return;
+
+        // Aspect ratio filtering; much simpler since always axis-aligned
+        double aspectRatio = boc.width / boc.height;
+        if (aspectRatio < params.getRatio().getFirst() || aspectRatio > params.getRatio().getSecond())
+            return;
+
+        m_filteredContours.add(contour);
+    }
+
+    public static class FilterContoursParams {
+        private final DoubleCouple m_area;
+        private final DoubleCouple m_ratio;
+        private final FrameStaticProperties m_frameStaticProperties;
+        public final boolean isLandscape;
+
+        public FilterContoursParams(
+                DoubleCouple area,
+                DoubleCouple ratio,
+                FrameStaticProperties camProperties,
+                boolean isLandscape) {
+            this.m_area = area;
+            this.m_ratio = ratio;
+            this.m_frameStaticProperties = camProperties;
+            this.isLandscape = isLandscape;
+        }
+
+        public DoubleCouple getArea() {
+            return m_area;
+        }
+
+        public DoubleCouple getRatio() {
+            return m_ratio;
+        }
+
+        public FrameStaticProperties getFrameStaticProperties() {
+            return m_frameStaticProperties;
+        }
+    }
+}

photon-core/src/main/java/org/photonvision/vision/pipe/impl/NeuralNetworkPipeResult.java

@@ -0,0 +1,32 @@
+/*
+ * 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 org.opencv.core.Rect2d;
+
+public class NeuralNetworkPipeResult {
+    public NeuralNetworkPipeResult(Rect2d box2, Integer classIdx, Float confidence) {
+        box = box2;
+        this.classIdx = classIdx;
+        this.confidence = confidence;
+    }
+
+    public final int classIdx;
+    public final Rect2d box;
+    public final double confidence;
+}

photon-core/src/main/java/org/photonvision/vision/pipe/impl/RknnDetectionPipe.java

@@ -0,0 +1,70 @@
+/*
+ * 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 java.util.List;
+import org.photonvision.common.configuration.NeuralNetworkModelManager;
+import org.photonvision.jni.RknnDetectorJNI.RknnObjectDetector;
+import org.photonvision.vision.opencv.CVMat;
+import org.photonvision.vision.opencv.Releasable;
+import org.photonvision.vision.pipe.CVPipe;
+
+public class RknnDetectionPipe
+        extends CVPipe<CVMat, List<NeuralNetworkPipeResult>, RknnDetectionPipe.RknnDetectionPipeParams>
+        implements Releasable {
+    private RknnObjectDetector detector;
+
+    public RknnDetectionPipe() {
+        // For now this is hard-coded to defaults. Should be refactored into set pipe params, though.
+        // And ideally a little wrapper helper for only changing native stuff on content change created.
+        this.detector =
+                new RknnObjectDetector(
+                        NeuralNetworkModelManager.getInstance().getDefaultRknnModel().getAbsolutePath(),
+                        NeuralNetworkModelManager.getInstance().getLabels(),
+                        NeuralNetworkModelManager.getInstance().getModelVersion());
+    }
+
+    @Override
+    protected List<NeuralNetworkPipeResult> process(CVMat in) {
+        var frame = in.getMat();
+
+        // Make sure we don't get a weird empty frame
+        if (frame.empty()) {
+            return List.of();
+        }
+
+        return detector.detect(in, params.nms, params.confidence);
+    }
+
+    public static class RknnDetectionPipeParams {
+        public double confidence;
+        public double nms;
+        public int max_detections;
+
+        public RknnDetectionPipeParams() {}
+    }
+
+    public List<String> getClassNames() {
+        return detector.getClasses();
+    }
+
+    @Override
+    public void release() {
+        detector.release();
+    }
+}

photon-core/src/main/java/org/photonvision/vision/pipe/impl/SortContoursPipe.java

@@ -42,6 +42,7 @@ public class SortContoursPipe
             if (params.getSortMode() != ContourSortMode.Centermost) {
                 m_sortedContours.sort(params.getSortMode().getComparator());
             } else {
+                // we need knowledge of camera properties to calculate this distance -- do it ourselves
                 m_sortedContours.sort(Comparator.comparingDouble(this::calcSquareCenterDistance));
             }
         }
@@ -50,10 +51,10 @@ public class SortContoursPipe
                 m_sortedContours.subList(0, Math.min(in.size(), params.getMaxTargets())));
     }
 
-    private double calcSquareCenterDistance(PotentialTarget rect) {
+    private double calcSquareCenterDistance(PotentialTarget tgt) {
         return Math.sqrt(
-                Math.pow(params.getCamProperties().centerX - rect.getMinAreaRect().center.x, 2)
-                        + Math.pow(params.getCamProperties().centerY - rect.getMinAreaRect().center.y, 2));
+                Math.pow(params.getCamProperties().centerX - tgt.getMinAreaRect().center.x, 2)
+                        + Math.pow(params.getCamProperties().centerY - tgt.getMinAreaRect().center.y, 2));
     }
 
     public static class SortContoursParams {

photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipeline.java

@@ -21,9 +21,13 @@ 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.opencv.Releasable;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
 
-public abstract class CVPipeline<R extends CVPipelineResult, S extends CVPipelineSettings> {
+public abstract class CVPipeline<R extends CVPipelineResult, S extends CVPipelineSettings>
+        implements Releasable {
+    static final int MAX_MULTI_TARGET_RESULTS = 10;
+
     protected S settings;
     protected FrameStaticProperties frameStaticProperties;
     protected QuirkyCamera cameraQuirks;
@@ -75,4 +79,11 @@ public abstract class CVPipeline<R extends CVPipelineResult, S extends CVPipelin
 
         return result;
     }
+
+    /**
+     * Release any native memory associated with this pipeline. Called by pipelinemanager at pipeline
+     * switch. Stubbed out, but override if needed.
+     */
+    @Override
+    public void release() {}
 }

photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipelineSettings.java

@@ -32,7 +32,8 @@ import org.photonvision.vision.opencv.ImageRotationMode;
     @JsonSubTypes.Type(value = ReflectivePipelineSettings.class),
     @JsonSubTypes.Type(value = DriverModePipelineSettings.class),
     @JsonSubTypes.Type(value = AprilTagPipelineSettings.class),
-    @JsonSubTypes.Type(value = ArucoPipelineSettings.class)
+    @JsonSubTypes.Type(value = ArucoPipelineSettings.class),
+    @JsonSubTypes.Type(value = ObjectDetectionPipelineSettings.class)
 })
 public class CVPipelineSettings implements Cloneable {
     public int pipelineIndex = 0;

photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java

@@ -109,7 +109,7 @@ public class ColoredShapePipeline
         SortContoursPipe.SortContoursParams sortContoursParams =
                 new SortContoursPipe.SortContoursParams(
                         settings.contourSortMode,
-                        settings.outputShowMultipleTargets ? 5 : 1,
+                        settings.outputShowMultipleTargets ? MAX_MULTI_TARGET_RESULTS : 1,
                         frameStaticProperties); // TODO don't hardcode?
         sortContoursPipe.setParams(sortContoursParams);
 

photon-core/src/main/java/org/photonvision/vision/pipeline/ObjectDetectionPipeline.java

@@ -0,0 +1,135 @@
+/*
+ * 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.pipeline;
+
+import java.util.List;
+import java.util.stream.Collectors;
+import org.photonvision.vision.frame.Frame;
+import org.photonvision.vision.frame.FrameThresholdType;
+import org.photonvision.vision.opencv.DualOffsetValues;
+import org.photonvision.vision.pipe.CVPipe.CVPipeResult;
+import org.photonvision.vision.pipe.impl.*;
+import org.photonvision.vision.pipe.impl.RknnDetectionPipe.RknnDetectionPipeParams;
+import org.photonvision.vision.pipeline.result.CVPipelineResult;
+import org.photonvision.vision.target.PotentialTarget;
+import org.photonvision.vision.target.TargetOrientation;
+import org.photonvision.vision.target.TrackedTarget;
+
+public class ObjectDetectionPipeline
+        extends CVPipeline<CVPipelineResult, ObjectDetectionPipelineSettings> {
+    private final CalculateFPSPipe calculateFPSPipe = new CalculateFPSPipe();
+    private final RknnDetectionPipe rknnPipe = new RknnDetectionPipe();
+    private final SortContoursPipe sortContoursPipe = new SortContoursPipe();
+    private final Collect2dTargetsPipe collect2dTargetsPipe = new Collect2dTargetsPipe();
+    private final FilterObjectDetectionsPipe filterContoursPipe = new FilterObjectDetectionsPipe();
+
+    private static final FrameThresholdType PROCESSING_TYPE = FrameThresholdType.NONE;
+
+    public ObjectDetectionPipeline() {
+        super(PROCESSING_TYPE);
+        settings = new ObjectDetectionPipelineSettings();
+    }
+
+    public ObjectDetectionPipeline(ObjectDetectionPipelineSettings settings) {
+        super(PROCESSING_TYPE);
+        this.settings = settings;
+    }
+
+    @Override
+    protected void setPipeParamsImpl() {
+        // this needs to be based off of the current backend selected!!
+        var params = new RknnDetectionPipeParams();
+        params.confidence = settings.confidence;
+        params.nms = settings.nms;
+        rknnPipe.setParams(params);
+
+        DualOffsetValues dualOffsetValues =
+                new DualOffsetValues(
+                        settings.offsetDualPointA,
+                        settings.offsetDualPointAArea,
+                        settings.offsetDualPointB,
+                        settings.offsetDualPointBArea);
+
+        SortContoursPipe.SortContoursParams sortContoursParams =
+                new SortContoursPipe.SortContoursParams(
+                        settings.contourSortMode,
+                        settings.outputShowMultipleTargets ? MAX_MULTI_TARGET_RESULTS : 1,
+                        frameStaticProperties);
+        sortContoursPipe.setParams(sortContoursParams);
+
+        var filterContoursParams =
+                new FilterObjectDetectionsPipe.FilterContoursParams(
+                        settings.contourArea,
+                        settings.contourRatio,
+                        frameStaticProperties,
+                        settings.contourTargetOrientation == TargetOrientation.Landscape);
+        filterContoursPipe.setParams(filterContoursParams);
+
+        Collect2dTargetsPipe.Collect2dTargetsParams collect2dTargetsParams =
+                new Collect2dTargetsPipe.Collect2dTargetsParams(
+                        settings.offsetRobotOffsetMode,
+                        settings.offsetSinglePoint,
+                        dualOffsetValues,
+                        settings.contourTargetOffsetPointEdge,
+                        settings.contourTargetOrientation,
+                        frameStaticProperties);
+        collect2dTargetsPipe.setParams(collect2dTargetsParams);
+    }
+
+    @Override
+    protected CVPipelineResult process(Frame input_frame, ObjectDetectionPipelineSettings settings) {
+        long sumPipeNanosElapsed = 0;
+
+        // ***************** change based on backend ***********************
+
+        CVPipeResult<List<NeuralNetworkPipeResult>> rknnResult = rknnPipe.run(input_frame.colorImage);
+        sumPipeNanosElapsed += rknnResult.nanosElapsed;
+        List<NeuralNetworkPipeResult> targetList;
+
+        var names = rknnPipe.getClassNames();
+
+        input_frame.colorImage.getMat().copyTo(input_frame.processedImage.getMat());
+
+        // ***************** change based on backend ***********************
+
+        var filterContoursResult = filterContoursPipe.run(rknnResult.output);
+        sumPipeNanosElapsed += filterContoursResult.nanosElapsed;
+
+        CVPipeResult<List<PotentialTarget>> sortContoursResult =
+                sortContoursPipe.run(
+                        filterContoursResult.output.stream()
+                                .map(shape -> new PotentialTarget(shape))
+                                .collect(Collectors.toList()));
+        sumPipeNanosElapsed += sortContoursResult.nanosElapsed;
+
+        CVPipeResult<List<TrackedTarget>> collect2dTargetsResult =
+                collect2dTargetsPipe.run(sortContoursResult.output);
+        sumPipeNanosElapsed += collect2dTargetsResult.nanosElapsed;
+
+        var fpsResult = calculateFPSPipe.run(null);
+        var fps = fpsResult.output;
+
+        return new CVPipelineResult(
+                sumPipeNanosElapsed, fps, collect2dTargetsResult.output, input_frame, names);
+    }
+
+    @Override
+    public void release() {
+        rknnPipe.release();
+    }
+}

photon-core/src/main/java/org/photonvision/vision/pipeline/ObjectDetectionPipelineSettings.java

@@ -0,0 +1,34 @@
+/*
+ * 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.pipeline;
+
+public class ObjectDetectionPipelineSettings extends AdvancedPipelineSettings {
+    public double confidence;
+    public double nms; // non maximal suppression
+
+    public ObjectDetectionPipelineSettings() {
+        super();
+        this.pipelineType = PipelineType.ObjectDetection; // TODO: FIX this
+        this.outputShowMultipleTargets = true;
+        cameraExposure = 20;
+        cameraAutoExposure = false;
+        ledMode = false;
+        confidence = .9;
+        nms = .45;
+    }
+}

photon-core/src/main/java/org/photonvision/vision/pipeline/PipelineType.java

@@ -17,6 +17,8 @@
 
 package org.photonvision.vision.pipeline;
 
+import org.photonvision.vision.pipe.impl.Calibrate3dPipeline;
+
 @SuppressWarnings("rawtypes")
 public enum PipelineType {
     Calib3d(-2, Calibrate3dPipeline.class),
@@ -24,7 +26,8 @@ public enum PipelineType {
     Reflective(0, ReflectivePipeline.class),
     ColoredShape(1, ColoredShapePipeline.class),
     AprilTag(2, AprilTagPipeline.class),
-    Aruco(3, ArucoPipeline.class);
+    Aruco(3, ArucoPipeline.class),
+    ObjectDetection(4, ObjectDetectionPipeline.class);
 
     public final int baseIndex;
     public final Class clazz;

photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java

@@ -64,29 +64,6 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
                         settings.offsetDualPointB,
                         settings.offsetDualPointBArea);
 
-        // var rotateImageParams = new
-        // RotateImagePipe.RotateImageParams(settings.inputImageRotationMode);
-        // rotateImagePipe.setParams(rotateImageParams);
-
-        // 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);
 
@@ -113,7 +90,7 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
         var sortContoursParams =
                 new SortContoursPipe.SortContoursParams(
                         settings.contourSortMode,
-                        settings.outputShowMultipleTargets ? 8 : 1, // TODO don't hardcode?
+                        settings.outputShowMultipleTargets ? MAX_MULTI_TARGET_RESULTS : 1,
                         frameStaticProperties);
         sortContoursPipe.setParams(sortContoursParams);
 

photon-core/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java

@@ -32,10 +32,20 @@ public class CVPipelineResult implements Releasable {
     public final List<TrackedTarget> targets;
     public final Frame inputAndOutputFrame;
     public MultiTargetPNPResult multiTagResult;
+    public final List<String> objectDetectionClassNames;
 
     public CVPipelineResult(
             double processingNanos, double fps, List<TrackedTarget> targets, Frame inputFrame) {
-        this(processingNanos, fps, targets, new MultiTargetPNPResult(), inputFrame);
+        this(processingNanos, fps, targets, new MultiTargetPNPResult(), inputFrame, List.of());
+    }
+
+    public CVPipelineResult(
+            double processingNanos,
+            double fps,
+            List<TrackedTarget> targets,
+            Frame inputFrame,
+            List<String> classNames) {
+        this(processingNanos, fps, targets, new MultiTargetPNPResult(), inputFrame, classNames);
     }
 
     public CVPipelineResult(
@@ -44,10 +54,21 @@ public class CVPipelineResult implements Releasable {
             List<TrackedTarget> targets,
             MultiTargetPNPResult multiTagResult,
             Frame inputFrame) {
+        this(processingNanos, fps, targets, multiTagResult, inputFrame, List.of());
+    }
+
+    public CVPipelineResult(
+            double processingNanos,
+            double fps,
+            List<TrackedTarget> targets,
+            MultiTargetPNPResult multiTagResult,
+            Frame inputFrame,
+            List<String> classNames) {
         this.processingNanos = processingNanos;
         this.fps = fps;
         this.targets = targets != null ? targets : Collections.emptyList();
         this.multiTagResult = multiTagResult;
+        this.objectDetectionClassNames = classNames;
 
         this.inputAndOutputFrame = inputFrame;
     }
@@ -57,7 +78,7 @@ public class CVPipelineResult implements Releasable {
             double fps,
             List<TrackedTarget> targets,
             MultiTargetPNPResult multiTagResult) {
-        this(processingNanos, fps, targets, multiTagResult, null);
+        this(processingNanos, fps, targets, multiTagResult, null, List.of());
     }
 
     public boolean hasTargets() {

photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java

@@ -27,6 +27,7 @@ import org.photonvision.common.dataflow.DataChangeService;
 import org.photonvision.common.dataflow.events.OutgoingUIEvent;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
+import org.photonvision.vision.pipe.impl.Calibrate3dPipeline;
 import org.photonvision.vision.pipeline.*;
 
 @SuppressWarnings({"rawtypes", "unused"})
@@ -41,7 +42,7 @@ public class PipelineManager {
     protected final DriverModePipeline driverModePipeline = new DriverModePipeline();
 
     /** Index of the currently active pipeline. Defaults to 0. */
-    private int currentPipelineIndex = 0;
+    private int currentPipelineIndex = DRIVERMODE_INDEX;
 
     /** The currently active pipeline. */
     private CVPipeline currentUserPipeline = driverModePipeline;
@@ -188,6 +189,11 @@ public class PipelineManager {
             return;
         }
 
+        // Cleanup potential old native resources before swapping over
+        if (currentUserPipeline != null) {
+            currentUserPipeline.release();
+        }
+
         currentPipelineIndex = newIndex;
         if (newIndex >= 0) {
             var desiredPipelineSettings = userPipelineSettings.get(currentPipelineIndex);
@@ -212,6 +218,11 @@ public class PipelineManager {
                     logger.debug("Creating Aruco Pipeline");
                     currentUserPipeline = new ArucoPipeline((ArucoPipelineSettings) desiredPipelineSettings);
                     break;
+                case ObjectDetection:
+                    logger.debug("Creating ObjectDetection Pipeline");
+                    currentUserPipeline =
+                            new ObjectDetectionPipeline(
+                                    (ObjectDetectionPipelineSettings) desiredPipelineSettings);
                 default:
                     // Can be calib3d or drivermode, both of which are special cases
                     break;
@@ -313,6 +324,12 @@ public class PipelineManager {
                     added.pipelineNickname = nickname;
                     return added;
                 }
+            case ObjectDetection:
+                {
+                    var added = new ObjectDetectionPipelineSettings();
+                    added.pipelineNickname = nickname;
+                    return added;
+                }
             default:
                 {
                     logger.error("Got invalid pipeline type: " + type);

photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java

@@ -26,6 +26,7 @@ import java.util.HashMap;
 import java.util.LinkedList;
 import java.util.List;
 import java.util.function.BiConsumer;
+import java.util.stream.Collectors;
 import org.opencv.core.Size;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
@@ -512,6 +513,7 @@ public class VisionModule {
                 SerializationUtils.objectToHashMap(pipelineManager.getCurrentPipelineSettings());
         ret.currentPipelineIndex = pipelineManager.getCurrentPipelineIndex();
         ret.pipelineNicknames = pipelineManager.getPipelineNicknames();
+        ret.cameraQuirks = visionSource.getSettables().getConfiguration().cameraQuirks;
 
         // TODO refactor into helper method
         var temp = new HashMap<Integer, HashMap<String, Object>>();
@@ -535,7 +537,10 @@ public class VisionModule {
         ret.outputStreamPort = this.outputStreamPort;
         ret.inputStreamPort = this.inputStreamPort;
 
-        ret.calibrations = visionSource.getSettables().getConfiguration().calibrations;
+        ret.calibrations =
+                visionSource.getSettables().getConfiguration().calibrations.stream()
+                        .map(CameraCalibrationCoefficients::cloneWithoutObservations)
+                        .collect(Collectors.toList());
 
         ret.isFovConfigurable =
                 !(ConfigManager.getInstance().getConfig().getHardwareConfig().hasPresetFOV()
@@ -609,4 +614,14 @@ public class VisionModule {
 
         saveAndBroadcastAll();
     }
+
+    /**
+     * Add/remove quirks from the camera we're controlling
+     *
+     * @param quirksToChange map of true/false for quirks we should change
+     */
+    public void changeCameraQuirks(HashMap<CameraQuirk, Boolean> quirksToChange) {
+        visionSource.getCameraConfiguration().cameraQuirks.updateQuirks(quirksToChange);
+        saveAndBroadcastAll();
+    }
 }

photon-core/src/main/java/org/photonvision/vision/processes/VisionRunner.java

@@ -98,8 +98,7 @@ public class VisionRunner {
                 var pipelineResult = pipeline.run(frame, cameraQuirks);
                 pipelineResultConsumer.accept(pipelineResult);
             } catch (Exception ex) {
-                logger.error("Exception on loop " + loopCount);
-                ex.printStackTrace();
+                logger.error("Exception on loop " + loopCount, ex);
             }
 
             loopCount++;

photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java

@@ -23,6 +23,7 @@ import java.util.Arrays;
 import java.util.Collection;
 import java.util.List;
 import java.util.concurrent.CopyOnWriteArrayList;
+import java.util.function.Predicate;
 import java.util.stream.Collectors;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
@@ -164,7 +165,7 @@ public class VisionSourceManager {
 
         // Debug prints
         for (var info : connectedCameras) {
-            logger.info("Adding local video device - \"" + info.name + "\" at \"" + info.path + "\"");
+            logger.info("Detected unmatched physical camera: " + info.toString());
         }
 
         if (!unmatchedLoadedConfigs.isEmpty())
@@ -216,6 +217,52 @@ public class VisionSourceManager {
         return sources;
     }
 
+    /**
+     * Get a predicate for checking cameras against a saved config.
+     *
+     * @param savedConfig The saved camera configuration to match against
+     * @param checkUSBPath If we should compare the USB port/bus IDs
+     * @param checkVidPid If we should compare USB VID and PID
+     * @param checkBaseName If we should compare {@link CameraInfo#getBaseName}
+     * @param checkPath If we should check {@link CameraInfo::path} (eg /dev/videoN on Linux, or
+     *     ?/usb#vid_05c8&pid_03df&mi_00#7&fa76035&0&0000#{e5323777-f976-4f5b-9b55-b94699c46e44}\global
+     *     on Windows)
+     */
+    private final Predicate<CameraInfo> getCameraMatcher(
+            final CameraConfiguration savedConfig,
+            boolean checkUSBPath,
+            boolean checkVidPid,
+            boolean checkBaseName,
+            boolean checkPath) {
+        if (checkUSBPath && savedConfig.getUSBPath().isEmpty()) {
+            logger.debug(
+                    "WARN: Camera has empty USB path, but asked to match by name: "
+                            + camCfgToString(savedConfig));
+        }
+
+        return (CameraInfo physicalCamera) -> {
+            var matches = true;
+
+            if (checkUSBPath) {
+                var savedPath = savedConfig.getUSBPath();
+                matches &= (savedPath.isPresent() && physicalCamera.getUSBPath().equals(savedPath));
+            }
+            if (checkBaseName) {
+                matches &= physicalCamera.getBaseName().equals(savedConfig.baseName);
+            }
+            if (checkVidPid) {
+                matches &=
+                        (physicalCamera.vendorId == savedConfig.usbVID
+                                && physicalCamera.productId == savedConfig.usbPID);
+            }
+            if (checkPath) {
+                matches &= (physicalCamera.path.equals(savedConfig.path));
+            }
+
+            return matches;
+        };
+    }
+
     /**
      * Create {@link CameraConfiguration}s based on a list of detected USB cameras and the configs on
      * disk.
@@ -226,35 +273,111 @@ public class VisionSourceManager {
      */
     public List<CameraConfiguration> matchCameras(
             List<CameraInfo> detectedCamInfos, List<CameraConfiguration> loadedCamConfigs) {
+        return matchCameras(
+                detectedCamInfos,
+                loadedCamConfigs,
+                ConfigManager.getInstance().getConfig().getNetworkConfig().matchCamerasOnlyByPath);
+    }
+
+    private static final String camCfgToString(CameraConfiguration c) {
+        return new StringBuilder()
+                .append("[baseName=")
+                .append(c.baseName)
+                .append(", uniqueName=")
+                .append(c.uniqueName)
+                .append(", otherPaths=")
+                .append(Arrays.toString(c.otherPaths))
+                .append(", vid=")
+                .append(c.usbVID)
+                .append(", pid=")
+                .append(c.usbPID)
+                .append("]")
+                .toString();
+    }
+
+    /**
+     * Create {@link CameraConfiguration}s based on a list of detected USB cameras and the configs on
+     * disk.
+     *
+     * @param detectedCamInfos Information about currently connected USB cameras.
+     * @param loadedCamConfigs The USB {@link CameraConfiguration}s loaded from disk.
+     * @param matchCamerasOnlyByPath If we should never try to match only by (base name, vid, pid)
+     * @return the matched configurations.
+     */
+    public List<CameraConfiguration> matchCameras(
+            List<CameraInfo> detectedCamInfos,
+            List<CameraConfiguration> loadedCamConfigs,
+            boolean matchCamerasOnlyByPath) {
         var detectedCameraList = new ArrayList<>(detectedCamInfos);
         ArrayList<CameraConfiguration> cameraConfigurations = new ArrayList<CameraConfiguration>();
         ArrayList<CameraConfiguration> unloadedConfigs =
                 new ArrayList<CameraConfiguration>(loadedCamConfigs);
 
-        if (detectedCameraList.size() > 0 || unloadedConfigs.size() > 0)
-            cameraConfigurations.addAll(matchByPathByID(detectedCameraList, unloadedConfigs));
-        else logger.debug("Skipping matchByPath no configs or cameras left to match");
+        if (detectedCameraList.size() > 0 || unloadedConfigs.size() > 0) {
+            logger.info("Matching by usb port & name & USB VID/PID...");
+            cameraConfigurations.addAll(
+                    matchCamerasByStrategy(detectedCameraList, unloadedConfigs, true, true, true, false));
+        } else
+            logger.debug("Skipping match by usb port/name/vid/pid, no configs or cameras left to match");
 
-        if (detectedCameraList.size() > 0 || unloadedConfigs.size() > 0)
-            cameraConfigurations.addAll(matchByPath(detectedCameraList, unloadedConfigs));
-        else logger.debug("Skipping matchByPath no configs or cameras left to match");
+        // On windows, the v4l path is actually useful and tells us the port the camera is physically
+        // connected to which is neat
+        if (Platform.isWindows()) {
+            if (detectedCameraList.size() > 0 || unloadedConfigs.size() > 0) {
+                logger.info("Matching by windows-path & USB VID/PID only...");
+                cameraConfigurations.addAll(
+                        matchCamerasByStrategy(detectedCameraList, unloadedConfigs, false, true, true, true));
+            } else
+                logger.debug(
+                        "Skipping matching by windiws-path/name/vid/pid, no configs or cameras left to match");
+        }
 
-        if (detectedCameraList.size() > 0 || unloadedConfigs.size() > 0)
-            cameraConfigurations.addAll(matchByName(detectedCameraList, unloadedConfigs));
-        else logger.debug("Skipping matchByName no configs or cameras left to match");
+        if (detectedCameraList.size() > 0 || unloadedConfigs.size() > 0) {
+            logger.info("Matching by usb port & USB VID/PID...");
+            cameraConfigurations.addAll(
+                    matchCamerasByStrategy(detectedCameraList, unloadedConfigs, true, true, false, false));
+        } else logger.debug("Skipping match by port/vid/pid, no configs or cameras left to match");
 
-        if (detectedCameraList.size() > 0)
+        // handle disabling only-by-base-name matching
+        if (!matchCamerasOnlyByPath) {
+            if (detectedCameraList.size() > 0 || unloadedConfigs.size() > 0) {
+                logger.info("Matching by base-name & USB VID/PID only...");
+                cameraConfigurations.addAll(
+                        matchCamerasByStrategy(detectedCameraList, unloadedConfigs, false, true, true, false));
+            } else
+                logger.debug("Skipping match by base-name/viid/pid, no configs or cameras left to match");
+        } else logger.info("Skipping match by filepath/vid/pid, disabled by user");
+
+        if (detectedCameraList.size() > 0) {
             cameraConfigurations.addAll(
                     createConfigsForCameras(detectedCameraList, unloadedConfigs, cameraConfigurations));
+        }
 
         logger.debug("Matched or created " + cameraConfigurations.size() + " camera configs!");
         return cameraConfigurations;
     }
 
-    // loop over all the configs loaded from disk, attempting to match each camera
-    // to a config by path-by-id on linux
-    private List<CameraConfiguration> matchByPathByID(
-            List<CameraInfo> detectedCamInfos, List<CameraConfiguration> unloadedConfigs) {
+    /**
+     * Abstractly match cameras
+     *
+     * @param detectedCamInfos Physical cameras unmatched and attached to the device
+     * @param unloadedConfigs {@link CameraConfiguration}
+     * @param checkUSBPath If we should compare the USB port/bus IDs
+     * @param checkVidPid If we should compare USB VID and PID
+     * @param checkBaseName If we should check {@link CameraInfo::getBaseName}
+     * @param checkPath If we should check {@link CameraInfo::path} (eg /dev/videoN on Linux, or
+     *     usb#vid_05c8&pid_03df&mi_00#7&fa76035&0&0000#{e5323777-f976-4f5b-9b55-b94699c46e44}\global
+     *     on Windows). Note that path may change based on order cameras are plugged in/unplugged on
+     *     Linux, and should not be trusted to remain the same.
+     * @return All matched or created new configs
+     */
+    private List<CameraConfiguration> matchCamerasByStrategy(
+            List<CameraInfo> detectedCamInfos,
+            List<CameraConfiguration> unloadedConfigs,
+            boolean checkUSBPath,
+            boolean checkVidPid,
+            boolean checkBaseName,
+            boolean checkPath) {
         List<CameraConfiguration> ret = new ArrayList<CameraConfiguration>();
         List<CameraConfiguration> unloadedConfigsCopy =
                 new ArrayList<CameraConfiguration>(unloadedConfigs);
@@ -262,111 +385,43 @@ public class VisionSourceManager {
         for (CameraConfiguration config : unloadedConfigsCopy) {
             // Only run match path by id if the camera is not a CSI camera.
             if (config.cameraType != CameraType.ZeroCopyPicam) {
-                CameraInfo cameraInfo;
-                if (config.otherPaths.length == 0) {
-                    logger.debug("No valid path-by-id found for config with name " + config.baseName);
-                } else {
-                    // attempt matching by path and basename
-                    logger.debug(
-                            "Trying to find a match for loaded camera "
-                                    + config.baseName
-                                    + " with path-by-id "
-                                    + config.otherPaths[0]);
-                    cameraInfo =
-                            detectedCamInfos.stream()
-                                    .filter(
-                                            usbCameraInfo ->
-                                                    usbCameraInfo.otherPaths.length != 0
-                                                            && usbCameraInfo.otherPaths[0].equals(config.otherPaths[0])
-                                                            && usbCameraInfo.getBaseName().equals(config.baseName))
-                                    .findFirst()
-                                    .orElse(null);
+                logger.debug(
+                        String.format(
+                                "Trying to find a match for loaded camera %s by strategy (path %s vid/pid %s basename %s path %s) with camera config: %s",
+                                config.baseName,
+                                checkUSBPath,
+                                checkVidPid,
+                                checkBaseName,
+                                checkPath,
+                                camCfgToString(config)));
 
-                    // If we actually matched a camera to a config, remove that camera from the list
-                    // and add it to the output
-                    if (cameraInfo != null) {
-                        logger.debug("Matched the config for " + config.baseName + " to a physical camera!");
-                        ret.add(mergeInfoIntoConfig(config, cameraInfo));
-                        detectedCamInfos.remove(cameraInfo);
-                        unloadedConfigs.remove(config);
-                    }
+                // Get matcher and filter against it, picking out the first match
+                Predicate<CameraInfo> matches =
+                        getCameraMatcher(config, checkUSBPath, checkVidPid, checkBaseName, checkPath);
+                var cameraInfo = detectedCamInfos.stream().filter(matches).findFirst().orElse(null);
+
+                // If we actually matched a camera to a config, remove that camera from the list
+                // and add it to the output
+                if (cameraInfo != null) {
+                    logger.debug("Matched the config for " + config.baseName + " to a physical camera!");
+                    ret.add(mergeInfoIntoConfig(config, cameraInfo));
+                    detectedCamInfos.remove(cameraInfo);
+                    unloadedConfigs.remove(config);
+                } else {
+                    logger.debug("No camera found for the config " + config.baseName);
                 }
             }
         }
         return ret;
     }
 
-    private List<CameraConfiguration> matchByPath(
-            List<CameraInfo> detectedCamInfos, List<CameraConfiguration> unloadedConfigs) {
-        List<CameraConfiguration> ret = new ArrayList<CameraConfiguration>();
-        List<CameraConfiguration> unloadedConfigsCopy =
-                new ArrayList<CameraConfiguration>(unloadedConfigs);
-        // now attempt to match the cameras and configs remaining by normal path
-        for (CameraConfiguration config : unloadedConfigsCopy) {
-            CameraInfo cameraInfo;
-
-            // attempt matching by path and basename
-            logger.debug(
-                    "Trying to find a match for loaded camera "
-                            + config.baseName
-                            + " with path "
-                            + config.path);
-            cameraInfo =
-                    detectedCamInfos.stream()
-                            .filter(
-                                    usbCameraInfo ->
-                                            usbCameraInfo.path.equals(config.path)
-                                                    && usbCameraInfo.getBaseName().equals(config.baseName))
-                            .findFirst()
-                            .orElse(null);
-
-            // If we actually matched a camera to a config, remove that camera from the list
-            // and add it to the output
-            if (cameraInfo != null) {
-                logger.debug("Matched the config for " + config.baseName + " to a physical camera!");
-                ret.add(mergeInfoIntoConfig(config, cameraInfo));
-                detectedCamInfos.remove(cameraInfo);
-                unloadedConfigs.remove(config);
-            }
-        }
-        return ret;
-    }
-
-    // Try matching cameras to configs by name.
-    private List<CameraConfiguration> matchByName(
-            List<CameraInfo> detectedCamInfos, List<CameraConfiguration> unloadedConfigs) {
-        List<CameraConfiguration> ret = new ArrayList<CameraConfiguration>();
-        List<CameraConfiguration> unloadedConfigsCopy =
-                new ArrayList<CameraConfiguration>(unloadedConfigs);
-        // if both path and ID based matching fails, attempt basename only match
-        for (CameraConfiguration config : unloadedConfigsCopy) {
-            CameraInfo cameraInfo;
-
-            logger.debug("Trying to find a match for loaded camera with name " + config.baseName);
-
-            cameraInfo =
-                    detectedCamInfos.stream()
-                            .filter(CameraInfo -> CameraInfo.getBaseName().equals(config.baseName))
-                            .findFirst()
-                            .orElse(null);
-
-            // If we actually matched a camera to a config, remove that camera from the list
-            // and add it to the output
-            if (cameraInfo != null) {
-                logger.debug("Matched the config for " + config.baseName + " to a physical camera!");
-                ret.add(mergeInfoIntoConfig(config, cameraInfo));
-                detectedCamInfos.remove(cameraInfo);
-                unloadedConfigs.remove(config);
-            }
-        }
-        return ret;
-    }
-
-    // If we have any unmatched cameras left, create a new CameraConfiguration for
-    // them here.
+    /**
+     * Create new {@link CameraConfiguration}s for unmatched cameras, and assign them a unique name
+     * (unique in the set of (loaded configs, unloaded configs, loaded vision modules) at least)
+     */
     private List<CameraConfiguration> createConfigsForCameras(
             List<CameraInfo> detectedCameraList,
-            List<CameraConfiguration> loadedCamConfigs,
+            List<CameraConfiguration> unloadedCamConfigs,
             List<CameraConfiguration> loadedConfigs) {
         List<CameraConfiguration> ret = new ArrayList<CameraConfiguration>();
         logger.debug(
@@ -377,7 +432,9 @@ public class VisionSourceManager {
             String uniqueName = info.getHumanReadableName();
 
             int suffix = 0;
-            while (containsName(loadedConfigs, uniqueName) || containsName(uniqueName)) {
+            while (containsName(loadedConfigs, uniqueName)
+                    || containsName(uniqueName)
+                    || containsName(unloadedCamConfigs, uniqueName)) {
                 suffix++;
                 uniqueName = String.format("%s (%d)", uniqueName, suffix);
             }
@@ -460,7 +517,7 @@ public class VisionSourceManager {
             List<CameraConfiguration> camConfigs) {
         var cameraSources = new ArrayList<VisionSource>();
         for (var configuration : camConfigs) {
-            logger.debug("Creating VisionSource for " + configuration);
+            logger.debug("Creating VisionSource for " + camCfgToString(configuration));
 
             boolean is_pi = Platform.isRaspberryPi();
 

photon-core/src/main/java/org/photonvision/vision/target/PotentialTarget.java

@@ -21,7 +21,9 @@ import java.util.List;
 import org.opencv.core.RotatedRect;
 import org.photonvision.vision.opencv.CVShape;
 import org.photonvision.vision.opencv.Contour;
+import org.photonvision.vision.opencv.ContourShape;
 import org.photonvision.vision.opencv.Releasable;
+import org.photonvision.vision.pipe.impl.NeuralNetworkPipeResult;
 
 public class PotentialTarget implements Releasable {
 
@@ -29,6 +31,10 @@ public class PotentialTarget implements Releasable {
     public final List<Contour> m_subContours;
     public final CVShape shape;
 
+    // additional metadata about object detections we need to keep around
+    public final double confidence;
+    public final int clsId;
+
     public PotentialTarget(Contour inputContour) {
         this(inputContour, List.of());
     }
@@ -41,12 +47,26 @@ public class PotentialTarget implements Releasable {
         m_mainContour = inputContour;
         m_subContours = new ArrayList<>(subContours);
         this.shape = shape;
+        this.clsId = -1;
+        this.confidence = -1;
     }
 
     public PotentialTarget(Contour inputContour, CVShape shape) {
         this(inputContour, List.of(), shape);
     }
 
+    public PotentialTarget(NeuralNetworkPipeResult det) {
+        this.shape = new CVShape(new Contour(det.box), ContourShape.Quadrilateral);
+        this.m_mainContour = this.shape.getContour();
+        m_subContours = List.of();
+        this.clsId = det.classIdx;
+        this.confidence = det.confidence;
+    }
+
+    public PotentialTarget(CVShape cvShape) {
+        this(cvShape.getContour(), cvShape);
+    }
+
     public RotatedRect getMinAreaRect() {
         return m_mainContour.getMinAreaRect();
     }
@@ -61,7 +81,7 @@ public class PotentialTarget implements Releasable {
         for (var sc : m_subContours) {
             sc.release();
         }
-        m_subContours.clear();
+        if (!m_subContours.isEmpty()) m_subContours.clear();
         if (shape != null) shape.release();
     }
 }

photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java

@@ -65,12 +65,18 @@ public class TrackedTarget implements Releasable {
 
     private Mat m_cameraRelativeTvec, m_cameraRelativeRvec;
 
+    private int m_classId = -1;
+    private double m_confidence = -1;
+
     public TrackedTarget(
             PotentialTarget origTarget, TargetCalculationParameters params, CVShape shape) {
         this.m_mainContour = origTarget.m_mainContour;
         this.m_subContours = origTarget.m_subContours;
         this.m_shape = shape;
         calculateValues(params);
+
+        this.m_classId = origTarget.clsId;
+        this.m_confidence = origTarget.confidence;
     }
 
     public TrackedTarget(
@@ -154,6 +160,20 @@ public class TrackedTarget implements Releasable {
         m_robotOffsetPoint = new Point();
     }
 
+    /**
+     * @return Returns the confidence of the detection ranging from 0 - 1.
+     */
+    public double getConfidence() {
+        return m_confidence;
+    }
+
+    /**
+     * @return O-indexed class index for the detected object.
+     */
+    public double getClassID() {
+        return m_classId;
+    }
+
     public TrackedTarget(
             ArucoDetectionResult result,
             AprilTagPoseEstimate tagPose,
@@ -388,6 +408,8 @@ public class TrackedTarget implements Releasable {
         ret.put("skew", getSkew());
         ret.put("area", getArea());
         ret.put("ambiguity", getPoseAmbiguity());
+        ret.put("confidence", m_confidence);
+        ret.put("classId", m_classId);
 
         var bestCameraToTarget3d = getBestCameraToTarget3d();
         if (bestCameraToTarget3d != null) {

photon-core/src/test/java/org/photonvision/common/configuration/ConfigTest.java

@@ -139,8 +139,31 @@ public class ConfigTest {
         writer.write(str);
         writer.flush();
         writer.close();
-        Assertions.assertDoesNotThrow(
-                () -> JacksonUtils.deserialize(tempFile.toPath(), CameraConfiguration.class));
+        CameraConfiguration result =
+                JacksonUtils.deserialize(tempFile.toPath(), CameraConfiguration.class);
+
+        tempFile.delete();
+    }
+
+    @Test
+    public void testJacksonAddUSBVIDPID() throws IOException {
+        var str =
+                "{\"baseName\":\"aaaaaa\",\"uniqueName\":\"aaaaaa\",\"nickname\":\"aaaaaa\",\"FOV\":70.0,\"path\":\"dev/vid\",\"cameraType\":\"UsbCamera\",\"currentPipelineIndex\":0,\"camPitch\":{\"radians\":0.0},\"calibrations\":[], \"usbVID\":3, \"usbPID\":4, \"cameraLEDs\":[]}";
+        File tempFile = File.createTempFile("test", ".json");
+        tempFile.deleteOnExit();
+        var writer = new FileWriter(tempFile);
+        writer.write(str);
+        writer.flush();
+        writer.close();
+
+        try {
+            CameraConfiguration result =
+                    JacksonUtils.deserialize(tempFile.toPath(), CameraConfiguration.class);
+            String ser = JacksonUtils.serializeToString(result);
+            System.out.println(ser);
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
 
         tempFile.delete();
     }

photon-core/src/test/java/org/photonvision/common/configuration/SQLConfigTest.java

@@ -19,25 +19,58 @@ package org.photonvision.common.configuration;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
+import java.io.File;
+import java.io.IOException;
+import java.nio.file.Files;
 import java.nio.file.Path;
+import java.util.Comparator;
 import java.util.List;
+import org.junit.jupiter.api.AfterAll;
 import org.junit.jupiter.api.BeforeAll;
+import org.junit.jupiter.api.Order;
 import org.junit.jupiter.api.Test;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.vision.camera.CameraType;
+import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.pipeline.AprilTagPipelineSettings;
 import org.photonvision.vision.pipeline.ColoredShapePipelineSettings;
 import org.photonvision.vision.pipeline.ReflectivePipelineSettings;
 
 public class SQLConfigTest {
+    private static Path tmpDir;
+
     @BeforeAll
     public static void init() {
         TestUtils.loadLibraries();
+        try {
+            tmpDir = Files.createTempDirectory("SQLConfigTest");
+        } catch (IOException e) {
+            System.out.println("Couldn't create temporary directory, using current directory");
+            tmpDir = Path.of("jdbc_test", "temp");
+        }
+    }
+
+    @AfterAll
+    public static void cleanUp() throws IOException {
+        Files.walk(tmpDir).sorted(Comparator.reverseOrder()).map(Path::toFile).forEach(File::delete);
     }
 
     @Test
+    @Order(1)
+    public void testMigration() {
+        SqlConfigProvider cfgLoader = new SqlConfigProvider(tmpDir);
+        cfgLoader.load();
+
+        assertEquals(
+                DatabaseSchema.migrations.length,
+                cfgLoader.getUserVersion(),
+                "Database isn't at the correct version");
+    }
+
+    @Test
+    @Order(2)
     public void testLoad() {
-        var cfgLoader = new SqlConfigProvider(Path.of("jdbc_test"));
+        var cfgLoader = new SqlConfigProvider(tmpDir);
 
         cfgLoader.load();
 
@@ -49,8 +82,11 @@ public class SQLConfigTest {
                         69,
                         "a/path/idk",
                         CameraType.UsbCamera,
+                        QuirkyCamera.getQuirkyCamera(-1, -1),
                         List.of(),
-                        0);
+                        0,
+                        -1,
+                        -1);
         testcamcfg.pipelineSettings =
                 List.of(
                         new ReflectivePipelineSettings(),

photon-core/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java

@@ -44,6 +44,7 @@ import org.photonvision.vision.frame.FrameDivisor;
 import org.photonvision.vision.frame.FrameStaticProperties;
 import org.photonvision.vision.frame.FrameThresholdType;
 import org.photonvision.vision.opencv.CVMat;
+import org.photonvision.vision.pipe.impl.Calibrate3dPipeline;
 
 public class Calibrate3dPipeTest {
     @BeforeAll

photon-core/src/test/java/org/photonvision/vision/processes/VisionSourceManagerTest.java

@@ -24,14 +24,20 @@ import java.util.ArrayList;
 import org.junit.jupiter.api.Test;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.LogLevel;
+import org.photonvision.common.logging.Logger;
 import org.photonvision.vision.camera.CameraInfo;
 import org.photonvision.vision.camera.CameraType;
 
 public class VisionSourceManagerTest {
     @Test
     public void visionSourceTest() {
+        Logger.setLevel(LogGroup.Camera, LogLevel.DEBUG);
+
         var inst = new VisionSourceManager();
         var cameraInfos = new ArrayList<CameraInfo>();
+        ConfigManager.getInstance().clearConfig();
         ConfigManager.getInstance().load();
 
         inst.tryMatchCamImpl(cameraInfos);
@@ -43,6 +49,8 @@ public class VisionSourceManagerTest {
                         "thirdTestVideo",
                         "dev/video1",
                         new String[] {"by-id/123"});
+        config3.usbVID = 3;
+        config3.usbPID = 4;
         var config4 =
                 new CameraConfiguration(
                         "fourthTestVideo",
@@ -50,6 +58,8 @@ public class VisionSourceManagerTest {
                         "fourthTestVideo",
                         "dev/video2",
                         new String[] {"by-id/321"});
+        config4.usbVID = 5;
+        config4.usbPID = 6;
 
         CameraInfo info1 = new CameraInfo(0, "dev/video0", "testVideo", new String[0], 1, 2);
 

photon-lib/build.gradle

@@ -1,9 +1,3 @@
-plugins {
-    id 'edu.wpi.first.WpilibTools' version '1.3.0'
-}
-
-apply plugin: "edu.wpi.first.NativeUtils"
-
 import java.nio.file.Path
 
 ext {
@@ -13,9 +7,125 @@ ext {
     generatedHeaders = "src/generate/native/include"
 }
 
-apply from: "${rootDir}/shared/javacpp/setupBuild.gradle"
+apply plugin: 'cpp'
+apply plugin: 'google-test-test-suite'
+apply plugin: 'edu.wpi.first.NativeUtils'
+
+apply from: "${rootDir}/shared/config.gradle"
+apply from: "${rootDir}/shared/javacommon.gradle"
+
 apply from: "${rootDir}/versioningHelper.gradle"
 
+nativeUtils {
+    exportsConfigs {
+        "${nativeName}" {}
+    }
+}
+
+model {
+    components {
+        "${nativeName}"(NativeLibrarySpec) {
+            sources {
+                cpp {
+                    source {
+                        srcDirs 'src/main/native/cpp', "$buildDir/generated/source/proto/main/cpp"
+                        include '**/*.cpp', '**/*.cc'
+                    }
+                    exportedHeaders {
+                        srcDirs 'src/main/native/include', "$buildDir/generated/source/proto/main/cpp"
+                        if (project.hasProperty('generatedHeaders')) {
+                            srcDir generatedHeaders
+                        }
+                        include "**/*.h"
+                    }
+                }
+            }
+
+            binaries.all {
+                it.tasks.withType(CppCompile) {
+                    it.dependsOn generateProto
+                }
+                if(project.hasProperty('includePhotonTargeting')) {
+                    lib project: ':photon-targeting', library: 'photontargeting', linkage: 'shared'
+                }
+            }
+
+            nativeUtils.useRequiredLibrary(it, "wpilib_shared")
+            nativeUtils.useRequiredLibrary(it, "apriltag_shared")
+            nativeUtils.useRequiredLibrary(it, "opencv_shared")
+        }
+    }
+    testSuites {
+        "${nativeName}Test"(GoogleTestTestSuiteSpec) {
+            for(NativeComponentSpec c : $.components) {
+                if (c.name == nativeName) {
+                    testing c
+                    break
+                }
+            }
+            sources {
+                cpp {
+                    source {
+                        srcDirs 'src/test/native/cpp'
+                        include '**/*.cpp'
+                    }
+                    exportedHeaders {
+                        srcDirs 'src/test/native/include', "$buildDir/generated/source/proto/main/cpp"
+                    }
+                }
+            }
+
+            binaries.all {
+                it.tasks.withType(CppCompile) {
+                    it.dependsOn generateProto
+                }
+                if(project.hasProperty('includePhotonTargeting')) {
+                    lib project: ':photon-targeting', library: 'photontargeting', linkage: 'shared'
+                }
+            }
+
+            nativeUtils.useRequiredLibrary(it, "cscore_shared")
+            nativeUtils.useRequiredLibrary(it, "cameraserver_shared")
+            nativeUtils.useRequiredLibrary(it, "wpilib_executable_shared")
+            nativeUtils.useRequiredLibrary(it, "googletest_static")
+            nativeUtils.useRequiredLibrary(it, "apriltag_shared")
+            nativeUtils.useRequiredLibrary(it, "opencv_shared")
+        }
+    }
+
+    tasks {
+        def c = $.testSuites
+        project.tasks.create('runCpp', Exec) {
+            description = "Run the photon-lib executable"
+            def found = false
+            def systemArch = getCurrentArch()
+            c.each {
+                if (it in GoogleTestTestSuiteSpec && it.name == "${nativeName}Test") {
+                    it.binaries.each {
+                        if (!found) {
+                            def arch = it.targetPlatform.name
+                            if (arch == systemArch) {
+                                dependsOn it.tasks.install
+                                commandLine it.tasks.install.runScriptFile.get().asFile.toString()
+                                def filePath = it.tasks.install.installDirectory.get().toString() + File.separatorChar + 'lib'
+                                test.dependsOn it.tasks.install
+                                test.systemProperty 'java.library.path', filePath
+                                test.environment 'LD_LIBRARY_PATH', filePath
+                                test.environment 'DYLD_LIBRARY_PATH', filePath
+                                test.workingDir filePath
+
+                                found = true
+                            }
+                        }
+                    }
+                }
+            }
+        }
+    }
+}
+
+apply from: "${rootDir}/shared/javacpp/publish.gradle"
+
 // Include the version file in the distributed sources
 cppHeadersZip {
     from('src/generate/native/include') {

photon-lib/py/photonlibpy/estimatedRobotPose.py

@@ -0,0 +1,26 @@
+from dataclasses import dataclass
+from typing import TYPE_CHECKING
+
+from wpimath.geometry import Pose3d
+
+from .photonTrackedTarget import PhotonTrackedTarget
+
+if TYPE_CHECKING:
+    from .photonPoseEstimator import PoseStrategy
+
+
+@dataclass
+class EstimatedRobotPose:
+    """An estimated pose based on pipeline result"""
+
+    estimatedPose: Pose3d
+    """The estimated pose"""
+
+    timestampSeconds: float
+    """The estimated time the frame used to derive the robot pose was taken"""
+
+    targetsUsed: list[PhotonTrackedTarget]
+    """A list of the targets used to compute this pose"""
+
+    strategy: "PoseStrategy"
+    """The strategy actually used to produce this pose"""

photon-lib/py/photonlibpy/multiTargetPNPResult.py

@@ -17,6 +17,10 @@ class PNPResult:
 
     def createFromPacket(self, packet: Packet) -> Packet:
         self.isPresent = packet.decodeBoolean()
+
+        if not self.isPresent:
+            return packet
+
         self.best = packet.decodeTransform()
         self.alt = packet.decodeTransform()
         self.bestReprojError = packet.decodeDouble()

photon-lib/py/photonlibpy/packet.py

@@ -4,7 +4,7 @@ import wpilib
 
 
 class Packet:
-    def __init__(self, data: list[int]):
+    def __init__(self, data: bytes):
         """
         * Constructs an empty packet.
         *
@@ -30,7 +30,7 @@ class Packet:
     matches the version of photonlib running in the robot code.
     """
 
-    def _getNextByte(self) -> int:
+    def _getNextByteAsInt(self) -> int:
         retVal = 0x00
 
         if not self.outOfBytes:
@@ -43,7 +43,7 @@ class Packet:
 
         return retVal
 
-    def getData(self) -> list[int]:
+    def getData(self) -> bytes:
         """
         * Returns the packet data.
         *
@@ -51,7 +51,7 @@ class Packet:
         """
         return self.packetData
 
-    def setData(self, data: list[int]):
+    def setData(self, data: bytes):
         """
         * Sets the packet data.
         *
@@ -65,7 +65,7 @@ class Packet:
         # Read ints in from the data buffer
         intList = []
         for _ in range(numBytes):
-            intList.append(self._getNextByte())
+            intList.append(self._getNextByteAsInt())
 
         # Interpret the bytes as a floating point number
         value = struct.unpack(unpackFormat, bytes(intList))[0]

photon-lib/py/photonlibpy/photonCamera.py

@@ -4,7 +4,7 @@ from wpilib import Timer
 import wpilib
 from photonlibpy.packet import Packet
 from photonlibpy.photonPipelineResult import PhotonPipelineResult
-from photonlibpy.version import PHOTONVISION_VERSION, PHOTONLIB_VERSION
+from photonlibpy.version import PHOTONVISION_VERSION, PHOTONLIB_VERSION  # type: ignore[import-untyped]
 
 
 class VisionLEDMode(Enum):
@@ -14,7 +14,7 @@ class VisionLEDMode(Enum):
     kBlink = 2
 
 
-lastVersionTimeCheck = 0.0
+_lastVersionTimeCheck = 0.0
 _VERSION_CHECK_ENABLED = True
 
 
@@ -26,41 +26,41 @@ def setVersionCheckEnabled(enabled: bool):
 class PhotonCamera:
     def __init__(self, cameraName: str):
         instance = ntcore.NetworkTableInstance.getDefault()
-        self.name = cameraName
+        self._name = cameraName
         self._tableName = "photonvision"
         photonvision_root_table = instance.getTable(self._tableName)
-        self.cameraTable = photonvision_root_table.getSubTable(cameraName)
-        self.path = self.cameraTable.getPath()
-        self.rawBytesEntry = self.cameraTable.getRawTopic("rawBytes").subscribe(
+        self._cameraTable = photonvision_root_table.getSubTable(cameraName)
+        self._path = self._cameraTable.getPath()
+        self._rawBytesEntry = self._cameraTable.getRawTopic("rawBytes").subscribe(
             "rawBytes", bytes([]), ntcore.PubSubOptions(periodic=0.01, sendAll=True)
         )
 
-        self.driverModePublisher = self.cameraTable.getBooleanTopic(
+        self._driverModePublisher = self._cameraTable.getBooleanTopic(
             "driverModeRequest"
         ).publish()
-        self.driverModeSubscriber = self.cameraTable.getBooleanTopic(
+        self._driverModeSubscriber = self._cameraTable.getBooleanTopic(
             "driverMode"
         ).subscribe(False)
-        self.inputSaveImgEntry = self.cameraTable.getIntegerTopic(
+        self._inputSaveImgEntry = self._cameraTable.getIntegerTopic(
             "inputSaveImgCmd"
         ).getEntry(0)
-        self.outputSaveImgEntry = self.cameraTable.getIntegerTopic(
+        self._outputSaveImgEntry = self._cameraTable.getIntegerTopic(
             "outputSaveImgCmd"
         ).getEntry(0)
-        self.pipelineIndexRequest = self.cameraTable.getIntegerTopic(
+        self._pipelineIndexRequest = self._cameraTable.getIntegerTopic(
             "pipelineIndexRequest"
         ).publish()
-        self.pipelineIndexState = self.cameraTable.getIntegerTopic(
+        self._pipelineIndexState = self._cameraTable.getIntegerTopic(
             "pipelineIndexState"
         ).subscribe(0)
-        self.heartbeatEntry = self.cameraTable.getIntegerTopic("heartbeat").subscribe(
+        self._heartbeatEntry = self._cameraTable.getIntegerTopic("heartbeat").subscribe(
             -1
         )
 
-        self.ledModeRequest = photonvision_root_table.getIntegerTopic(
+        self._ledModeRequest = photonvision_root_table.getIntegerTopic(
             "ledModeRequest"
         ).publish()
-        self.ledModeState = photonvision_root_table.getIntegerTopic(
+        self._ledModeState = photonvision_root_table.getIntegerTopic(
             "ledModeState"
         ).subscribe(-1)
         self.versionEntry = photonvision_root_table.getStringTopic("version").subscribe(
@@ -72,79 +72,80 @@ class PhotonCamera:
             instance, ["/photonvision/"], ntcore.PubSubOptions(topicsOnly=True)
         )
 
-        self.prevHeartbeat = 0
-        self.prevHeartbeatChangeTime = Timer.getFPGATimestamp()
+        self._prevHeartbeat = 0
+        self._prevHeartbeatChangeTime = Timer.getFPGATimestamp()
 
     def getLatestResult(self) -> PhotonPipelineResult:
         self._versionCheck()
 
         retVal = PhotonPipelineResult()
-        packetWithTimestamp = self.rawBytesEntry.getAtomic()
+        packetWithTimestamp = self._rawBytesEntry.getAtomic()
         byteList = packetWithTimestamp.value
         timestamp = packetWithTimestamp.time
 
         if len(byteList) < 1:
             return retVal
         else:
-            retVal.populateFromPacket(Packet(byteList))
+            pkt = Packet(byteList)
+            retVal.populateFromPacket(pkt)
             # NT4 allows us to correct the timestamp based on when the message was sent
             retVal.setTimestampSeconds(
-                timestamp / 1e-6 - retVal.getLatencyMillis() / 1e-3
+                timestamp / 1e6 - retVal.getLatencyMillis() / 1e3
             )
             return retVal
 
     def getDriverMode(self) -> bool:
-        return self.driverModeSubscriber.get()
+        return self._driverModeSubscriber.get()
 
     def setDriverMode(self, driverMode: bool) -> None:
-        self.driverModePublisher.set(driverMode)
+        self._driverModePublisher.set(driverMode)
 
     def takeInputSnapshot(self) -> None:
-        self.inputSaveImgEntry.set(self.inputSaveImgEntry.get() + 1)
+        self._inputSaveImgEntry.set(self._inputSaveImgEntry.get() + 1)
 
     def takeOutputSnapshot(self) -> None:
-        self.outputSaveImgEntry.set(self.outputSaveImgEntry.get() + 1)
+        self._outputSaveImgEntry.set(self._outputSaveImgEntry.get() + 1)
 
     def getPipelineIndex(self) -> int:
-        return self.pipelineIndexState.get(0)
+        return self._pipelineIndexState.get(0)
 
     def setPipelineIndex(self, index: int) -> None:
-        self.pipelineIndexRequest.set(index)
+        self._pipelineIndexRequest.set(index)
 
     def getLEDMode(self) -> VisionLEDMode:
-        mode = self.ledModeState.get()
+        mode = self._ledModeState.get()
         return VisionLEDMode(mode)
 
     def setLEDMode(self, led: VisionLEDMode) -> None:
-        self.ledModeRequest.set(led.value)
+        self._ledModeRequest.set(led.value)
 
     def getName(self) -> str:
-        return self.name
+        return self._name
 
     def isConnected(self) -> bool:
-        curHeartbeat = self.heartbeatEntry.get()
+        curHeartbeat = self._heartbeatEntry.get()
         now = Timer.getFPGATimestamp()
 
-        if curHeartbeat != self.prevHeartbeat:
-            self.prevHeartbeat = curHeartbeat
-            self.prevHeartbeatChangeTime = now
+        if curHeartbeat != self._prevHeartbeat:
+            self._prevHeartbeat = curHeartbeat
+            self._prevHeartbeatChangeTime = now
 
-        return (now - self.prevHeartbeatChangeTime) < 0.5
+        return (now - self._prevHeartbeatChangeTime) < 0.5
 
     def _versionCheck(self) -> None:
-        global lastVersionTimeCheck
+        global _lastVersionTimeCheck
 
         if not _VERSION_CHECK_ENABLED:
             return
 
-        if (Timer.getFPGATimestamp() - lastVersionTimeCheck) < 5.0:
+        if (Timer.getFPGATimestamp() - _lastVersionTimeCheck) < 5.0:
             return
 
-        lastVersionTimeCheck = Timer.getFPGATimestamp()
+        _lastVersionTimeCheck = Timer.getFPGATimestamp()
 
-        if not self.heartbeatEntry.exists():
+        if not self._heartbeatEntry.exists():
             cameraNames = (
-                self.cameraTable.getInstance().getTable(self._tableName).getSubTables()
+                self._cameraTable.getInstance().getTable(self._tableName).getSubTables()
             )
             if len(cameraNames) == 0:
                 wpilib.reportError(
@@ -153,13 +154,13 @@ class PhotonCamera:
                 )
             else:
                 wpilib.reportError(
-                    f"PhotonVision coprocessor at path {self.path} not found in Network Tables. Double check that your camera names match! Only the following camera names were found: { ''.join(cameraNames)}",
+                    f"PhotonVision coprocessor at path {self._path} not found in Network Tables. Double check that your camera names match! Only the following camera names were found: { ''.join(cameraNames)}",
                     True,
                 )
 
         elif not self.isConnected():
             wpilib.reportWarning(
-                f"PhotonVision coprocessor at path {self.path} is not sending new data.",
+                f"PhotonVision coprocessor at path {self._path} is not sending new data.",
                 True,
             )
 

photon-lib/py/photonlibpy/photonPipelineResult.py

@@ -15,14 +15,16 @@ class PhotonPipelineResult:
     def populateFromPacket(self, packet: Packet) -> Packet:
         self.targets = []
         self.latencyMillis = packet.decodeDouble()
-        self.multiTagResult = MultiTargetPNPResult()
-        self.multiTagResult.createFromPacket(packet)
         targetCount = packet.decode8()
+
         for _ in range(targetCount):
             target = PhotonTrackedTarget()
             target.createFromPacket(packet)
             self.targets.append(target)
 
+        self.multiTagResult = MultiTargetPNPResult()
+        self.multiTagResult.createFromPacket(packet)
+
         return packet
 
     def setTimestampSeconds(self, timestampSec: float) -> None:
@@ -36,3 +38,6 @@ class PhotonPipelineResult:
 
     def getTargets(self) -> list[PhotonTrackedTarget]:
         return self.targets
+
+    def hasTargets(self) -> bool:
+        return len(self.targets) > 0