Backport maven changes

Sort object detection results and reduce code duplication (#1173 )
* Sort object detection results and reduce code dup. * Filter objdet results by ratio and area * Address code review --------- Co-authored-by: Mohammad Durrani <46766905+mdurrani808@users.noreply.github.com>
2026-06-19 00:41:41 +00:00 · 2024-08-02 08:18:44 -07:00 · 2024-01-23 14:10:31 -05:00 · 2024-01-22 22:59:42 -05:00 · 2024-01-22 15:38:25 -05:00
25 changed files with 286 additions and 663 deletions
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -2,123 +2,14 @@ name: Build

 on:
  push:
-    branches: [ master ]
+    branches: 
+      - master
    tags:
      - 'v*'
  pull_request:
    branches: [ master ]

 jobs:
-  build-client:
-    name: "PhotonClient Build"
-    defaults:
-      run:
-        working-directory: photon-client
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v4
-      - name: Setup Node.js
-        uses: actions/setup-node@v4
-        with:
-          node-version: 18
-      - name: Install Dependencies
-        run: npm ci
-      - name: Build Production Client
-        run: npm run build
-      - uses: actions/upload-artifact@v4
-        with:
-          name: built-client
-          path: photon-client/dist/
-  build-examples:
-    name: "Build Examples"
-    runs-on: ubuntu-22.04
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - name: Fetch tags
-        run: git fetch --tags --force
-      - name: Install Java 17
-        uses: actions/setup-java@v4
-        with:
-          java-version: 17
-          distribution: temurin
-      # Need to publish to maven local first, so that C++ sim can pick it up
-      # Still haven't figured out how to make the vendordep file be copied before trying to build examples
-      - name: Publish photonlib to maven local
-        run: |
-          chmod +x gradlew
-          ./gradlew publishtomavenlocal -x check
-      - name: Build Java examples
-        working-directory: photonlib-java-examples
-        run: |
-          chmod +x gradlew
-          ./gradlew copyPhotonlib -x check
-          ./gradlew build -x check --max-workers 2
-      - name: Build C++ examples
-        working-directory: photonlib-cpp-examples
-        run: |
-          chmod +x gradlew
-          ./gradlew copyPhotonlib -x check
-          ./gradlew build -x check --max-workers 2
-  build-gradle:
-    name: "Gradle Build"
-    runs-on: ubuntu-22.04
-    steps:
-      # Checkout code.
-      - name: Checkout code
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - name: Fetch tags
-        run: git fetch --tags --force
-      - name: Install Java 17
-        uses: actions/setup-java@v3
-        with:
-          java-version: 17
-          distribution: temurin
-      - name: Install mrcal deps
-        run: sudo apt-get update && sudo apt-get install -y libcholmod3 liblapack3 libsuitesparseconfig5
-      - name: Gradle Build
-        run: |
-          chmod +x gradlew
-          ./gradlew build -x check --max-workers 2
-      - name: Gradle Tests
-        run: ./gradlew testHeadless -i --max-workers 1 --stacktrace
-      - name: Gradle Coverage
-        run: ./gradlew jacocoTestReport --max-workers 1
-      - name: Publish Coverage Report
-        uses: codecov/codecov-action@v3
-        with:
-          file: ./photon-server/build/reports/jacoco/test/jacocoTestReport.xml
-      - name: Publish Core Coverage Report
-        uses: codecov/codecov-action@v3
-        with:
-          file: ./photon-core/build/reports/jacoco/test/jacocoTestReport.xml
-  build-offline-docs:
-    name: "Build Offline Docs"
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          repository: 'PhotonVision/photonvision-docs.git'
-          ref: master
-      - uses: actions/setup-python@v5
-        with:
-          python-version: '3.9'
-      - name: Install dependencies
-        run: |
-          python -m pip install --upgrade pip
-          pip install sphinx sphinx_rtd_theme sphinx-tabs sphinxext-opengraph doc8
-          pip install -r requirements.txt
-      - name: Build the docs
-        run: |
-          make html
-      - uses: actions/upload-artifact@master
-        with:
-          name: built-docs
-          path: build/html
  build-photonlib-host:
    env:
      MACOSX_DEPLOYMENT_TARGET: 12
@@ -188,179 +79,3 @@ jobs:
        env:
          ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
        if: github.event_name == 'push'
-  build-package:
-    needs: [build-client, build-gradle, build-offline-docs]
-
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: windows-latest
-            artifact-name: Win64
-            architecture: x64
-            arch-override: none
-          - os: macos-latest
-            artifact-name: macOS
-            architecture: x64
-            arch-override: none
-          - os: ubuntu-latest
-            artifact-name: Linux
-            architecture: x64
-            arch-override: none
-          - os: macos-latest
-            artifact-name: macOSArm
-            architecture: x64
-            arch-override: macarm64
-          - os: ubuntu-latest
-            artifact-name: LinuxArm32
-            architecture: x64
-            arch-override: linuxarm32
-          - os: ubuntu-latest
-            artifact-name: LinuxArm64
-            architecture: x64
-            arch-override: linuxarm64
-
-    runs-on: ${{ matrix.os }}
-    name: "Build fat JAR - ${{ matrix.artifact-name }}"
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - name: Install Java 17
-        uses: actions/setup-java@v4
-        with:
-          java-version: 17
-          distribution: temurin
-      - run: |
-          rm -rf photon-server/src/main/resources/web/*
-          mkdir -p photon-server/src/main/resources/web/docs
-        if: ${{ (matrix.os) != 'windows-latest' }}
-      - run: |
-          del photon-server\src\main\resources\web\*.*
-          mkdir photon-server\src\main\resources\web\docs
-        if: ${{ (matrix.os) == 'windows-latest' }}
-      - uses: actions/download-artifact@v4
-        with:
-          name: built-client
-          path: photon-server/src/main/resources/web/
-      - uses: actions/download-artifact@v4
-        with:
-          name: built-docs
-          path: photon-server/src/main/resources/web/docs
-      - run: |
-          chmod +x gradlew
-          ./gradlew photon-server:shadowJar --max-workers 2 -PArchOverride=${{ matrix.arch-override }}
-        if: ${{ (matrix.arch-override != 'none') }}
-      - run: |
-          chmod +x gradlew
-          ./gradlew photon-server:shadowJar --max-workers 2
-        if: ${{ (matrix.arch-override == 'none') }}
-      - uses: actions/upload-artifact@v4
-        with:
-          name: jar-${{ matrix.artifact-name }}
-          path: photon-server/build/libs
-  build-image:
-    needs: [build-package]
-
-    if: ${{ github.event_name != 'pull_request' }}
-
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: ubuntu-latest
-            artifact-name: LinuxArm64
-            image_suffix: RaspberryPi
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_raspi.img.xz
-            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/v2024.0.6/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 - ${{ matrix.image_url }}"
-
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - uses: actions/download-artifact@v4
-        with:
-          name: jar-${{ matrix.artifact-name }}
-      - uses: pguyot/arm-runner-action@v2
-        name: Generate image
-        id: generate_image
-        with:
-          base_image: ${{ matrix.image_url }}
-          image_additional_mb: ${{ matrix.image_additional_mb }}
-          optimize_image: yes
-          cpu: ${{ matrix.cpu }}
-          # We do _not_ wanna copy photon into the image. Bind mount instead
-          bind_mount_repository: true
-          commands: |
-            chmod +x scripts/armrunner.sh
-            ./scripts/armrunner.sh
-      - name: Compress image
-        run: |
-          new_jar=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
-          new_image_name=$(basename "${new_jar/.jar/_${{ matrix.image_suffix }}.img}")
-          mv ${{ steps.generate_image.outputs.image }} $new_image_name
-          sudo xz -T 0 -v $new_image_name
-      - uses: actions/upload-artifact@v4
-        name: Upload image
-        with:
-          name: image-${{ matrix.image_suffix }}
-          path: photonvision*.xz
-  release:
-    needs: [build-package, build-image]
-    runs-on: ubuntu-22.04
-    steps:
-      # Download literally every single artifact. This also downloads client and docs,
-      # but the filtering below won't pick these up (I hope)
-      - uses: actions/download-artifact@v4
-      - run: find
-      # Push to dev release
-      - uses: pyTooling/Actions/releaser@r0
-        with:
-          token: ${{ secrets.GITHUB_TOKEN }}
-          tag: 'Dev'
-          rm: true
-          files: |
-            **/*.xz
-            **/*.jar
-            **/photonlib*.json
-        if: github.event_name == 'push'
-      # Upload all jars and xz archives
-      - uses: softprops/action-gh-release@v1
-        with:
-          files: |
-            **/*.xz
-            **/*.jar
-            **/photonlib*.json
-        if: startsWith(github.ref, 'refs/tags/v')
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
--- a/.github/workflows/documentation.yml
+++ b/.github/workflows/documentation.yml
@@ -1,92 +0,0 @@
-name: Documentation
-
-on:
-  push:
-    # For now, run on all commits to master
-    branches: [ master ]
-    # and also all tags starting with v
-    tags:
-      - 'v*'
-
-# Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
-permissions:
-  contents: read
-  pages: write
-  id-token: write
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build-client:
-    name: "PhotonClient Build"
-    defaults:
-      run:
-        working-directory: photon-client
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v4
-      - name: Setup Node.js
-        uses: actions/setup-node@v4
-        with:
-          node-version: 18
-      - name: Install Dependencies
-        run: npm ci
-      - name: Build Production Client
-        run: npm run build-demo
-      - uses: actions/upload-artifact@v4
-        with:
-          name: built-client
-          path: photon-client/dist/
-
-  run_docs:
-    runs-on: "ubuntu-22.04"
-    steps:
-    - name: Checkout code
-      uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
-    - name: Fetch tags
-      run: git fetch --tags --force
-    - name: Install Java 17
-      uses: actions/setup-java@v3
-      with:
-        java-version: 17
-        distribution: temurin
-
-    - name: Build javadocs/doxygen
-      run: |
-        chmod +x gradlew
-        ./gradlew docs:generateJavaDocs docs:doxygen
-
-    - uses: actions/upload-artifact@v4
-      with:
-        name: built-docs
-        path: docs/build/docs
-
-  release:
-    needs: [build-client, run_docs]
-
-    environment:
-      name: github-pages
-      url: ${{ steps.deployment.outputs.page_url }}
-
-    runs-on: ubuntu-22.04
-    steps:
-
-      # Download literally every single artifact.
-      - uses: actions/download-artifact@v4
-
-      - run: find .
-
-      - name: Setup Pages
-        uses: actions/configure-pages@v4
-      - name: Upload artifact
-        uses: actions/upload-pages-artifact@v3
-        with:
-          # Upload entire repository
-          path: '.'
-      - name: Deploy to GitHub Pages
-        id: deployment
-        uses: actions/deploy-pages@v4
--- a/.github/workflows/lint-format.yml
+++ b/.github/workflows/lint-format.yml
@@ -1,88 +0,0 @@
-name: Lint and Format
-
-on:
-  push:
-    branches: [ master ]
-    tags:
-      - 'v*'
-  pull_request:
-    branches: [ master ]
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  wpiformat:
-    name: "wpiformat"
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v3
-      - name: Fetch all history and metadata
-        run: |
-          git fetch --prune --unshallow
-          git checkout -b pr
-          git branch -f master origin/master
-      - name: Set up Python 3.8
-        uses: actions/setup-python@v4
-        with:
-          python-version: 3.8
-      - name: Install wpiformat
-        run: pip3 install wpiformat
-      - name: Run
-        run: wpiformat
-      - name: Check output
-        run: git --no-pager diff --exit-code HEAD
-      - name: Generate diff
-        run: git diff HEAD > wpiformat-fixes.patch
-        if: ${{ failure() }}
-      - uses: actions/upload-artifact@v3
-        with:
-          name: wpiformat fixes
-          path: wpiformat-fixes.patch
-        if: ${{ failure() }}
-  javaformat:
-    name: "Java Formatting"
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v3
-        with:
-          fetch-depth: 0
-      - uses: actions/setup-java@v3
-        with:
-          java-version: 17
-          distribution: temurin
-      - run: |
-          chmod +x gradlew
-          ./gradlew spotlessCheck
-
-  client-lint-format:
-    name: "PhotonClient Lint and Formatting"
-    defaults:
-      run:
-        working-directory: photon-client
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v3
-      - name: Setup Node.js
-        uses: actions/setup-node@v3
-        with:
-          node-version: 18
-      - name: Install Dependencies
-        run: npm ci
-      - name: Check Linting
-        run: npm run lint-ci
-      - name: Check Formatting
-        run: npm run format-ci
-  server-index:
-    name: "Check server index.html not changed"
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v3
-      - name: Fetch all history and metadata
-        run: |
-          git fetch --prune --unshallow
-          git checkout -b pr
-          git branch -f master origin/master
-      - name: Check index.html not changed
-        run: git --no-pager diff --exit-code origin/master photon-server/src/main/resources/web/index.html
--- a/.github/workflows/python.yml
+++ b/.github/workflows/python.yml
@@ -1,60 +0,0 @@
-name: Build and Distribute PhotonLibPy
-
-permissions:
-  id-token: write  # IMPORTANT: this permission is mandatory for trusted publishing
-
-on:
-  push:
-    branches: [ master ]
-    tags:
-      - 'v*'
-  pull_request:
-    branches: [ master ]
-
-jobs:
-  buildAndDeploy:
-    runs-on: ubuntu-latest
-
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: Set up Python
-        uses: actions/setup-python@v5
-        with:
-          python-version: 3.11
-
-      - name: Install dependencies
-        run: |
-          python -m pip install --upgrade pip
-          pip install setuptools wheel pytest
-
-      - name: Build wheel
-        working-directory: ./photon-lib/py
-        run: |
-          python setup.py sdist bdist_wheel
-
-      - name: Run Unit Tests
-        working-directory: ./photon-lib/py
-        run: |
-            pip install --no-cache-dir dist/*.whl
-            pytest
-
-
-      - name: Upload artifacts
-        uses: actions/upload-artifact@master
-        with:
-          name: dist
-          path: ./photon-lib/py/dist/
-
-      - name: Publish package distributions to TestPyPI
-        # Only upload on tags
-        if: startsWith(github.ref, 'refs/tags/v')
-        uses: pypa/gh-action-pypi-publish@release/v1
-        with:
-          packages_dir: ./photon-lib/py/dist/
-
-    permissions:
-      id-token: write  # IMPORTANT: this permission is mandatory for trusted publishing
--- a/build.gradle
+++ b/build.gradle
@@ -13,8 +13,9 @@ allprojects {
    repositories {
        mavenCentral()
        mavenLocal()
-        maven { url = "https://maven.photonvision.org/repository/internal/" }
-        maven { url = "https://maven.photonvision.org/repository/snapshots/" }
+        maven { url = "https://maven.photonvision.org/releases" }
+        maven { url = "https://maven.photonvision.org/snapshots" }
+        maven { url = "https://jogamp.org/deployment/maven/" }
    }
    wpilibRepositories.addAllReleaseRepositories(it)
    wpilibRepositories.addAllDevelopmentRepositories(it)
@@ -50,6 +51,10 @@ ext {
    println("Building for platform " + jniPlatform + " wpilib: " + wpilibNativeName)
    println("Using Wpilib: " + wpilibVersion)
    println("Using OpenCV: " + openCVversion)
+
+
+    photonMavenURL = 'https://maven.photonvision.org/' + (isDev ? 'snapshots' : 'releases');
+    println("Publishing Photonlib to " + photonMavenURL)
 }

 spotless {
--- a/photon-client/src/components/dashboard/tabs/ObjectDetectionTab.vue
+++ b/photon-client/src/components/dashboard/tabs/ObjectDetectionTab.vue
@@ -11,6 +11,16 @@ 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)
@@ -32,5 +42,42 @@ const interactiveCols = computed(() =>
      :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>
--- a/photon-core/src/main/java/org/photonvision/vision/opencv/Contour.java
+++ b/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());
--- a/photon-core/src/main/java/org/photonvision/vision/opencv/ContourSortMode.java
+++ b/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;

--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FilterObjectDetectionsPipe.java
+++ b/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;
+        }
+    }
+}
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/SortContoursPipe.java
+++ b/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 {
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipeline.java
@@ -26,6 +26,8 @@ import org.photonvision.vision.pipeline.result.CVPipelineResult;

 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;
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java
+++ b/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);

--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ObjectDetectionPipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ObjectDetectionPipeline.java
@@ -17,21 +17,26 @@

 package org.photonvision.vision.pipeline;

-import java.util.ArrayList;
 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;
-import org.photonvision.vision.target.TrackedTarget.TargetCalculationParameters;

 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;

@@ -52,6 +57,38 @@ public class ObjectDetectionPipeline
        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
@@ -60,31 +97,35 @@ public class ObjectDetectionPipeline

        // ***************** change based on backend ***********************

-        CVPipeResult<List<NeuralNetworkPipeResult>> ret = rknnPipe.run(input_frame.colorImage);
-        sumPipeNanosElapsed += ret.nanosElapsed;
+        CVPipeResult<List<NeuralNetworkPipeResult>> rknnResult = rknnPipe.run(input_frame.colorImage);
+        sumPipeNanosElapsed += rknnResult.nanosElapsed;
        List<NeuralNetworkPipeResult> targetList;

-        targetList = ret.output;
        var names = rknnPipe.getClassNames();

        input_frame.colorImage.getMat().copyTo(input_frame.processedImage.getMat());

        // ***************** change based on backend ***********************

-        List<TrackedTarget> targets = new ArrayList<>();
+        var filterContoursResult = filterContoursPipe.run(rknnResult.output);
+        sumPipeNanosElapsed += filterContoursResult.nanosElapsed;

-        for (var t : targetList) {
-            targets.add(
-                    new TrackedTarget(
-                            t,
-                            new TargetCalculationParameters(
-                                    false, null, null, null, null, frameStaticProperties)));
-        }
+        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, targets, input_frame, names);
+        return new CVPipelineResult(
+                sumPipeNanosElapsed, fps, collect2dTargetsResult.output, input_frame, names);
    }

    @Override
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java
+++ b/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);

--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionRunner.java
+++ b/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++;
--- a/photon-core/src/main/java/org/photonvision/vision/target/PotentialTarget.java
+++ b/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();
    }
 }
--- a/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java
+++ b/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java
@@ -27,7 +27,6 @@ import org.opencv.core.Mat;
 import org.opencv.core.MatOfPoint;
 import org.opencv.core.MatOfPoint2f;
 import org.opencv.core.Point;
-import org.opencv.core.Rect2d;
 import org.opencv.core.RotatedRect;
 import org.photonvision.common.util.SerializationUtils;
 import org.photonvision.common.util.math.MathUtils;
@@ -39,7 +38,6 @@ import org.photonvision.vision.opencv.CVShape;
 import org.photonvision.vision.opencv.Contour;
 import org.photonvision.vision.opencv.DualOffsetValues;
 import org.photonvision.vision.opencv.Releasable;
-import org.photonvision.vision.pipe.impl.NeuralNetworkPipeResult;

 public class TrackedTarget implements Releasable {
    public final Contour m_mainContour;
@@ -76,6 +74,9 @@ public class TrackedTarget implements Releasable {
        this.m_subContours = origTarget.m_subContours;
        this.m_shape = shape;
        calculateValues(params);
+
+        this.m_classId = origTarget.clsId;
+        this.m_confidence = origTarget.confidence;
    }

    public TrackedTarget(
@@ -159,47 +160,6 @@ public class TrackedTarget implements Releasable {
        m_robotOffsetPoint = new Point();
    }

-    public TrackedTarget(
-            Rect2d box, int class_id, double confidence, TargetCalculationParameters params) {
-        m_targetOffsetPoint = new Point(box.x + box.width / 2.0, box.y + box.height / 2.0);
-        m_robotOffsetPoint = new Point();
-
-        var yawPitch =
-                TargetCalculations.calculateYawPitch(
-                        params.cameraCenterPoint.x,
-                        box.x + box.width / 2.0,
-                        params.horizontalFocalLength,
-                        params.cameraCenterPoint.y,
-                        box.y + box.height / 2.0,
-                        params.verticalFocalLength);
-        m_yaw = yawPitch.getFirst();
-        m_pitch = yawPitch.getSecond();
-
-        Point[] cornerPoints =
-                new Point[] {
-                    // Box.x/y is the top-left corner, not the center
-                    new Point(box.x, box.y), // tl
-                    new Point(box.x + box.width, box.y), // tr
-                    new Point(box.x + box.width, box.y + box.height), // br
-                    new Point(box.x, box.y + box.height), // bl
-                };
-
-        m_targetCorners = List.of(cornerPoints);
-        MatOfPoint contourMat = new MatOfPoint(cornerPoints);
-        m_approximateBoundingPolygon = new MatOfPoint2f(cornerPoints);
-
-        m_mainContour = new Contour(contourMat);
-        m_area = m_mainContour.getArea() / params.imageArea * 100;
-
-        m_classId = class_id;
-        m_confidence = confidence;
-    }
-
-    public TrackedTarget(
-            NeuralNetworkPipeResult t, TargetCalculationParameters targetCalculationParameters) {
-        this(t.box, t.classIdx, t.confidence, targetCalculationParameters);
-    }
-
    /**
     * @return Returns the confidence of the detection ranging from 0 - 1.
     */
--- a/photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h
+++ b/photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h
@@ -435,7 +435,7 @@ class PhotonCameraSim {
  double minTargetAreaPercent;

  frc::AprilTagFieldLayout tagLayout{
-      frc::LoadAprilTagLayoutField(frc::AprilTagField::k2023ChargedUp)};
+      frc::LoadAprilTagLayoutField(frc::AprilTagField::k2024Crescendo)};

  cs::CvSource videoSimRaw;
  cv::Mat videoSimFrameRaw{};
--- a/photon-server/src/main/java/org/photonvision/server/Server.java
+++ b/photon-server/src/main/java/org/photonvision/server/Server.java
@@ -138,7 +138,6 @@ public class Server {
        app.post("/api/calibration/importFromData", RequestHandler::onDataCalibrationImportRequest);

        app.start(port);
-        System.out.println("hi");
    }

    /**
--- a/photonlib-cpp-examples/build.gradle
+++ b/photonlib-cpp-examples/build.gradle
@@ -6,7 +6,7 @@ allprojects {
    repositories {
        mavenCentral()
        mavenLocal()
-        maven { url = "https://maven.photonvision.org/repository/internal/" }
+        maven { url = "https://maven.photonvision.org/releases" }
    }
 }

--- a/photonlib-cpp-examples/swervedriveposeestsim/src/main/include/Constants.h
+++ b/photonlib-cpp-examples/swervedriveposeestsim/src/main/include/Constants.h
@@ -35,48 +35,48 @@

 namespace constants {
 namespace Vision {
-static constexpr std::string_view kCameraName{"YOUR CAMERA NAME"};
-static const frc::Transform3d kRobotToCam{
+inline constexpr std::string_view kCameraName{"YOUR CAMERA NAME"};
+inline const frc::Transform3d kRobotToCam{
    frc::Translation3d{0.5_m, 0.0_m, 0.5_m},
    frc::Rotation3d{0_rad, 0_rad, 0_rad}};
-static const frc::AprilTagFieldLayout kTagLayout{
-    frc::LoadAprilTagLayoutField(frc::AprilTagField::k2023ChargedUp)};
+inline const frc::AprilTagFieldLayout kTagLayout{
+    frc::LoadAprilTagLayoutField(frc::AprilTagField::k2024Crescendo)};

-static const Eigen::Matrix<double, 3, 1> kSingleTagStdDevs{4, 4, 8};
-static const Eigen::Matrix<double, 3, 1> kMultiTagStdDevs{0.5, 0.5, 1};
+inline const Eigen::Matrix<double, 3, 1> kSingleTagStdDevs{4, 4, 8};
+inline const Eigen::Matrix<double, 3, 1> kMultiTagStdDevs{0.5, 0.5, 1};
 }  // namespace Vision
 namespace Swerve {

-static constexpr units::meter_t kTrackWidth{18.5_in};
-static constexpr units::meter_t kTrackLength{18.5_in};
-static constexpr units::meter_t kRobotWidth{25_in + 3.25_in * 2};
-static constexpr units::meter_t kRobotLength{25_in + 3.25_in * 2};
-static constexpr units::meters_per_second_t kMaxLinearSpeed{15.5_fps};
-static constexpr units::radians_per_second_t kMaxAngularSpeed{720_deg_per_s};
-static constexpr units::meter_t kWheelDiameter{4_in};
-static constexpr units::meter_t kWheelCircumference{kWheelDiameter *
+inline constexpr units::meter_t kTrackWidth{18.5_in};
+inline constexpr units::meter_t kTrackLength{18.5_in};
+inline constexpr units::meter_t kRobotWidth{25_in + 3.25_in * 2};
+inline constexpr units::meter_t kRobotLength{25_in + 3.25_in * 2};
+inline constexpr units::meters_per_second_t kMaxLinearSpeed{15.5_fps};
+inline constexpr units::radians_per_second_t kMaxAngularSpeed{720_deg_per_s};
+inline constexpr units::meter_t kWheelDiameter{4_in};
+inline constexpr units::meter_t kWheelCircumference{kWheelDiameter *
                                                    std::numbers::pi};

-static constexpr double kDriveGearRatio = 6.75;
-static constexpr double kSteerGearRatio = 12.8;
+inline constexpr double kDriveGearRatio = 6.75;
+inline constexpr double kSteerGearRatio = 12.8;

-static constexpr units::meter_t kDriveDistPerPulse =
+inline constexpr units::meter_t kDriveDistPerPulse =
    kWheelCircumference / 1024.0 / kDriveGearRatio;
-static constexpr units::radian_t kSteerRadPerPulse =
+inline constexpr units::radian_t kSteerRadPerPulse =
    units::radian_t{2 * std::numbers::pi} / 1024.0;

-static constexpr double kDriveKP = 1.0;
-static constexpr double kDriveKI = 0.0;
-static constexpr double kDriveKD = 0.0;
+inline constexpr double kDriveKP = 1.0;
+inline constexpr double kDriveKI = 0.0;
+inline constexpr double kDriveKD = 0.0;

-static constexpr double kSteerKP = 20.0;
-static constexpr double kSteerKI = 0.0;
-static constexpr double kSteerKD = 0.25;
+inline constexpr double kSteerKP = 20.0;
+inline constexpr double kSteerKI = 0.0;
+inline constexpr double kSteerKD = 0.25;

-static const frc::SimpleMotorFeedforward<units::meters> kDriveFF{
+inline const frc::SimpleMotorFeedforward<units::meters> kDriveFF{
    0.25_V, 2.5_V / 1_mps, 0.3_V / 1_mps_sq};

-static const frc::SimpleMotorFeedforward<units::radians> kSteerFF{
+inline const frc::SimpleMotorFeedforward<units::radians> kSteerFF{
    0.5_V, 0.25_V / 1_rad_per_s, 0.01_V / 1_rad_per_s_sq};

 struct ModuleConstants {
@@ -106,13 +106,13 @@ struct ModuleConstants {
        centerOffset(frc::Translation2d{xOffset, yOffset}) {}
 };

-static const ModuleConstants FL_CONSTANTS{
+inline const ModuleConstants FL_CONSTANTS{
    1, 0, 0, 1, 1, 2, 3, 0, kTrackLength / 2, kTrackWidth / 2};
-static const ModuleConstants FR_CONSTANTS{
+inline const ModuleConstants FR_CONSTANTS{
    2, 2, 4, 5, 3, 6, 7, 0, kTrackLength / 2, -kTrackWidth / 2};
-static const ModuleConstants BL_CONSTANTS{
+inline const ModuleConstants BL_CONSTANTS{
    3, 4, 8, 9, 5, 10, 11, 0, -kTrackLength / 2, kTrackWidth / 2};
-static const ModuleConstants BR_CONSTANTS{
+inline const ModuleConstants BR_CONSTANTS{
    4, 6, 12, 13, 7, 14, 15, 0, -kTrackLength / 2, -kTrackWidth / 2};
 }  // namespace Swerve
 }  // namespace constants
--- a/photonlib-cpp-examples/swervedriveposeestsim/src/main/include/Vision.h
+++ b/photonlib-cpp-examples/swervedriveposeestsim/src/main/include/Vision.h
@@ -61,7 +61,7 @@ class Vision {
      cameraSim = std::make_shared<photon::PhotonCameraSim>(camera.get(),
                                                            *cameraProp.get());

-      visionSim->AddCamera(cameraSim.get(), robotToCam);
+      visionSim->AddCamera(cameraSim.get(), constants::Vision::kRobotToCam);
      cameraSim->EnableDrawWireframe(true);
    }
  }
@@ -138,12 +138,10 @@ class Vision {
  frc::Field2d& GetSimDebugField() { return visionSim->GetDebugField(); }

 private:
-  frc::Transform3d robotToCam{frc::Translation3d{0.5_m, 0.5_m, 0.5_m},
-                              frc::Rotation3d{}};
  photon::PhotonPoseEstimator photonEstimator{
-      LoadAprilTagLayoutField(frc::AprilTagField::k2023ChargedUp),
+      constants::Vision::kTagLayout,
      photon::PoseStrategy::MULTI_TAG_PNP_ON_COPROCESSOR,
-      photon::PhotonCamera{"photonvision"}, robotToCam};
+      photon::PhotonCamera{"photonvision"}, constants::Vision::kRobotToCam};
  std::shared_ptr<photon::PhotonCamera> camera{photonEstimator.GetCamera()};
  std::unique_ptr<photon::VisionSystemSim> visionSim;
  std::unique_ptr<photon::SimCameraProperties> cameraProp;
--- a/photonlib-java-examples/build.gradle
+++ b/photonlib-java-examples/build.gradle
@@ -8,7 +8,7 @@ allprojects {
    repositories {
        mavenCentral()
        mavenLocal()
-        maven { url = "https://maven.photonvision.org/repository/internal/" }
+        maven { url = "https://maven.photonvision.org/releases" }
    }
 }

--- a/shared/javacommon.gradle
+++ b/shared/javacommon.gradle
@@ -79,7 +79,7 @@ publishing {

    repositories {
        maven {
-            url ('https://maven.photonvision.org/repository/' + (isDev ? 'snapshots' : 'internal'))
+            url(photonMavenURL)
            credentials {
                username 'ghactions'
                password System.getenv("ARTIFACTORY_API_KEY")
--- a/shared/javacpp/publish.gradle
+++ b/shared/javacpp/publish.gradle
@@ -70,7 +70,7 @@ model {

        repositories {
            maven {
-                url ('https://maven.photonvision.org/repository/' + (isDev ? 'snapshots' : 'internal'))
+                url(photonMavenURL)
                credentials {
                    username 'ghactions'
                    password System.getenv("ARTIFACTORY_API_KEY")
Author	SHA1	Message	Date
Matt M	e613e75db6	Backport maven changes	2024-08-02 08:18:44 -07:00
Matt	eca3cea82d	Sort object detection results and reduce code duplication (#1173 ) * Sort object detection results and reduce code dup. * Filter objdet results by ratio and area * Address code review --------- Co-authored-by: Mohammad Durrani <46766905+mdurrani808@users.noreply.github.com>	2024-01-23 14:10:31 -05:00
Craig Schardt	cbbfbda59d	clean up debugging println (#1193 )	2024-01-22 22:59:42 -05:00
Drew Williams	a3e1dda3aa	Fixed cpp sim apriltag layout and cleaned up cpp sim example (#1190 ) * Fixed cpp sim apriltag layout and cleaned up cpp sim example * changed layout for photoncamerasim --------- Co-authored-by: Drew Williams <DrewW@iARx.com>	2024-01-22 15:38:25 -05:00