Run resize in CPU and more aggressively release rknn resources (#1287)

With the latest dev opi image, i saw this stack trace when object detection stopped working (threads hanging forever on detect(). The stack pointed me to somewhere inside the RGA. Based on this i moved resize into CPU (as our [native code already is lazy](6934abb26c/src/main/native/cpp/yolo_common.cpp (L227))), and was not able to see more crashes

[message.txt](https://github.com/PhotonVision/photonvision/files/14630158/message.txt)

Includes also a quick hack to add a shutdown hook that releases pipelines at exit.

.github/workflows/build.yml

@@ -260,6 +260,83 @@ jobs:
         with:
           name: jar-${{ matrix.artifact-name }}
           path: photon-server/build/libs
+
+  run-smoketest-native:
+    needs: [build-package]
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: ubuntu-latest
+            artifact-name: jar-Linux
+            extraOpts: -Djdk.lang.Process.launchMechanism=vfork
+          - os: windows-latest
+            artifact-name: jar-Win64
+            extraOpts: ""
+          - os: macos-latest
+            artifact-name: jar-macOS
+            architecture: x64
+
+    runs-on: ${{ matrix.os }}
+
+    steps:
+      - name: Install Java 17
+        uses: actions/setup-java@v4
+        with:
+          java-version: 17
+          distribution: temurin
+      - uses: actions/download-artifact@v4
+        with:
+          name: ${{ matrix.artifact-name }}
+      # On linux, install mrcal packages
+      - run: |
+          sudo apt-get update
+          sudo apt-get install --yes libcholmod3 liblapack3 libsuitesparseconfig5
+        if: ${{ (matrix.os) == 'ubuntu-latest' }}
+      # and actually run the jar
+      - run: java -jar ${{ matrix.extraOpts }} *.jar --smoketest
+        if: ${{ (matrix.os) != 'windows-latest' }}
+      - run: ls *.jar | %{ Write-Host "Running $($_.Name)"; Start-Process "java" -ArgumentList "-jar `"$($_.FullName)`" --smoketest" -NoNewWindow -Wait; break }
+        if: ${{ (matrix.os) == 'windows-latest' }}
+
+  run-smoketest-chroot:
+    needs: [build-package]
+
+    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
+            extraOpts: -Djdk.lang.Process.launchMechanism=vfork
+
+    runs-on: ${{ matrix.os }}
+    name: smoketest-${{ matrix.image_suffix }}
+
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          name: jar-${{ matrix.artifact-name }}
+
+      - uses: pguyot/arm-runner-action@v2
+        name: Run photon smoketest
+        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
+          # our image better have java installed already
+          commands: |
+            java -jar ${{ matrix.extraOpts }} *.jar --smoketest
+
   build-image:
     needs: [build-package]
 
@@ -290,13 +367,13 @@ jobs:
           - 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
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.10/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
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.10/photonvision_opi5plus.img.xz
             cpu: cortex-a8
             image_additional_mb: 4096
 

.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/

build.gradle

@@ -4,7 +4,7 @@ plugins {
     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 "2024.2.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.2"
     id 'edu.wpi.first.WpilibTools' version '1.3.0'
     id 'com.google.protobuf' version '0.9.4' apply false
 }
@@ -24,15 +24,15 @@ allprojects {
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2024.2.1"
+    wpilibVersion = "2024.3.2"
     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-v2024.0.0-30-g001b5ec"
+    rknnVersion = "dev-v2024.0.0-64-gc0836a6"
     frcYear = "2024"
-    mrcalVersion = "dev-v2024.0.0-7-gc976aaa";
+    mrcalVersion = "dev-v2024.0.0-18-gb903a09";
 
 
     pubVersion = versionString

devTools/calibrationUtils.py

@@ -162,9 +162,9 @@ def __convert_cal_to_mrcal_cameramodel(
         "indices_point_camintrinsics_camextrinsics": None,
         "lensmodel": model,
         "imagersizes": np.array([imagersize], dtype=np.int32),
-        "calobject_warp": np.array(cal.calobjectWarp)
-        if len(cal.calobjectWarp) > 0
-        else None,
+        "calobject_warp": (
+            np.array(cal.calobjectWarp) if len(cal.calobjectWarp) > 0 else None
+        ),
         # We always do all the things
         "do_optimize_intrinsics_core": True,
         "do_optimize_intrinsics_distortions": True,

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>

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/dashboard/CamerasCard.vue

@@ -13,11 +13,7 @@ defineProps<{
 
 const driverMode = computed<boolean>({
   get: () => useCameraSettingsStore().isDriverMode,
-  set: (v) =>
-    useCameraSettingsStore().changeCurrentPipelineIndex(
-      v ? -1 : useCameraSettingsStore().currentCameraSettings.lastPipelineIndex || 0,
-      true
-    )
+  set: (v) => useCameraSettingsStore().setDriverMode(v)
 });
 
 const fpsTooLow = computed<boolean>(() => {

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

@@ -130,12 +130,32 @@ const interactiveCols = computed(() =>
       tooltip="Controls blue automatic white balance gain, which affects how the camera captures colors in different conditions"
       @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraBlueGain: args }, false)"
     />
+    <!-- Disable camera orientation as stop gap for Issue 1084 until calibration data gets rotated. https://github.com/PhotonVision/photonvision/issues/1084 -->
+    <v-banner
+      v-show="
+        useCameraSettingsStore().isCurrentVideoFormatCalibrated &&
+        useCameraSettingsStore().currentPipelineSettings.inputImageRotationMode != 0
+      "
+      rounded
+      dark
+      color="red"
+      text-color="white"
+      class="mt-3"
+      icon="mdi-alert-circle-outline"
+    >
+      Warning! A known bug affects rotation of calibrated camera. Turn off rotation here and rotate using
+      cameraToRobotTransform in your robot code.
+    </v-banner>
     <pv-select
       v-model="useCameraSettingsStore().currentPipelineSettings.inputImageRotationMode"
       label="Orientation"
-      tooltip="Rotates the camera stream"
+      tooltip="Rotates the camera stream. Rotation not available when camera has been calibrated."
       :items="cameraRotations"
       :select-cols="interactiveCols"
+      :disabled="
+        useCameraSettingsStore().isCurrentVideoFormatCalibrated &&
+        useCameraSettingsStore().currentPipelineSettings.inputImageRotationMode == 0
+      "
       @input="(args) => useCameraSettingsStore().changeCurrentPipelineSetting({ inputImageRotationMode: args }, false)"
     />
     <pv-select

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

@@ -59,7 +59,8 @@ const settingsHaveChanged = (): boolean => {
     a.shouldPublishProto !== b.shouldPublishProto ||
     a.networkManagerIface !== b.networkManagerIface ||
     a.setStaticCommand !== b.setStaticCommand ||
-    a.setDHCPcommand !== b.setDHCPcommand
+    a.setDHCPcommand !== b.setDHCPcommand ||
+    a.matchCamerasOnlyByPath !== b.matchCamerasOnlyByPath
   );
 };
 
@@ -77,6 +78,7 @@ const saveGeneralSettings = () => {
     setStaticCommand: tempSettingsStruct.value.setStaticCommand || "",
     shouldManage: tempSettingsStruct.value.shouldManage,
     shouldPublishProto: tempSettingsStruct.value.shouldPublishProto,
+    matchCamerasOnlyByPath: tempSettingsStruct.value.matchCamerasOnlyByPath,
     staticIp: tempSettingsStruct.value.staticIp
   };
 
@@ -137,6 +139,8 @@ watchEffect(() => {
 
 <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">
@@ -254,6 +258,9 @@ watchEffect(() => {
         >
           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"
@@ -272,6 +279,32 @@ watchEffect(() => {
           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="Strictly match ONLY known cameras"
+          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. Also disables automatic detection of new cameras."
+          class="mt-3 mb-2"
+          :label-cols="4"
+        />
+        <v-banner
+          v-show="tempSettingsStruct.matchCamerasOnlyByPath"
+          rounded
+          color="red"
+          class="mb-3"
+          text-color="white"
+          icon="mdi-information-outline"
+        >
+          Physical cameras will be strictly matched to camera configurations using physical USB port they are plugged
+          into, in addition to device name and other USB metadata. Additionally, no new cameras are allowed to be added.
+          This setting is useful for guaranteeing that an already known and configured camera can never be matched as an
+          "unknown"/"new" camera, which resets pipelines and calibration data.
+          <p />
+          Cameras will NOT be matched if they change USB ports, and new cameras plugged into this coprocessor will NOT
+          be automatically recognized or configured for vision processing.
+          <p />
+          To add a new camera to this coprocessor, disable this setting, connect the camera, and re-enable.
+        </v-banner>
+        <v-divider class="mb-3" />
       </v-form>
       <v-btn
         color="accent"

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

@@ -236,6 +236,13 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
       }
       useStateStore().websocket?.send(payload, true);
     },
+    setDriverMode(isDriverMode: boolean, cameraIndex: number = useStateStore().currentCameraIndex) {
+      const payload = {
+        driverMode: isDriverMode,
+        cameraIndex: cameraIndex
+      };
+      useStateStore().websocket?.send(payload, true);
+    },
     /**
      * Change the currently selected pipeline of the provided camera.
      *
@@ -416,6 +423,23 @@ 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

@@ -44,7 +44,9 @@ export const useSettingsStore = defineStore("settings", {
           connName: "Example Wired Connection",
           devName: "eth0"
         }
-      ]
+      ],
+      networkingDisabled: false,
+      matchCamerasOnlyByPath: false
     },
     lighting: {
       supported: true,
@@ -59,7 +61,8 @@ export const useSettingsStore = defineStore("settings", {
       gpuMemUtil: undefined,
       cpuThr: undefined,
       cpuUptime: undefined,
-      diskUtilPct: undefined
+      diskUtilPct: undefined,
+      npuUsage: undefined
     },
     currentFieldLayout: {
       field: {
@@ -91,7 +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) {

photon-client/src/types/SettingTypes.ts

@@ -20,6 +20,7 @@ export interface MetricData {
   cpuThr?: string;
   cpuUptime?: string;
   diskUtilPct?: string;
+  npuUsage?: string;
 }
 
 export enum NetworkConnectionType {
@@ -46,6 +47,7 @@ export interface NetworkSettings {
   setDHCPcommand?: string;
   networkInterfaceNames: NetworkInterfaceType[];
   networkingDisabled: boolean;
+  matchCamerasOnlyByPath: boolean;
 }
 
 export type ConfigurableNetworkSettings = Omit<
@@ -138,6 +140,9 @@ 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 enum ValidQuirks {
@@ -255,7 +260,9 @@ 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"],

photon-core/build.gradle

@@ -37,9 +37,8 @@ dependencies {
     implementation 'org.zeroturnaround:zt-zip:1.14'
 
     implementation "org.xerial:sqlite-jdbc:3.41.0.0"
-    def rknnjniversion = "dev-v2024.0.0-44-g8022c40"
-    implementation "org.photonvision:rknn_jni-jni:$rknnjniversion:linuxarm64"
-    implementation "org.photonvision:rknn_jni-java:$rknnjniversion"
+    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

@@ -23,6 +23,7 @@ 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;
@@ -51,6 +52,12 @@ public class CameraConfiguration {
 
     @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;
@@ -98,7 +105,9 @@ public class CameraConfiguration {
             @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;
@@ -108,6 +117,8 @@ public class CameraConfiguration {
         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 "
@@ -156,6 +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="

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/NetworkConfig.java

@@ -39,6 +39,14 @@ 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.
+     *
+     * <p>This also disables creating new CameraConfigurations for detected "new" cameras.
+     */
+    public boolean matchCamerasOnlyByPath = false;
+
     @JsonIgnore public static final String NM_IFACE_STRING = "${interface}";
     @JsonIgnore public static final String NM_IP_STRING = "${ipaddr}";
 
@@ -76,7 +84,8 @@ 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 +95,7 @@ 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

@@ -25,12 +25,14 @@ 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;
 
@@ -51,7 +53,7 @@ public class NeuralNetworkModelManager {
         this.defaultModelFile = new File(modelsFolder, MODEL_NAME);
         extractResource(modelResourcePath, defaultModelFile);
 
-        File labelsFile = new File(modelsFolder, "labels.txt");
+        File labelsFile = new File(modelsFolder, "labels_v5.txt");
         var labelResourcePath = "/models/" + labelsFile.getName();
         extractResource(labelResourcePath, labelsFile);
 
@@ -95,4 +97,8 @@ public class NeuralNetworkModelManager {
     public List<String> getLabels() {
         return labels;
     }
+
+    public RknnJNI.ModelVersion getModelVersion() {
+        return modelVersion;
+    }
 }

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

@@ -31,7 +31,7 @@ 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;
@@ -126,13 +126,6 @@ public class PhotonConfiguration {
 
         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();
@@ -181,7 +174,7 @@ 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/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);
@@ -41,16 +42,22 @@ 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);
 

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

@@ -92,6 +92,10 @@ public class MetricsManager {
         return safeExecute(cmds.cpuThrottleReasonCmd);
     }
 
+    public String getNpuUsage() {
+        return safeExecute(cmds.npuUsageCommand);
+    }
+
     private String gpuMemSave = null;
 
     public String getGPUMemorySplit() {
@@ -128,6 +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/RK3588Cmds.java

@@ -44,5 +44,7 @@ public class RK3588Cmds extends LinuxCmds {
          */
         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/logging/LogGroup.java

@@ -23,5 +23,6 @@ public enum LogGroup {
     VisionModule,
     Data,
     General,
-    Config
+    Config,
+    CSCore,
 }

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

@@ -99,6 +99,7 @@ public class Logger {
         levelMap.put(LogGroup.Data, LogLevel.INFO);
         levelMap.put(LogGroup.VisionModule, LogLevel.INFO);
         levelMap.put(LogGroup.Config, LogLevel.INFO);
+        levelMap.put(LogGroup.CSCore, LogLevel.TRACE);
     }
 
     static {
@@ -194,7 +195,7 @@ public class Logger {
         return logLevel.code <= levelMap.get(group).code;
     }
 
-    private void log(String message, LogLevel level) {
+    void log(String message, LogLevel level) {
         if (shouldLog(level)) {
             log(message, level, group, className);
         }

photon-core/src/main/java/org/photonvision/common/logging/PvCSCoreLogger.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.common.logging;
+
+import edu.wpi.first.cscore.CameraServerJNI;
+import java.nio.file.Path;
+
+/** Redirect cscore logs to our logger */
+public class PvCSCoreLogger {
+    private static PvCSCoreLogger INSTANCE;
+
+    public static PvCSCoreLogger getInstance() {
+        if (INSTANCE == null) {
+            INSTANCE = new PvCSCoreLogger();
+        }
+        return INSTANCE;
+    }
+
+    private Logger logger;
+
+    private PvCSCoreLogger() {
+        CameraServerJNI.setLogger(this::logMsg, 7);
+        this.logger = new Logger(getClass(), LogGroup.CSCore);
+    }
+
+    private void logMsg(int level, String file, int line, String msg) {
+        if (level == 20) {
+            logger.info(msg);
+            return;
+        }
+
+        file = Path.of(file).getFileName().toString();
+
+        String levelmsg;
+        LogLevel pvlevel;
+        if (level >= 50) {
+            levelmsg = "CRITICAL";
+            pvlevel = LogLevel.ERROR;
+        } else if (level >= 40) {
+            levelmsg = "ERROR";
+            pvlevel = LogLevel.ERROR;
+        } else if (level >= 30) {
+            levelmsg = "WARNING";
+            pvlevel = LogLevel.WARN;
+        } else if (level >= 20) {
+            levelmsg = "INFO";
+            pvlevel = LogLevel.INFO;
+        } else {
+            levelmsg = "DEBUG";
+            pvlevel = LogLevel.DEBUG;
+        }
+        logger.log(
+                "CS: " + levelmsg + " " + level + ": " + msg + " (" + file + ":" + line + ")", pvlevel);
+    }
+}

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

@@ -22,12 +22,12 @@ import java.util.Arrays;
 import java.util.List;
 import java.util.concurrent.CopyOnWriteArrayList;
 import java.util.stream.Collectors;
+import org.opencv.core.Mat;
 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 {
@@ -65,17 +65,38 @@ public class RknnDetectorJNI extends PhotonJNICommon {
         long objPointer = -1;
         private List<String> labels;
         private final Object lock = new Object();
+        private static final CopyOnWriteArrayList<RknnObjectDetector> detectors =
+                new CopyOnWriteArrayList<>();
 
-        private static final CopyOnWriteArrayList<Long> detectors = new CopyOnWriteArrayList<>();
+        static volatile boolean hook = false;
 
-        public RknnObjectDetector(String modelPath, List<String> labels) {
+        public RknnObjectDetector(String modelPath, List<String> labels, RknnJNI.ModelVersion version) {
             synchronized (lock) {
-                objPointer = RknnJNI.create(modelPath, labels.size());
-                detectors.add(objPointer);
-                System.out.println(
-                        "Created " + objPointer + "! Detectors: " + Arrays.toString(detectors.toArray()));
+                objPointer = RknnJNI.create(modelPath, labels.size(), version.ordinal(), -1);
+                detectors.add(this);
+                logger.debug(
+                        "Created detector "
+                                + objPointer
+                                + " from path "
+                                + modelPath
+                                + "! Detectors: "
+                                + Arrays.toString(detectors.toArray()));
             }
             this.labels = labels;
+
+            // the kernel should probably alredy deal with this for us, but I'm gunna be paranoid anyways.
+            if (!hook) {
+                Runtime.getRuntime()
+                        .addShutdownHook(
+                                new Thread(
+                                        () -> {
+                                            System.err.println("Shutdown hook rknn");
+                                            for (var d : detectors) {
+                                                d.release();
+                                            }
+                                        }));
+                hook = true;
+            }
         }
 
         public List<String> getClasses() {
@@ -90,14 +111,14 @@ public class RknnDetectorJNI extends PhotonJNICommon {
          * @param boxThresh Minimum confidence for a box to be added. Basically just confidence
          *     threshold
          */
-        public List<NeuralNetworkPipeResult> detect(CVMat in, double nmsThresh, double boxThresh) {
+        public List<NeuralNetworkPipeResult> detect(Mat 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);
+                    ret = RknnJNI.detect(objPointer, in.getNativeObjAddr(), nmsThresh, boxThresh);
                 } else {
                     logger.warn("Detect called after destroy -- giving up");
                     return List.of();
@@ -115,7 +136,7 @@ public class RknnDetectorJNI extends PhotonJNICommon {
             synchronized (lock) {
                 if (objPointer > 0) {
                     RknnJNI.destroy(objPointer);
-                    detectors.remove(objPointer);
+                    detectors.remove(this);
                     System.out.println(
                             "Killed " + objPointer + "! Detectors: " + Arrays.toString(detectors.toArray()));
                     objPointer = -1;
@@ -125,14 +146,4 @@ public class RknnDetectorJNI extends PhotonJNICommon {
             }
         }
     }
-
-    // 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

@@ -53,6 +53,7 @@ public class MrCalJNILoader extends PhotonJNICommon {
                             "libcolamd",
                             "libccolamd",
                             "openblas",
+                            "libwinpthread-1",
                             "libgcc_s_seh-1",
                             "libquadmath-0",
                             "libgfortran-5",

photon-core/src/main/java/org/photonvision/vision/aruco/PhotonArucoDetector.java

@@ -23,16 +23,37 @@ import java.util.Comparator;
 import org.opencv.core.Mat;
 import org.opencv.objdetect.ArucoDetector;
 import org.opencv.objdetect.DetectorParameters;
+import org.opencv.objdetect.Dictionary;
 import org.opencv.objdetect.Objdetect;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
+import org.photonvision.vision.opencv.Releasable;
 
 /** This class wraps an {@link ArucoDetector} for convenience. */
-public class PhotonArucoDetector {
+public class PhotonArucoDetector implements Releasable {
     private static final Logger logger = new Logger(PhotonArucoDetector.class, LogGroup.VisionModule);
 
-    private final ArucoDetector detector =
-            new ArucoDetector(Objdetect.getPredefinedDictionary(Objdetect.DICT_APRILTAG_16h5));
+    private static class ArucoDetectorHack extends ArucoDetector {
+        public ArucoDetectorHack(Dictionary predefinedDictionary) {
+            super(predefinedDictionary);
+        }
+
+        // avoid double-free by keeping track of this ourselves (ew)
+        private boolean freed = false;
+
+        @Override
+        public void finalize() throws Throwable {
+            if (freed) {
+                return;
+            }
+
+            super.finalize();
+            freed = true;
+        }
+    }
+
+    private final ArucoDetectorHack detector =
+            new ArucoDetectorHack(Objdetect.getPredefinedDictionary(Objdetect.DICT_APRILTAG_16h5));
 
     private final Mat ids = new Mat();
     private final ArrayList<Mat> cornerMats = new ArrayList<>();
@@ -95,4 +116,16 @@ public class PhotonArucoDetector {
 
         return results;
     }
+
+    @Override
+    public void release() {
+        try {
+            detector.finalize();
+        } catch (Throwable e) {
+            logger.error("Exception destroying PhotonArucoDetector", e);
+        }
+        ids.release();
+        for (var m : cornerMats) m.release();
+        cornerMats.clear();
+    }
 }

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

@@ -191,8 +191,8 @@ public class CameraCalibrationCoefficients implements Releasable {
                 + cameraIntrinsics
                 + ", distCoeffs="
                 + distCoeffs
-                + ", observations="
-                + observations
+                + ", observationslen="
+                + observations.size()
                 + ", calobjectWarp="
                 + Arrays.toString(calobjectWarp)
                 + ", intrinsicsArr="
@@ -201,4 +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/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 +19,8 @@ package org.photonvision.vision.camera;
 
 import edu.wpi.first.cscore.UsbCameraInfo;
 import java.util.Arrays;
+import java.util.Optional;
+import org.photonvision.common.hardware.Platform;
 
 public class CameraInfo extends UsbCameraInfo {
     public final CameraType cameraType;
@@ -68,15 +70,54 @@ 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;
-        if (!(o instanceof UsbCameraInfo || o instanceof CameraInfo)) return false;
-        UsbCameraInfo other = (UsbCameraInfo) o;
-        return path.equals(other.path)
-                // && a.dev == b.dev (dev is not constant in Windows)
-                && name.equals(other.name)
-                && productId == other.productId
-                && vendorId == other.vendorId;
+    public boolean equals(Object obj) {
+        if (this == obj) return true;
+        if (obj == null) return false;
+        if (getClass() != obj.getClass()) return false;
+        CameraInfo other = (CameraInfo) obj;
+
+        // Windows device number is not significant. See
+        // https://github.com/wpilibsuite/allwpilib/blob/4b94a64b06057c723d6fcafeb1a45f55a70d179a/cscore/src/main/native/windows/UsbCameraImpl.cpp#L1128
+        if (!Platform.isWindows()) {
+            if (dev != other.dev) return false;
+        }
+
+        if (!path.equals(other.path)) return false;
+        if (!name.equals(other.name)) return false;
+        if (!Arrays.asList(this.otherPaths).containsAll(Arrays.asList(other.otherPaths))) return false;
+        if (vendorId != other.vendorId) return false;
+        if (productId != other.productId) return false;
+
+        // Don't trust super.equals, as it compares references. Should PR this to allwpilib at some
+        // point
+        return true;
+    }
+
+    @Override
+    public String toString() {
+        return "CameraInfo [cameraType="
+                + cameraType
+                + ", baseName="
+                + getBaseName()
+                + ", vid="
+                + vendorId
+                + ", pid="
+                + productId
+                + ", path="
+                + path
+                + ", otherPaths="
+                + Arrays.toString(otherPaths)
+                + "]";
     }
 }

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

@@ -0,0 +1,93 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.vision.camera;
+
+import java.util.*;
+import org.photonvision.common.configuration.CameraConfiguration;
+import org.photonvision.vision.frame.Frame;
+import org.photonvision.vision.frame.FrameProvider;
+import org.photonvision.vision.frame.FrameThresholdType;
+import org.photonvision.vision.opencv.ImageRotationMode;
+import org.photonvision.vision.pipe.impl.HSVPipe.HSVParams;
+import org.photonvision.vision.processes.VisionSource;
+import org.photonvision.vision.processes.VisionSourceSettables;
+
+/** Dummy class for unit testing the vision source manager */
+public class TestSource extends VisionSource {
+    private FrameProvider usbFrameProvider;
+
+    public TestSource(CameraConfiguration config) {
+        super(config);
+
+        if (getCameraConfiguration().cameraQuirks == null)
+            getCameraConfiguration().cameraQuirks =
+                    QuirkyCamera.getQuirkyCamera(config.usbVID, config.usbVID, config.baseName);
+    }
+
+    @Override
+    public FrameProvider getFrameProvider() {
+        return new FrameProvider() {
+            @Override
+            public Frame get() {
+                // TODO Auto-generated method stub
+                throw new UnsupportedOperationException("Unimplemented method 'get'");
+            }
+
+            @Override
+            public String getName() {
+                return cameraConfiguration.uniqueName;
+            }
+
+            @Override
+            public void requestFrameThresholdType(FrameThresholdType type) {
+                // TODO Auto-generated method stub
+                throw new UnsupportedOperationException("Unimplemented method 'requestFrameThresholdType'");
+            }
+
+            @Override
+            public void requestFrameRotation(ImageRotationMode rotationMode) {
+                // TODO Auto-generated method stub
+                throw new UnsupportedOperationException("Unimplemented method 'requestFrameRotation'");
+            }
+
+            @Override
+            public void requestFrameCopies(boolean copyInput, boolean copyOutput) {
+                // TODO Auto-generated method stub
+                throw new UnsupportedOperationException("Unimplemented method 'requestFrameCopies'");
+            }
+
+            @Override
+            public void requestHsvSettings(HSVParams params) {
+                // TODO Auto-generated method stub
+                throw new UnsupportedOperationException("Unimplemented method 'requestHsvSettings'");
+            }
+        };
+    }
+
+    @Override
+    public VisionSourceSettables getSettables() {
+        // TODO Auto-generated method stub
+        throw new UnsupportedOperationException("Unimplemented method 'getSettables'");
+    }
+
+    @Override
+    public boolean isVendorCamera() {
+        // TODO Auto-generated method stub
+        throw new UnsupportedOperationException("Unimplemented method 'isVendorCamera'");
+    }
+}

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

@@ -49,9 +49,17 @@ public class USBCameraSource extends VisionSource {
         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);
 
+        // 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 (getCameraConfiguration().cameraQuirks == null)
             getCameraConfiguration().cameraQuirks =
                     QuirkyCamera.getQuirkyCamera(
@@ -262,9 +270,13 @@ public class USBCameraSource extends VisionSource {
                         if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.ArduOV9281)) {
                             propMin = 1;
                             propMax = 75;
+                        } else if (getCameraConfiguration().cameraQuirks.hasQuirk(CameraQuirk.ArduOV2311)) {
+                            propMin = 1;
+                            propMax = 140;
                         }
 
                         var exposure_manual_val = MathUtils.map(Math.round(exposure), 0, 100, propMin, propMax);
+                        logger.debug("Setting camera exposure to " + exposure_manual_val);
                         prop.set((int) exposure_manual_val);
                     } else {
                         scaledExposure = (int) Math.round(exposure);
@@ -395,6 +407,7 @@ 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);

photon-core/src/main/java/org/photonvision/vision/frame/provider/FileFrameProvider.java

@@ -33,7 +33,7 @@ import org.photonvision.vision.opencv.CVMat;
  * path}.
  */
 public class FileFrameProvider extends CpuImageProcessor {
-    public static final int MAX_FPS = 5;
+    public static final int MAX_FPS = 10;
     private static int count = 0;
 
     private final int thisIndex = count++;

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

@@ -21,11 +21,13 @@ import edu.wpi.first.apriltag.AprilTagDetection;
 import edu.wpi.first.apriltag.AprilTagDetector;
 import java.util.List;
 import org.photonvision.vision.opencv.CVMat;
+import org.photonvision.vision.opencv.Releasable;
 import org.photonvision.vision.pipe.CVPipe;
 
 public class AprilTagDetectionPipe
-        extends CVPipe<CVMat, List<AprilTagDetection>, AprilTagDetectionPipeParams> {
-    private final AprilTagDetector m_detector = new AprilTagDetector();
+        extends CVPipe<CVMat, List<AprilTagDetection>, AprilTagDetectionPipeParams>
+        implements Releasable {
+    private AprilTagDetector m_detector = new AprilTagDetector();
 
     public AprilTagDetectionPipe() {
         super();
@@ -40,6 +42,10 @@ public class AprilTagDetectionPipe
             return List.of();
         }
 
+        if (m_detector == null) {
+            throw new RuntimeException("Apriltag detector was released!");
+        }
+
         var ret = m_detector.detect(in.getMat());
 
         if (ret == null) {
@@ -60,4 +66,10 @@ public class AprilTagDetectionPipe
 
         super.setParams(newParams);
     }
+
+    @Override
+    public void release() {
+        m_detector.close();
+        m_detector = null;
+    }
 }

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

@@ -25,13 +25,15 @@ import org.opencv.calib3d.Calib3d;
 import org.opencv.core.MatOfPoint2f;
 import org.opencv.core.Point;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
+import org.photonvision.vision.opencv.Releasable;
 import org.photonvision.vision.pipe.CVPipe;
 
 public class AprilTagPoseEstimatorPipe
         extends CVPipe<
                 AprilTagDetection,
                 AprilTagPoseEstimate,
-                AprilTagPoseEstimatorPipe.AprilTagPoseEstimatorPipeParams> {
+                AprilTagPoseEstimatorPipe.AprilTagPoseEstimatorPipeParams>
+        implements Releasable {
     private final AprilTagPoseEstimator m_poseEstimator =
             new AprilTagPoseEstimator(new AprilTagPoseEstimator.Config(0, 0, 0, 0, 0));
 
@@ -92,6 +94,11 @@ public class AprilTagPoseEstimatorPipe
         super.setParams(newParams);
     }
 
+    @Override
+    public void release() {
+        temp.release();
+    }
+
     public static class AprilTagPoseEstimatorPipeParams {
         final AprilTagPoseEstimator.Config config;
         final CameraCalibrationCoefficients calibration;

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

@@ -29,10 +29,12 @@ import org.opencv.objdetect.Objdetect;
 import org.photonvision.vision.aruco.ArucoDetectionResult;
 import org.photonvision.vision.aruco.PhotonArucoDetector;
 import org.photonvision.vision.opencv.CVMat;
+import org.photonvision.vision.opencv.Releasable;
 import org.photonvision.vision.pipe.CVPipe;
 
 public class ArucoDetectionPipe
-        extends CVPipe<CVMat, List<ArucoDetectionResult>, ArucoDetectionPipeParams> {
+        extends CVPipe<CVMat, List<ArucoDetectionResult>, ArucoDetectionPipeParams>
+        implements Releasable {
     // ArucoDetector wrapper class
     private final PhotonArucoDetector photonDetector = new PhotonArucoDetector();
 
@@ -131,4 +133,9 @@ public class ArucoDetectionPipe
         var pt2 = new Point(corner.x + windowSize, corner.y + windowSize);
         Imgproc.rectangle(outputMat, pt1, pt2, new Scalar(0, 0, 255), thickness);
     }
+
+    @Override
+    public void release() {
+        photonDetector.release();
+    }
 }

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

@@ -32,13 +32,15 @@ import org.opencv.core.MatOfPoint3f;
 import org.opencv.core.Point3;
 import org.photonvision.vision.aruco.ArucoDetectionResult;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
+import org.photonvision.vision.opencv.Releasable;
 import org.photonvision.vision.pipe.CVPipe;
 
 public class ArucoPoseEstimatorPipe
         extends CVPipe<
                 ArucoDetectionResult,
                 AprilTagPoseEstimate,
-                ArucoPoseEstimatorPipe.ArucoPoseEstimatorPipeParams> {
+                ArucoPoseEstimatorPipe.ArucoPoseEstimatorPipeParams>
+        implements Releasable {
     // image points of marker corners
     private final MatOfPoint2f imagePoints = new MatOfPoint2f(Mat.zeros(4, 1, CvType.CV_32FC2));
     // rvec/tvec estimations from solvepnp
@@ -117,6 +119,18 @@ public class ArucoPoseEstimatorPipe
         super.setParams(newParams);
     }
 
+    @Override
+    public void release() {
+        imagePoints.release();
+        for (var m : rvecs) m.release();
+        rvecs.clear();
+        for (var m : tvecs) m.release();
+        tvecs.clear();
+        rvec.release();
+        tvec.release();
+        reprojectionErrors.release();
+    }
+
     public static class ArucoPoseEstimatorPipeParams {
         final CameraCalibrationCoefficients calibration;
         final double tagSize;

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

@@ -38,13 +38,26 @@ 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.frame.FrameStaticProperties;
 import org.photonvision.vision.pipe.CVPipe;
+import org.photonvision.vision.pipe.impl.FindBoardCornersPipe.FindBoardCornersPipeResult;
 
 public class Calibrate3dPipe
         extends CVPipe<
-                List<FindBoardCornersPipe.FindBoardCornersPipeResult>,
+                Calibrate3dPipe.CalibrationInput,
                 CameraCalibrationCoefficients,
                 Calibrate3dPipe.CalibratePipeParams> {
+    public static class CalibrationInput {
+        final List<FindBoardCornersPipe.FindBoardCornersPipeResult> observations;
+        final FrameStaticProperties imageProps;
+
+        public CalibrationInput(
+                List<FindBoardCornersPipeResult> observations, FrameStaticProperties imageProps) {
+            this.observations = observations;
+            this.imageProps = imageProps;
+        }
+    }
+
     // For logging
     private static final Logger logger = new Logger(Calibrate3dPipe.class, LogGroup.General);
 
@@ -63,10 +76,9 @@ public class Calibrate3dPipe
      * @return Result of processing.
      */
     @Override
-    protected CameraCalibrationCoefficients process(
-            List<FindBoardCornersPipe.FindBoardCornersPipeResult> in) {
-        in =
-                in.stream()
+    protected CameraCalibrationCoefficients process(CalibrationInput in) {
+        var filteredIn =
+                in.observations.stream()
                         .filter(
                                 it ->
                                         it != null
@@ -79,17 +91,21 @@ public class Calibrate3dPipe
         var start = System.nanoTime();
         if (MrCalJNILoader.getInstance().isLoaded() && params.useMrCal) {
             logger.debug("Calibrating with mrcal!");
-            ret = calibrateMrcal(in);
+            ret =
+                    calibrateMrcal(
+                            filteredIn, in.imageProps.horizontalFocalLength, in.imageProps.verticalFocalLength);
         } else {
             logger.debug("Calibrating with opencv!");
-            ret = calibrateOpenCV(in);
+            ret =
+                    calibrateOpenCV(
+                            filteredIn, in.imageProps.horizontalFocalLength, in.imageProps.verticalFocalLength);
         }
         var dt = System.nanoTime() - start;
 
         if (ret != null)
             logger.info(
                     "CALIBRATION SUCCESS for res "
-                            + in.get(0).size
+                            + in.observations.get(0).size
                             + " in "
                             + dt / 1e6
                             + "ms! camMatrix: \n"
@@ -103,7 +119,7 @@ public class Calibrate3dPipe
     }
 
     protected CameraCalibrationCoefficients calibrateOpenCV(
-            List<FindBoardCornersPipe.FindBoardCornersPipeResult> in) {
+            List<FindBoardCornersPipe.FindBoardCornersPipeResult> in, double fxGuess, double fyGuess) {
         List<Mat> objPoints = in.stream().map(it -> it.objectPoints).collect(Collectors.toList());
         List<Mat> imgPts = in.stream().map(it -> it.imagePoints).collect(Collectors.toList());
         if (objPoints.size() != imgPts.size()) {
@@ -111,30 +127,32 @@ public class Calibrate3dPipe
             return null;
         }
 
-        Mat cameraMatrix = new Mat();
+        Mat cameraMatrix = new Mat(3, 3, CvType.CV_64F);
         MatOfDouble distortionCoefficients = new MatOfDouble();
         List<Mat> rvecs = new ArrayList<>();
         List<Mat> tvecs = new ArrayList<>();
 
-        // RMS of the calibration
-        double calibrationAccuracy;
+        // initial camera matrix guess
+        double cx = (in.get(0).size.width / 2.0) - 0.5;
+        double cy = (in.get(0).size.width / 2.0) - 0.5;
+        cameraMatrix.put(0, 0, new double[] {fxGuess, 0, cx, 0, fyGuess, cy, 0, 0, 1});
 
         try {
             // FindBoardCorners pipe outputs all the image points, object points, and frames to calculate
             // imageSize from, other parameters are output Mats
 
-            calibrationAccuracy =
-                    Calib3d.calibrateCameraExtended(
-                            objPoints,
-                            imgPts,
-                            new Size(in.get(0).size.width, in.get(0).size.height),
-                            cameraMatrix,
-                            distortionCoefficients,
-                            rvecs,
-                            tvecs,
-                            stdDeviationsIntrinsics,
-                            stdDeviationsExtrinsics,
-                            perViewErrors);
+            Calib3d.calibrateCameraExtended(
+                    objPoints,
+                    imgPts,
+                    new Size(in.get(0).size.width, in.get(0).size.height),
+                    cameraMatrix,
+                    distortionCoefficients,
+                    rvecs,
+                    tvecs,
+                    stdDeviationsIntrinsics,
+                    stdDeviationsExtrinsics,
+                    perViewErrors,
+                    Calib3d.CALIB_USE_LU + Calib3d.CALIB_USE_INTRINSIC_GUESS);
         } catch (Exception e) {
             logger.error("Calibration failed!", e);
             e.printStackTrace();
@@ -164,13 +182,12 @@ public class Calibrate3dPipe
     }
 
     protected CameraCalibrationCoefficients calibrateMrcal(
-            List<FindBoardCornersPipe.FindBoardCornersPipeResult> in) {
+            List<FindBoardCornersPipe.FindBoardCornersPipeResult> in, double fxGuess, double fyGuess) {
         List<MatOfPoint2f> corner_locations =
                 in.stream().map(it -> it.imagePoints).map(MatOfPoint2f::new).collect(Collectors.toList());
 
         int imageWidth = (int) in.get(0).size.width;
         int imageHeight = (int) in.get(0).size.height;
-        final double FOCAL_LENGTH_GUESS = 1200;
 
         MrCalResult result =
                 MrCalJNI.calibrateCamera(
@@ -180,7 +197,7 @@ public class Calibrate3dPipe
                         params.squareSize,
                         imageWidth,
                         imageHeight,
-                        FOCAL_LENGTH_GUESS);
+                        (fxGuess + fyGuess) / 2.0);
 
         // intrinsics are fx fy cx cy from mrcal
         JsonMatOfDouble cameraMatrixMat =

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

@@ -36,6 +36,7 @@ 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.Calibrate3dPipe.CalibrationInput;
 import org.photonvision.vision.pipe.impl.FindBoardCornersPipe.FindBoardCornersPipeResult;
 import org.photonvision.vision.pipeline.CVPipeline;
 import org.photonvision.vision.pipeline.Calibration3dPipelineSettings;
@@ -176,7 +177,8 @@ public class Calibrate3dPipeline
 
         /*Pass the board corners to the pipe, which will check again to see if all boards are valid
         and returns the corresponding image and object points*/
-        calibrationOutput = calibrate3dPipe.run(foundCornersList);
+        calibrationOutput =
+                calibrate3dPipe.run(new CalibrationInput(foundCornersList, frameStaticProperties));
 
         this.calibrating = false;
 
@@ -229,4 +231,9 @@ public class Calibrate3dPipeline
     public CameraCalibrationCoefficients cameraCalibrationCoefficients() {
         return calibrationOutput.output;
     }
+
+    @Override
+    public void release() {
+        // we never actually need to give resources up since pipelinemanager only makes one of us
+    }
 }

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

@@ -41,7 +41,7 @@ public class FilterObjectDetectionsPipe
     }
 
     private void filterContour(NeuralNetworkPipeResult contour) {
-        var boc = contour.box;
+        var boc = contour.bbox;
 
         // Area filtering
         double areaPercentage = boc.area() / params.getFrameStaticProperties().imageArea * 100.0;

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

@@ -20,13 +20,13 @@ package org.photonvision.vision.pipe.impl;
 import org.opencv.core.Rect2d;
 
 public class NeuralNetworkPipeResult {
-    public NeuralNetworkPipeResult(Rect2d box2, Integer classIdx, Float confidence) {
-        box = box2;
+    public NeuralNetworkPipeResult(Rect2d boundingBox, int classIdx, double confidence) {
+        bbox = boundingBox;
         this.classIdx = classIdx;
         this.confidence = confidence;
     }
 
     public final int classIdx;
-    public final Rect2d box;
+    public final Rect2d bbox;
     public final double confidence;
 }

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

@@ -17,8 +17,17 @@
 
 package org.photonvision.vision.pipe.impl;
 
+import java.awt.Color;
+import java.util.ArrayList;
 import java.util.List;
+import org.opencv.core.Core;
+import org.opencv.core.Mat;
+import org.opencv.core.Rect2d;
+import org.opencv.core.Scalar;
+import org.opencv.core.Size;
+import org.opencv.imgproc.Imgproc;
 import org.photonvision.common.configuration.NeuralNetworkModelManager;
+import org.photonvision.common.util.ColorHelper;
 import org.photonvision.jni.RknnDetectorJNI.RknnObjectDetector;
 import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.opencv.Releasable;
@@ -30,12 +39,27 @@ public class RknnDetectionPipe
     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.
+        // 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().getLabels(),
+                        NeuralNetworkModelManager.getInstance().getModelVersion());
+    }
+
+    private static class Letterbox {
+        double dx;
+        double dy;
+        double scale;
+
+        public Letterbox(double dx, double dy, double scale) {
+            this.dx = dx;
+            this.dy = dy;
+            this.scale = scale;
+        }
     }
 
     @Override
@@ -47,7 +71,66 @@ public class RknnDetectionPipe
             return List.of();
         }
 
-        return detector.detect(in, params.nms, params.confidence);
+        // letterbox
+        var letterboxed = new Mat();
+        var scale =
+                letterbox(frame, letterboxed, new Size(640, 640), ColorHelper.colorToScalar(Color.GRAY));
+
+        if (letterboxed.width() != 640 || letterboxed.height() != 640) {
+            // huh whack give up lol
+            throw new RuntimeException("RGA bugged but still wrong size");
+        }
+        var ret = detector.detect(letterboxed, params.nms, params.confidence);
+
+        return resizeDetections(ret, scale);
+    }
+
+    private List<NeuralNetworkPipeResult> resizeDetections(
+            List<NeuralNetworkPipeResult> unscaled, Letterbox letterbox) {
+        var ret = new ArrayList<NeuralNetworkPipeResult>();
+
+        for (var t : unscaled) {
+            var scale = 1.0 / letterbox.scale;
+            var boundingBox = t.bbox;
+            double x = (boundingBox.x - letterbox.dx) * scale;
+            double y = (boundingBox.y - letterbox.dy) * scale;
+            double width = boundingBox.width * scale;
+            double height = boundingBox.height * scale;
+
+            ret.add(
+                    new NeuralNetworkPipeResult(new Rect2d(x, y, width, height), t.classIdx, t.confidence));
+        }
+
+        return ret;
+    }
+
+    private static Letterbox letterbox(Mat frame, Mat letterboxed, Size newShape, Scalar color) {
+        // from https://github.com/ultralytics/yolov5/issues/8427#issuecomment-1172469631
+        var frameSize = frame.size();
+        var r = Math.min(newShape.height / frameSize.height, newShape.width / frameSize.width);
+
+        var newUnpad = new Size(Math.round(frameSize.width * r), Math.round(frameSize.height * r));
+
+        if (!(frameSize.equals(newUnpad))) {
+            Imgproc.resize(frame, letterboxed, newUnpad, Imgproc.INTER_LINEAR);
+        } else {
+            frame.copyTo(letterboxed);
+        }
+
+        var dw = newShape.width - newUnpad.width;
+        var dh = newShape.height - newUnpad.height;
+
+        dw /= 2;
+        dh /= 2;
+
+        int top = (int) (Math.round(dh - 0.1f));
+        int bottom = (int) (Math.round(dh + 0.1f));
+        int left = (int) (Math.round(dw - 0.1f));
+        int right = (int) (Math.round(dw + 0.1f));
+        Core.copyMakeBorder(
+                letterboxed, letterboxed, top, bottom, left, right, Core.BORDER_CONSTANT, color);
+
+        return new Letterbox(dw, dh, r);
     }
 
     public static class RknnDetectionPipeParams {

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

@@ -221,4 +221,11 @@ public class AprilTagPipeline extends CVPipeline<CVPipelineResult, AprilTagPipel
 
         return new CVPipelineResult(sumPipeNanosElapsed, fps, targetList, multiTagResult, frame);
     }
+
+    @Override
+    public void release() {
+        aprilTagDetectionPipe.release();
+        singleTagPoseEstimatorPipe.release();
+        super.release();
+    }
 }

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

@@ -60,8 +60,8 @@ import org.photonvision.vision.target.TrackedTarget;
 import org.photonvision.vision.target.TrackedTarget.TargetCalculationParameters;
 
 public class ArucoPipeline extends CVPipeline<CVPipelineResult, ArucoPipelineSettings> {
-    private final ArucoDetectionPipe arucoDetectionPipe = new ArucoDetectionPipe();
-    private final ArucoPoseEstimatorPipe singleTagPoseEstimatorPipe = new ArucoPoseEstimatorPipe();
+    private ArucoDetectionPipe arucoDetectionPipe = new ArucoDetectionPipe();
+    private ArucoPoseEstimatorPipe singleTagPoseEstimatorPipe = new ArucoPoseEstimatorPipe();
     private final MultiTargetPNPPipe multiTagPNPPipe = new MultiTargetPNPPipe();
     private final CalculateFPSPipe calculateFPSPipe = new CalculateFPSPipe();
 
@@ -250,4 +250,13 @@ public class ArucoPipeline extends CVPipeline<CVPipelineResult, ArucoPipelineSet
                 windowSize,
                 constant);
     }
+
+    @Override
+    public void release() {
+        arucoDetectionPipe.release();
+        singleTagPoseEstimatorPipe.release();
+        arucoDetectionPipe = null;
+        singleTagPoseEstimatorPipe = null;
+        super.release();
+    }
 }

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

@@ -34,6 +34,9 @@ public abstract class CVPipeline<R extends CVPipelineResult, S extends CVPipelin
 
     private final FrameThresholdType thresholdType;
 
+    // So releaseable doesn't keep track of if we double-free something. so (ew) remember that here
+    protected volatile boolean released = false;
+
     public CVPipeline(FrameThresholdType thresholdType) {
         this.thresholdType = thresholdType;
     }
@@ -64,6 +67,9 @@ public abstract class CVPipeline<R extends CVPipelineResult, S extends CVPipelin
     }
 
     public R run(Frame frame, QuirkyCamera cameraQuirks) {
+        if (released) {
+            throw new RuntimeException("Pipeline use-after-free!");
+        }
         if (settings == null) {
             throw new RuntimeException("No settings provided for pipeline!");
         }
@@ -85,5 +91,7 @@ public abstract class CVPipeline<R extends CVPipelineResult, S extends CVPipelin
      * switch. Stubbed out, but override if needed.
      */
     @Override
-    public void release() {}
+    public void release() {
+        released = true;
+    }
 }

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

@@ -88,4 +88,9 @@ public class DriverModePipeline
                 fps,
                 new Frame(frame.processedImage, frame.colorImage, frame.type, frame.frameStaticProperties));
     }
+
+    @Override
+    public void release() {
+        // we never actually need to give resources up since pipelinemanager only makes one of us
+    }
 }

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

@@ -131,5 +131,6 @@ public class ObjectDetectionPipeline
     @Override
     public void release() {
         rknnPipe.release();
+        super.release();
     }
 }

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

@@ -0,0 +1,57 @@
+/*
+ * 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.processes;
+
+import java.util.List;
+import org.photonvision.vision.camera.CameraType;
+
+public class CameraMatchingOptions {
+    public CameraMatchingOptions(
+            boolean checkUSBPath,
+            boolean checkVidPid,
+            boolean checkBaseName,
+            boolean checkPath,
+            CameraType... allowedTypes) {
+        this.checkUSBPath = checkUSBPath;
+        this.checkVidPid = checkVidPid;
+        this.checkBaseName = checkBaseName;
+        this.checkPath = checkPath;
+        this.allowedTypes = List.of(allowedTypes);
+    }
+
+    public final boolean checkUSBPath;
+    public final boolean checkVidPid;
+    public final boolean checkBaseName;
+    public final boolean checkPath;
+    public final List<CameraType> allowedTypes;
+
+    @Override
+    public String toString() {
+        return "CameraMatchingOptions [checkUSBPath="
+                + checkUSBPath
+                + ", checkVidPid="
+                + checkVidPid
+                + ", checkBaseName="
+                + checkBaseName
+                + ", checkPath="
+                + checkPath
+                + ", allowedTypes="
+                + allowedTypes
+                + "]";
+    }
+}

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

@@ -61,7 +61,8 @@ public class PipelineManager {
     PipelineManager(
             DriverModePipelineSettings driverSettings,
             List<CVPipelineSettings> userPipelines,
-            String uniqueName) {
+            String uniqueName,
+            int defaultIndex) {
         this.userPipelineSettings = new ArrayList<>(userPipelines);
         // This is to respect the default res idx for vendor cameras
 
@@ -70,10 +71,19 @@ public class PipelineManager {
         if (userPipelines.isEmpty()) addPipeline(PipelineType.Reflective);
 
         calibration3dPipeline = new Calibrate3dPipeline(uniqueName);
+
+        // We know that at this stage, VisionRunner hasn't yet started so we're good to do this from
+        // this thread
+        this.setIndex(defaultIndex);
+        updatePipelineFromRequested();
     }
 
     public PipelineManager(CameraConfiguration config) {
-        this(config.driveModeSettings, config.pipelineSettings, config.uniqueName);
+        this(
+                config.driveModeSettings,
+                config.pipelineSettings,
+                config.uniqueName,
+                config.currentPipelineIndex);
     }
 
     /**
@@ -148,6 +158,7 @@ public class PipelineManager {
      * @return The currently active pipeline.
      */
     public CVPipeline getCurrentPipeline() {
+        updatePipelineFromRequested();
         if (currentPipelineIndex < 0) {
             switch (currentPipelineIndex) {
                 case CAL_3D_INDEX:
@@ -170,6 +181,16 @@ public class PipelineManager {
         return getPipelineSettings(currentPipelineIndex);
     }
 
+    private volatile int requestedIndex = 0;
+
+    /**
+     * Grab the currently requested pipeline index. The VisionRunner may not have changed over to this
+     * pipeline yet.
+     */
+    public int getRequestedIndex() {
+        return requestedIndex;
+    }
+
     /**
      * Internal method for setting the active pipeline. <br>
      * <br>
@@ -179,6 +200,22 @@ public class PipelineManager {
      * @param newIndex Index of pipeline to be active
      */
     private void setPipelineInternal(int newIndex) {
+        requestedIndex = newIndex;
+    }
+
+    /**
+     * Based on a requested pipeline index, create/destroy pipelines as necessary. We do this as a
+     * side effect of the main thread that calls getCurrentPipeline to avoid race conditions between
+     * server threads and the VisionRunner TODO: this should be refactored. Shame Java doesn't have
+     * RAII
+     */
+    private void updatePipelineFromRequested() {
+        int newIndex = requestedIndex;
+        if (newIndex == currentPipelineIndex) {
+            // nothing to do, probably no change -- give up
+            return;
+        }
+
         if (newIndex < 0 && currentPipelineIndex >= 0) {
             // Transitioning to a built-in pipe, save off the current user one
             lastUserPipelineIdx = currentPipelineIndex;
@@ -189,8 +226,8 @@ public class PipelineManager {
             return;
         }
 
-        // Cleanup potential old native resources before swapping over
-        if (currentUserPipeline != null) {
+        // Cleanup potential old native resources before swapping over for user pipelines
+        if (currentUserPipeline != null && !(newIndex < 0)) {
             currentUserPipeline.release();
         }
 

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;
@@ -142,7 +143,7 @@ public class VisionModule {
         ntConsumer =
                 new NTDataPublisher(
                         visionSource.getSettables().getConfiguration().nickname,
-                        pipelineManager::getCurrentPipelineIndex,
+                        pipelineManager::getRequestedIndex,
                         this::setPipeline,
                         pipelineManager::getDriverMode,
                         this::setDriverMode);
@@ -155,6 +156,7 @@ public class VisionModule {
                 (result) ->
                         lastPipelineResultBestTarget = result.hasTargets() ? result.targets.get(0) : null);
 
+        // Sync VisionModule state with the first pipeline index
         setPipeline(visionSource.getSettables().getConfiguration().currentPipelineIndex);
 
         // Set vendor FOV
@@ -320,7 +322,7 @@ public class VisionModule {
 
     void changePipelineType(int newType) {
         pipelineManager.changePipelineType(newType);
-        setPipeline(pipelineManager.getCurrentPipelineIndex());
+        setPipeline(pipelineManager.getRequestedIndex());
         saveAndBroadcastAll();
     }
 
@@ -328,9 +330,7 @@ public class VisionModule {
         pipelineManager.setDriverMode(isDriverMode);
         setVisionLEDs(!isDriverMode);
         setPipeline(
-                isDriverMode
-                        ? PipelineManager.DRIVERMODE_INDEX
-                        : pipelineManager.getCurrentPipelineIndex());
+                isDriverMode ? PipelineManager.DRIVERMODE_INDEX : pipelineManager.getRequestedIndex());
         saveAndBroadcastAll();
     }
 
@@ -384,7 +384,7 @@ public class VisionModule {
         var ret = pipelineManager.calibration3dPipeline.tryCalibration();
         pipelineManager.setCalibrationMode(false);
 
-        setPipeline(pipelineManager.getCurrentPipelineIndex());
+        setPipeline(pipelineManager.getRequestedIndex());
 
         if (ret != null) {
             logger.debug("Saving calibration...");
@@ -446,7 +446,7 @@ public class VisionModule {
         setVisionLEDs(pipelineSettings.ledMode);
 
         visionSource.getSettables().getConfiguration().currentPipelineIndex =
-                pipelineManager.getCurrentPipelineIndex();
+                pipelineManager.getRequestedIndex();
 
         return true;
     }
@@ -510,7 +510,7 @@ public class VisionModule {
         ret.uniqueName = visionSource.getSettables().getConfiguration().uniqueName;
         ret.currentPipelineSettings =
                 SerializationUtils.objectToHashMap(pipelineManager.getCurrentPipelineSettings());
-        ret.currentPipelineIndex = pipelineManager.getCurrentPipelineIndex();
+        ret.currentPipelineIndex = pipelineManager.getRequestedIndex();
         ret.pipelineNicknames = pipelineManager.getPipelineNicknames();
         ret.cameraQuirks = visionSource.getSettables().getConfiguration().cameraQuirks;
 
@@ -536,7 +536,10 @@ 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()
@@ -549,7 +552,7 @@ public class VisionModule {
         var config = visionSource.getSettables().getConfiguration();
         config.setPipelineSettings(pipelineManager.userPipelineSettings);
         config.driveModeSettings = pipelineManager.driverModePipeline.getSettings();
-        config.currentPipelineIndex = Math.max(pipelineManager.getCurrentPipelineIndex(), -1);
+        config.currentPipelineIndex = Math.max(pipelineManager.getRequestedIndex(), -1);
 
         return config;
     }

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

@@ -88,7 +88,7 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
                         parentModule.saveAndBroadcastAll();
                         return;
                     case "deleteCurrPipeline":
-                        var indexToDelete = parentModule.pipelineManager.getCurrentPipelineIndex();
+                        var indexToDelete = parentModule.pipelineManager.getRequestedIndex();
                         logger.info("Deleting current pipe at index " + indexToDelete);
                         int newIndex = parentModule.pipelineManager.removePipeline(indexToDelete);
                         parentModule.setPipeline(newIndex);
@@ -96,7 +96,7 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
                         return;
                     case "changePipeline": // change active pipeline
                         var index = (Integer) newPropValue;
-                        if (index == parentModule.pipelineManager.getCurrentPipelineIndex()) {
+                        if (index == parentModule.pipelineManager.getRequestedIndex()) {
                             logger.debug("Skipping pipeline change, index " + index + " already active");
                             return;
                         }
@@ -181,6 +181,9 @@ public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
                         parentModule.changePipelineType((Integer) newPropValue);
                         parentModule.saveAndBroadcastAll();
                         return;
+                    case "isDriverMode":
+                        parentModule.setDriverMode((Boolean) newPropValue);
+                        return;
                 }
 
                 // special case for camera settables

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;
@@ -38,6 +39,7 @@ import org.photonvision.vision.camera.CameraInfo;
 import org.photonvision.vision.camera.CameraQuirk;
 import org.photonvision.vision.camera.CameraType;
 import org.photonvision.vision.camera.LibcameraGpuSource;
+import org.photonvision.vision.camera.TestSource;
 import org.photonvision.vision.camera.USBCameraSource;
 
 public class VisionSourceManager {
@@ -145,8 +147,8 @@ public class VisionSourceManager {
         }
 
         // Return no new sources because there are no new sources
-        if (connectedCameras.isEmpty() && !cameraInfos.isEmpty()) {
-            if (hasWarnedNoCameras) {
+        if (connectedCameras.isEmpty()) {
+            if (!hasWarnedNoCameras) {
                 logger.warn(
                         "No cameras were detected! Check that all cameras are connected, and that the path is correct.");
                 hasWarnedNoCameras = true;
@@ -164,7 +166,7 @@ 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())
@@ -185,7 +187,7 @@ public class VisionSourceManager {
                     "Unloaded configs: "
                             + unmatchedLoadedConfigs.stream()
                                     .map(it -> it.nickname)
-                                    .collect(Collectors.joining()));
+                                    .collect(Collectors.joining(", ")));
             hasWarned = true;
         }
 
@@ -194,13 +196,8 @@ public class VisionSourceManager {
 
         if (matchedCameras.isEmpty()) return null;
 
-        // for unit tests only!
-        if (!createSources) {
-            return List.of();
-        }
-
         // Turn these camera configs into vision sources
-        var sources = loadVisionSourcesFromCamConfigs(matchedCameras);
+        var sources = loadVisionSourcesFromCamConfigs(matchedCameras, createSources);
 
         // Print info about each vision source
         for (var src : sources) {
@@ -216,6 +213,54 @@ 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));
+            }
+
+            matches &= (physicalCamera.cameraType == savedConfig.cameraType);
+
+            return matches;
+        };
+    }
+
     /**
      * Create {@link CameraConfiguration}s based on a list of detected USB cameras and the configs on
      * disk.
@@ -226,158 +271,212 @@ 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");
+        logger.info("Matching CSI cameras by port & base name...");
+        cameraConfigurations.addAll(
+                matchCamerasByStrategy(
+                        detectedCameraList,
+                        unloadedConfigs,
+                        new CameraMatchingOptions(false, false, true, true, CameraType.ZeroCopyPicam)));
 
-        if (detectedCameraList.size() > 0 || unloadedConfigs.size() > 0)
-            cameraConfigurations.addAll(matchByPath(detectedCameraList, unloadedConfigs));
-        else logger.debug("Skipping matchByPath no configs or cameras left to match");
+        logger.info("Matching USB cameras by usb port & name & USB VID/PID...");
+        cameraConfigurations.addAll(
+                matchCamerasByStrategy(
+                        detectedCameraList,
+                        unloadedConfigs,
+                        new CameraMatchingOptions(true, true, true, false, CameraType.UsbCamera)));
 
-        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)
+        // 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() && !matchCamerasOnlyByPath) {
+            logger.info("Matching USB cameras by windows-path & USB VID/PID only...");
             cameraConfigurations.addAll(
-                    createConfigsForCameras(detectedCameraList, unloadedConfigs, cameraConfigurations));
+                    matchCamerasByStrategy(
+                            detectedCameraList,
+                            unloadedConfigs,
+                            new CameraMatchingOptions(false, true, true, true, CameraType.UsbCamera)));
+        }
+
+        logger.info("Matching USB cameras by usb port & USB VID/PID...");
+        cameraConfigurations.addAll(
+                matchCamerasByStrategy(
+                        detectedCameraList,
+                        unloadedConfigs,
+                        new CameraMatchingOptions(true, true, false, false, CameraType.UsbCamera)));
+
+        // Legacy migration -- VID/PID will be unset, so we have to try with our most relaxed strategy
+        // at least once. We _should_ still have a valid USB path (assuming cameras have not moved), so
+        // try that first, then fallback to base name only beloow
+        logger.info("Matching USB cameras by base-name & usb port...");
+        cameraConfigurations.addAll(
+                matchCamerasByStrategy(
+                        detectedCameraList,
+                        unloadedConfigs,
+                        new CameraMatchingOptions(true, false, true, false, CameraType.UsbCamera)));
+
+        // handle disabling only-by-base-name matching
+        if (!matchCamerasOnlyByPath) {
+            logger.info("Matching USB cameras by base-name & USB VID/PID only...");
+            cameraConfigurations.addAll(
+                    matchCamerasByStrategy(
+                            detectedCameraList,
+                            unloadedConfigs,
+                            new CameraMatchingOptions(false, true, true, false, CameraType.UsbCamera)));
+
+            // Legacy migration for if no USB VID/PID set
+            logger.info("Matching USB cameras by base-name only...");
+            cameraConfigurations.addAll(
+                    matchCamerasByStrategy(
+                            detectedCameraList,
+                            unloadedConfigs,
+                            new CameraMatchingOptions(false, false, true, false, CameraType.UsbCamera)));
+        } else logger.info("Skipping match by filepath/vid/pid, disabled by user");
+
+        if (detectedCameraList.size() > 0) {
+            // handle disabling only-by-base-name matching
+            if (!matchCamerasOnlyByPath) {
+                cameraConfigurations.addAll(
+                        createConfigsForCameras(detectedCameraList, unloadedConfigs, cameraConfigurations));
+            } else {
+                logger.warn(
+                        "Not creating 'new' Photon CameraConfigurations for ["
+                                + detectedCamInfos.stream()
+                                        .map(CameraInfo::toString)
+                                        .collect(Collectors.joining(";"))
+                                + "], disabled by user");
+            }
+        }
 
         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,
+            CameraMatchingOptions matchingOptions) {
         List<CameraConfiguration> ret = new ArrayList<CameraConfiguration>();
         List<CameraConfiguration> unloadedConfigsCopy =
                 new ArrayList<CameraConfiguration>(unloadedConfigs);
 
-        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);
+        if (unloadedConfigsCopy.isEmpty()) return List.of();
 
-                    // 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);
-                    }
+        logger.debug("Matching with options " + matchingOptions.toString());
+
+        for (CameraConfiguration config : unloadedConfigsCopy) {
+            // Only run match path by id if the camera type is allowed. This allows us to specify matching
+            // behavior per-camera-type
+            if (matchingOptions.allowedTypes.contains(config.cameraType)) {
+                logger.debug(
+                        String.format(
+                                "Trying to find a match for loaded camera %s (%s) with camera config: %s",
+                                config.baseName, config.uniqueName, camCfgToString(config)));
+
+                // Get matcher and filter against it, picking out the first match
+                Predicate<CameraInfo> matches =
+                        getCameraMatcher(
+                                config,
+                                matchingOptions.checkUSBPath,
+                                matchingOptions.checkVidPid,
+                                matchingOptions.checkBaseName,
+                                matchingOptions.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.uniqueName
+                                    + " to the physical camera config above!");
+                    ret.add(mergeInfoIntoConfig(config, cameraInfo));
+                    detectedCamInfos.remove(cameraInfo);
+                    unloadedConfigs.remove(config);
+                } else {
+                    logger.debug("No camera found for the config " + config.uniqueName);
                 }
             }
         }
         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(
-                "After matching loaded configs " + detectedCameraList.size() + " cameras were unmatched.");
+                "After matching loaded configs, these configs remained unmatched: "
+                        + detectedCameraList.stream()
+                                .map(n -> String.valueOf(n))
+                                .collect(Collectors.joining("-", "{", "}")));
         for (CameraInfo info : detectedCameraList) {
             // create new camera config for all new cameras
             String baseName = info.getBaseName();
             String uniqueName = info.getHumanReadableName();
 
             int suffix = 0;
-            while (containsName(loadedConfigs, uniqueName) || containsName(uniqueName)) {
+            while (containsName(loadedConfigs, uniqueName)
+                    || containsName(uniqueName)
+                    || containsName(unloadedCamConfigs, uniqueName)
+                    || containsName(ret, uniqueName)) {
                 suffix++;
                 uniqueName = String.format("%s (%d)", uniqueName, suffix);
             }
@@ -457,10 +556,16 @@ public class VisionSourceManager {
     }
 
     private static List<VisionSource> loadVisionSourcesFromCamConfigs(
-            List<CameraConfiguration> camConfigs) {
+            List<CameraConfiguration> camConfigs, boolean createSources) {
         var cameraSources = new ArrayList<VisionSource>();
         for (var configuration : camConfigs) {
-            logger.debug("Creating VisionSource for " + configuration);
+            logger.debug("Creating VisionSource for " + camCfgToString(configuration));
+
+            // In unit tests, create dummy
+            if (!createSources) {
+                cameraSources.add(new TestSource(configuration));
+                continue;
+            }
 
             boolean is_pi = Platform.isRaspberryPi();
 

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

@@ -56,7 +56,7 @@ public class PotentialTarget implements Releasable {
     }
 
     public PotentialTarget(NeuralNetworkPipeResult det) {
-        this.shape = new CVShape(new Contour(det.box), ContourShape.Quadrilateral);
+        this.shape = new CVShape(new Contour(det.bbox), ContourShape.Quadrilateral);
         this.m_mainContour = this.shape.getContour();
         m_subContours = List.of();
         this.clsId = det.classIdx;

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

@@ -84,7 +84,9 @@ public class SQLConfigTest {
                         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/processes/PipelineManagerTest.java

@@ -30,7 +30,7 @@ public class PipelineManagerTest {
     public void testUniqueName() {
         TestUtils.loadLibraries();
         PipelineManager manager =
-                new PipelineManager(new DriverModePipelineSettings(), List.of(), "meme_name");
+                new PipelineManager(new DriverModePipelineSettings(), List.of(), "meme_name", -1);
         manager.addPipeline(PipelineType.Reflective, "Another");
 
         // We now have ["New Pipeline", "Another"]

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

@@ -21,17 +21,24 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import java.util.ArrayList;
+import java.util.List;
 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 +50,8 @@ public class VisionSourceManagerTest {
                         "thirdTestVideo",
                         "dev/video1",
                         new String[] {"by-id/123"});
+        config3.usbVID = 3;
+        config3.usbPID = 4;
         var config4 =
                 new CameraConfiguration(
                         "fourthTestVideo",
@@ -50,6 +59,8 @@ 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);
 
@@ -261,4 +272,335 @@ public class VisionSourceManagerTest {
         assertEquals(10, inst.knownCameras.size());
         assertEquals(0, inst.unmatchedLoadedConfigs.size());
     }
+
+    @Test
+    public void testDisableInhibitPathChangeIdenticalCams() {
+        Logger.setLevel(LogGroup.Camera, LogLevel.DEBUG);
+
+        var inst = new VisionSourceManager();
+        ConfigManager.getInstance().clearConfig();
+        ConfigManager.getInstance().load();
+        ConfigManager.getInstance().getConfig().getNetworkConfig().matchCamerasOnlyByPath = false;
+
+        var CAM2_OLD_PATH =
+                new String[] {"/dev/v4l/by-path/platform-fc880000.usb-usb-0:1:1.0-video-index0"};
+        var CAM2_NEW_PATH =
+                new String[] {"/dev/v4l/by-path/platform-fc880080.usb-usb-0:1:1.3-video-index0"};
+
+        var CAM1_OLD_PATHS =
+                new String[] {
+                    "/dev/v4l/by-id/usb-Arducam_Technology_Co.__Ltd._Arducam_OV2311_USB_Camera_UC621-video-index0",
+                    "/dev/v4l/by-path/platform-fc800000.usb-usb-0:1:1.0-video-index0"
+                };
+
+        var camera1_saved_config =
+                new CameraConfiguration(
+                        "Arducam OV2311 USB Camera",
+                        "Arducam OV2311 USB Camera",
+                        "fromt-left",
+                        "/dev/video0",
+                        CAM1_OLD_PATHS);
+        camera1_saved_config.usbVID = 3141;
+        camera1_saved_config.usbPID = 25446;
+        var camera2_saved_config =
+                new CameraConfiguration(
+                        "Arducam OV2311 USB Camera",
+                        "Arducam OV2311 USB Camera (1)",
+                        "fromt-left",
+                        "/dev/video2",
+                        CAM2_OLD_PATH);
+        camera2_saved_config.usbVID = 3141;
+        camera2_saved_config.usbPID = 25446;
+
+        // And load our "old" configs
+        inst.registerLoadedConfigs(camera1_saved_config, camera2_saved_config);
+
+        // Camera attached to new port, but strict matching disabled
+        {
+            CameraInfo info1 =
+                    new CameraInfo(
+                            0, "/dev/video11", "Arducam OV2311 USB Camera", CAM1_OLD_PATHS, 3141, 25446);
+            CameraInfo info2 =
+                    new CameraInfo(
+                            0, "/dev/video12", "Arducam OV2311 USB Camera", CAM2_NEW_PATH, 3141, 25446);
+
+            var cameraInfos = new ArrayList<CameraInfo>();
+            cameraInfos.add(info1);
+            cameraInfos.add(info2);
+            List<VisionSource> ret1 = inst.tryMatchCamImpl(cameraInfos);
+
+            // and check the new one got matched got matched
+            assertEquals(2, ret1.size());
+            assertEquals(
+                    1, ret1.stream().filter(it -> it.cameraConfiguration.path.equals(info1.path)).count());
+            assertEquals(
+                    1, ret1.stream().filter(it -> it.cameraConfiguration.path.equals(info2.path)).count());
+        }
+    }
+
+    @Test
+    public void testInhibitPathChangeIdenticalCams() {
+        Logger.setLevel(LogGroup.Camera, LogLevel.DEBUG);
+
+        var inst = new VisionSourceManager();
+        ConfigManager.getInstance().clearConfig();
+        ConfigManager.getInstance().load();
+        ConfigManager.getInstance().getConfig().getNetworkConfig().matchCamerasOnlyByPath = true;
+
+        var CAM2_OLD_PATH =
+                new String[] {"/dev/v4l/by-path/platform-fc880000.usb-usb-0:1:1.0-video-index0"};
+        var CAM2_NEW_PATH =
+                new String[] {"/dev/v4l/by-path/platform-fc880080.usb-usb-0:1:1.3-video-index0"};
+
+        var CAM1_OLD_PATHS =
+                new String[] {
+                    "/dev/v4l/by-id/usb-Arducam_Technology_Co.__Ltd._Arducam_OV2311_USB_Camera_UC621-video-index0",
+                    "/dev/v4l/by-path/platform-fc800000.usb-usb-0:1:1.0-video-index0"
+                };
+
+        var camera1_saved_config =
+                new CameraConfiguration(
+                        "Arducam OV2311 USB Camera",
+                        "Arducam OV2311 USB Camera (1)",
+                        "fromt-left",
+                        "/dev/video0",
+                        CAM1_OLD_PATHS);
+        camera1_saved_config.usbVID = 3141;
+        camera1_saved_config.usbPID = 25446;
+        var camera2_saved_config =
+                new CameraConfiguration(
+                        "Arducam OV2311 USB Camera",
+                        "Arducam OV2311 USB Camera (1)",
+                        "fromt-left",
+                        "/dev/video2",
+                        CAM2_OLD_PATH);
+        camera2_saved_config.usbVID = 3141;
+        camera2_saved_config.usbPID = 25446;
+
+        // And load our "old" configs
+        inst.registerLoadedConfigs(camera1_saved_config, camera2_saved_config);
+
+        // initial pass with camera in the wrong spot
+        {
+            // Give our cameras new "paths" to fake the windows logic out. this should not
+            // affect strict matching
+            CameraInfo info1 =
+                    new CameraInfo(
+                            0, "/dev/video11", "Arducam OV2311 USB Camera", CAM1_OLD_PATHS, 3141, 25446);
+            CameraInfo info2 =
+                    new CameraInfo(
+                            0, "/dev/video12", "Arducam OV2311 USB Camera", CAM2_NEW_PATH, 3141, 25446);
+
+            var cameraInfos = new ArrayList<CameraInfo>();
+            cameraInfos.add(info1);
+            cameraInfos.add(info2);
+            List<VisionSource> ret1 = inst.tryMatchCamImpl(cameraInfos);
+
+            // Our cameras should be "known"
+            assertTrue(inst.knownCameras.contains(info1));
+            assertTrue(inst.knownCameras.contains(info2));
+            assertEquals(2, inst.knownCameras.size());
+
+            // And we should have matched one camera
+            assertEquals(1, ret1.size());
+            // and only matched camera1, not 2
+            assertEquals(
+                    1, ret1.stream().filter(it -> it.cameraConfiguration.path.equals(info1.path)).count());
+            assertEquals(
+                    0, ret1.stream().filter(it -> it.cameraConfiguration.path.equals(info2.path)).count());
+        }
+
+        // Now move our camera back
+        {
+            CameraInfo info1 =
+                    new CameraInfo(
+                            0, "/dev/video11", "Arducam OV2311 USB Camera", CAM1_OLD_PATHS, 3141, 25446);
+            CameraInfo info2 =
+                    new CameraInfo(
+                            0, "/dev/video12", "Arducam OV2311 USB Camera", CAM2_OLD_PATH, 3141, 25446);
+
+            var cameraInfos = new ArrayList<CameraInfo>();
+            cameraInfos.add(info1);
+            cameraInfos.add(info2);
+            List<VisionSource> ret1 = inst.tryMatchCamImpl(cameraInfos);
+
+            // and check the new one got matched got matched
+            assertEquals(1, ret1.size());
+            assertEquals(
+                    0, ret1.stream().filter(it -> it.cameraConfiguration.path.equals(info1.path)).count());
+            assertEquals(
+                    1, ret1.stream().filter(it -> it.cameraConfiguration.path.equals(info2.path)).count());
+        }
+    }
+
+    @Test
+    public void testCSICameraMatching() {
+        Logger.setLevel(LogGroup.Camera, LogLevel.DEBUG);
+
+        // List of known cameras
+        var cameraInfos = new ArrayList<CameraInfo>();
+
+        var inst = new VisionSourceManager();
+        ConfigManager.getInstance().clearConfig();
+        ConfigManager.getInstance().load();
+        ConfigManager.getInstance().getConfig().getNetworkConfig().matchCamerasOnlyByPath = false;
+
+        CameraInfo info1 =
+                new CameraInfo(
+                        -1,
+                        "/base/soc/i2c0mux/i2c@0/ov9281@60",
+                        "OV9281", // Typically rp1-cfe for unit test changed to CSICAM-DEV
+                        new String[] {},
+                        -1,
+                        -1,
+                        CameraType.ZeroCopyPicam);
+
+        CameraInfo info2 =
+                new CameraInfo(
+                        -1,
+                        "/base/soc/i2c0mux/i2c@1/ov9281@60",
+                        "OV9281", // Typically rp1-cfe for unit test changed to CSICAM-DEV
+                        new String[] {},
+                        -1,
+                        -1,
+                        CameraType.ZeroCopyPicam);
+
+        var camera1_saved_config =
+                new CameraConfiguration(
+                        "OV9281", "OV9281", "test-1", "/base/soc/i2c0mux/i2c@0/ov9281@60", new String[0]);
+        camera1_saved_config.cameraType = CameraType.ZeroCopyPicam;
+        camera1_saved_config.usbVID = -1;
+        camera1_saved_config.usbPID = -1;
+
+        var camera2_saved_config =
+                new CameraConfiguration(
+                        "OV9281", "OV9281 (1)", "test-2", "/base/soc/i2c0mux/i2c@1/ov9281@60", new String[0]);
+        camera2_saved_config.usbVID = -1;
+        camera2_saved_config.usbPID = -1;
+        camera2_saved_config.cameraType = CameraType.ZeroCopyPicam;
+
+        cameraInfos.add(info1);
+        cameraInfos.add(info2);
+
+        // Try matching with both cameras being "known"
+        inst.registerLoadedConfigs(camera1_saved_config, camera2_saved_config);
+        var ret1 = inst.tryMatchCamImpl(cameraInfos);
+
+        // Our cameras should be "known"
+        assertTrue(inst.knownCameras.contains(info1));
+        assertTrue(inst.knownCameras.contains(info2));
+        assertEquals(2, inst.knownCameras.size());
+        assertEquals(2, ret1.size());
+
+        // Exactly one camera should have the path we put in
+        for (int i = 0; i < cameraInfos.size(); i++) {
+            var testPath = cameraInfos.get(i).path;
+            assertEquals(
+                    1, ret1.stream().filter(it -> testPath.equals(it.cameraConfiguration.path)).count());
+        }
+    }
+
+    @Test
+    public void testIdenticalCameras() {
+        Logger.setLevel(LogGroup.Camera, LogLevel.DEBUG);
+
+        // List of known cameras
+        var cameraInfos = new ArrayList<CameraInfo>();
+
+        var inst = new VisionSourceManager();
+        ConfigManager.getInstance().clearConfig();
+        ConfigManager.getInstance().load();
+        ConfigManager.getInstance().getConfig().getNetworkConfig().matchCamerasOnlyByPath = false;
+
+        // Match empty camera infos
+        inst.tryMatchCamImpl(cameraInfos);
+
+        CameraInfo info1 =
+                new CameraInfo(
+                        0,
+                        "/dev/video0",
+                        "Arducam OV2311 USB Camera",
+                        new String[] {
+                            "/dev/v4l/by-id/usb-Arducam_Technology_Co.__Ltd._Arducam_OV2311_USB_Camera_UC621-video-index0",
+                            "/dev/v4l/by-path/platform-fc800000.usb-usb-0:1:1.0-video-index0"
+                        },
+                        3141,
+                        25446);
+        CameraInfo info2 =
+                new CameraInfo(
+                        0,
+                        "/dev/video2",
+                        "Arducam OV2311 USB Camera",
+                        new String[] {
+                            "/dev/v4l/by-id/usb-Arducam_Technology_Co.__Ltd._Arducam_OV2311_USB_Camera_UC621-video-index0",
+                            "/dev/v4l/by-path/platform-fc880000.usb-usb-0:1:1.0-video-index0"
+                        },
+                        3141,
+                        25446);
+
+        cameraInfos.add(info1);
+        cameraInfos.add(info2);
+
+        // Match two "new" cameras
+        var ret1 = inst.tryMatchCamImpl(cameraInfos);
+
+        // Our cameras should be "known"
+        assertTrue(inst.knownCameras.contains(info1));
+        assertTrue(inst.knownCameras.contains(info2));
+        assertEquals(2, inst.knownCameras.size());
+        assertEquals(2, ret1.size());
+
+        // Exactly one camera should have the path we put in
+        for (int i = 0; i < cameraInfos.size(); i++) {
+            var testPath = cameraInfos.get(i).getUSBPath().get();
+            assertEquals(
+                    1,
+                    ret1.stream()
+                            .filter(it -> testPath.equals(it.cameraConfiguration.getUSBPath().get()))
+                            .count());
+        }
+
+        // and the names should be unique
+        for (int i = 0; i < ret1.size(); i++) {
+            var thisName = ret1.get(i).cameraConfiguration.uniqueName;
+            assertEquals(
+                    1,
+                    ret1.stream().filter(it -> thisName.equals(it.cameraConfiguration.uniqueName)).count());
+        }
+
+        // duplciate cameras, same info, new ref
+        var duplicateCameraInfos = new ArrayList<CameraInfo>();
+        CameraInfo info1_dup =
+                new CameraInfo(
+                        0,
+                        "/dev/video0",
+                        "Arducam OV2311 USB Camera",
+                        new String[] {
+                            "/dev/v4l/by-id/usb-Arducam_Technology_Co.__Ltd._Arducam_OV2311_USB_Camera_UC621-video-index0",
+                            "/dev/v4l/by-path/platform-fc800000.usb-usb-0:1:1.0-video-index0"
+                        },
+                        3141,
+                        25446);
+        CameraInfo info2_dup =
+                new CameraInfo(
+                        0,
+                        "/dev/video2",
+                        "Arducam OV2311 USB Camera",
+                        new String[] {
+                            "/dev/v4l/by-id/usb-Arducam_Technology_Co.__Ltd._Arducam_OV2311_USB_Camera_UC621-video-index0",
+                            "/dev/v4l/by-path/platform-fc880000.usb-usb-0:1:1.0-video-index0"
+                        },
+                        3141,
+                        25446);
+
+        duplicateCameraInfos.add(info1_dup);
+        duplicateCameraInfos.add(info2_dup);
+
+        inst.tryMatchCamImpl(duplicateCameraInfos);
+
+        // Our cameras should be "known", and we should only "know" two cameras still
+        assertTrue(inst.knownCameras.contains(info1_dup));
+        assertTrue(inst.knownCameras.contains(info2_dup));
+        assertEquals(2, inst.knownCameras.size());
+    }
 }

photon-lib/py/photonlibpy/estimatedRobotPose.py

@@ -19,7 +19,7 @@ class EstimatedRobotPose:
     timestampSeconds: float
     """The estimated time the frame used to derive the robot pose was taken"""
 
-    targetsUsed: [PhotonTrackedTarget]
+    targetsUsed: list[PhotonTrackedTarget]
     """A list of the targets used to compute this pose"""
 
     strategy: "PoseStrategy"

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):
@@ -86,10 +86,11 @@ class PhotonCamera:
         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
 

photon-lib/py/photonlibpy/photonPipelineResult.py

@@ -38,3 +38,6 @@ class PhotonPipelineResult:
 
     def getTargets(self) -> list[PhotonTrackedTarget]:
         return self.targets
+
+    def hasTargets(self) -> bool:
+        return len(self.targets) > 0

photon-lib/py/photonlibpy/photonPoseEstimator.py

@@ -75,7 +75,7 @@ class PhotonPoseEstimator:
 
         self._multiTagFallbackStrategy = PoseStrategy.LOWEST_AMBIGUITY
         self._reportedErrors: set[int] = set()
-        self._poseCacheTimestampSeconds = -1
+        self._poseCacheTimestampSeconds = -1.0
         self._lastPose: Optional[Pose3d] = None
         self._referencePose: Optional[Pose3d] = None
 
@@ -143,7 +143,7 @@ class PhotonPoseEstimator:
         self._multiTagFallbackStrategy = strategy
 
     @property
-    def referencePose(self) -> Pose3d:
+    def referencePose(self) -> Optional[Pose3d]:
         """Return the reference position that is being used by the estimator.
 
         :returns: the referencePose
@@ -163,7 +163,7 @@ class PhotonPoseEstimator:
         self._referencePose = referencePose
 
     @property
-    def lastPose(self) -> Pose3d:
+    def lastPose(self) -> Optional[Pose3d]:
         return self._lastPose
 
     @lastPose.setter
@@ -178,10 +178,10 @@ class PhotonPoseEstimator:
         self._checkUpdate(self._lastPose, lastPose)
         self._lastPose = lastPose
 
-    def _invalidatePoseCache(self):
-        self._poseCacheTimestampSeconds = -1
+    def _invalidatePoseCache(self) -> None:
+        self._poseCacheTimestampSeconds = -1.0
 
-    def _checkUpdate(self, oldObj, newObj):
+    def _checkUpdate(self, oldObj, newObj) -> None:
         if oldObj != newObj and oldObj is not None and oldObj is not newObj:
             self._invalidatePoseCache()
 
@@ -204,27 +204,27 @@ class PhotonPoseEstimator:
         if not cameraResult:
             if not self._camera:
                 wpilib.reportError("[PhotonPoseEstimator] Missing camera!", False)
-                return
+                return None
             cameraResult = self._camera.getLatestResult()
 
         if cameraResult.timestampSec < 0:
-            return
+            return None
 
         # If the pose cache timestamp was set, and the result is from the same
         # timestamp, return an
         # empty result
         if (
-            self._poseCacheTimestampSeconds > 0
+            self._poseCacheTimestampSeconds > 0.0
             and abs(self._poseCacheTimestampSeconds - cameraResult.timestampSec) < 1e-6
         ):
-            return
+            return None
 
         # Remember the timestamp of the current result used
         self._poseCacheTimestampSeconds = cameraResult.timestampSec
 
         # If no targets seen, trivial case -- return empty result
         if not cameraResult.targets:
-            return
+            return None
 
         return self._update(cameraResult, self._primaryStrategy)
 
@@ -239,7 +239,7 @@ class PhotonPoseEstimator:
             wpilib.reportError(
                 "[PhotonPoseEstimator] Unknown Position Estimation Strategy!", False
             )
-            return
+            return None
 
         if not estimatedPose:
             self._lastPose = None
@@ -280,7 +280,7 @@ class PhotonPoseEstimator:
         """
         lowestAmbiguityTarget = None
 
-        lowestAmbiguityScore = 10
+        lowestAmbiguityScore = 10.0
 
         for target in result.targets:
             targetPoseAmbiguity = target.poseAmbiguity
@@ -293,7 +293,7 @@ class PhotonPoseEstimator:
         # Although there are confirmed to be targets, none of them may be fiducial
         # targets.
         if not lowestAmbiguityTarget:
-            return
+            return None
 
         targetFiducialId = lowestAmbiguityTarget.fiducialId
 
@@ -301,7 +301,7 @@ class PhotonPoseEstimator:
 
         if not targetPosition:
             self._reportFiducialPoseError(targetFiducialId)
-            return
+            return None
 
         return EstimatedRobotPose(
             targetPosition.transformBy(

photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java

@@ -408,8 +408,8 @@ public class PhotonPoseEstimator {
                 return Optional.empty();
         }
 
-        if (estimatedPose.isEmpty()) {
-            lastPose = null;
+        if (estimatedPose.isPresent()) {
+            lastPose = estimatedPose.get().estimatedPose;
         }
 
         return estimatedPose;

photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java

@@ -431,7 +431,7 @@ public class PhotonCameraSim implements AutoCloseable {
 
             detectableTgts.add(
                     new PhotonTrackedTarget(
-                            Math.toDegrees(centerRot.getZ()),
+                            -Math.toDegrees(centerRot.getZ()),
                             -Math.toDegrees(centerRot.getY()),
                             areaPercent,
                             Math.toDegrees(centerRot.getX()),

photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp

@@ -186,6 +186,9 @@ std::optional<EstimatedRobotPose> PhotonPoseEstimator::Update(
       ret = std::nullopt;
   }
 
+  if (ret) {
+    lastPose = ret.value().estimatedPose;
+  }
   return ret;
 }
 

photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h

@@ -260,7 +260,7 @@ class PhotonCameraSim {
       std::vector<std::pair<double, double>> cornersDouble{cornersFloat.begin(),
                                                            cornersFloat.end()};
       detectableTgts.emplace_back(PhotonTrackedTarget{
-          centerRot.Z().convert<units::degrees>().to<double>(),
+          -centerRot.Z().convert<units::degrees>().to<double>(),
           -centerRot.Y().convert<units::degrees>().to<double>(), areaPercent,
           centerRot.X().convert<units::degrees>().to<double>(), tgt.fiducialId,
           pnpSim.best, pnpSim.alt, pnpSim.ambiguity, smallVec, cornersDouble});

photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java

@@ -256,7 +256,8 @@ class VisionSystemSimTest {
         cameraSim.setMinTargetAreaPixels(0.0);
         visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(0.5, 0.5), 3));
 
-        var robotPose = new Pose2d(new Translation2d(10, 0), Rotation2d.fromDegrees(-1.0 * testYaw));
+        // If the robot is rotated x deg (CCW+), the target yaw should be x deg (CW+)
+        var robotPose = new Pose2d(new Translation2d(10, 0), Rotation2d.fromDegrees(testYaw));
         visionSysSim.update(robotPose);
         var res = camera.getLatestResult();
         assertTrue(res.hasTargets());

photon-lib/src/test/native/cpp/VisionSystemSimTest.cpp

@@ -220,8 +220,9 @@ TEST_P(VisionSystemSimTestWithParamsTest, YawAngles) {
   visionSysSim.AddVisionTargets({photon::VisionTargetSim{
       targetPose, photon::TargetModel{0.5_m, 0.5_m}, 3}});
 
-  robotPose = frc::Pose2d{frc::Translation2d{10_m, 0_m},
-                          frc::Rotation2d{-1 * GetParam()}};
+  // If the robot is rotated x deg (CCW+), the target yaw should be x deg (CW+)
+  robotPose =
+      frc::Pose2d{frc::Translation2d{10_m, 0_m}, frc::Rotation2d{GetParam()}};
   visionSysSim.Update(robotPose);
   ASSERT_TRUE(camera.GetLatestResult().HasTargets());
   ASSERT_NEAR(GetParam().to<double>(),

photon-server/src/main/java/org/photonvision/Main.java

@@ -35,6 +35,7 @@ import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.LogLevel;
 import org.photonvision.common.logging.Logger;
+import org.photonvision.common.logging.PvCSCoreLogger;
 import org.photonvision.common.networking.NetworkManager;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.common.util.numbers.IntegerCouple;
@@ -65,6 +66,7 @@ public class Main {
     private static final boolean isRelease = PhotonVersion.isRelease;
 
     private static boolean isTestMode = false;
+    private static boolean isSmoketest = false;
     private static Path testModeFolder = null;
     private static boolean printDebugLogs;
 
@@ -90,6 +92,11 @@ public class Main {
                 "clear-config",
                 false,
                 "Clears PhotonVision pipeline and networking settings. Preserves log files");
+        options.addOption(
+                "s",
+                "smoketest",
+                false,
+                "Exit Photon after loading native libraries and camera configs, but before starting up camera runners");
 
         CommandLineParser parser = new DefaultParser();
         CommandLine cmd = parser.parse(options, args);
@@ -127,6 +134,10 @@ public class Main {
             if (cmd.hasOption("clear-config")) {
                 ConfigManager.getInstance().clearConfig();
             }
+
+            if (cmd.hasOption("smoketest")) {
+                isSmoketest = true;
+            }
         }
         return true;
     }
@@ -266,7 +277,7 @@ public class Main {
 
         CameraConfiguration camConf2024 =
                 ConfigManager.getInstance().getConfig().getCameraConfigurations().get("WPI2024");
-        if (camConf2024 == null || true) {
+        if (camConf2024 == null) {
             camConf2024 =
                     new CameraConfiguration(
                             "WPI2024",
@@ -337,11 +348,17 @@ public class Main {
 
     public static void main(String[] args) {
         try {
-            TestUtils.loadLibraries();
-            logger.info("Native libraries loaded.");
+            boolean success = TestUtils.loadLibraries();
+
+            if (!success) {
+                logger.error("Failed to load native libraries! Giving up :(");
+                System.exit(1);
+            }
         } catch (Exception e) {
             logger.error("Failed to load native libraries!", e);
+            System.exit(1);
         }
+        logger.info("Native libraries loaded.");
 
         try {
             if (Platform.isRaspberryPi()) {
@@ -393,6 +410,8 @@ public class Main {
                         + Platform.getPlatformName()
                         + (Platform.isRaspberryPi() ? (" (Pi " + PiVersion.getPiVersion() + ")") : ""));
 
+        PvCSCoreLogger.getInstance();
+
         logger.debug("Loading ConfigManager...");
         ConfigManager.getInstance().load(); // init config manager
         ConfigManager.getInstance().requestSave();
@@ -412,6 +431,11 @@ public class Main {
         NeuralNetworkModelManager.getInstance()
                 .initialize(ConfigManager.getInstance().getModelsDirectory());
 
+        if (isSmoketest) {
+            logger.info("PhotonVision base functionality loaded -- smoketest complete");
+            System.exit(0);
+        }
+
         if (!isTestMode) {
             logger.debug("Loading VisionSourceManager...");
             VisionSourceManager.getInstance()

photon-server/src/main/java/org/photonvision/server/DataSocketHandler.java

@@ -131,18 +131,16 @@ public class DataSocketHandler {
                         case SMT_DRIVERMODE:
                             {
                                 // TODO: what is this event?
-                                var data = (HashMap<String, Object>) entryValue;
-                                var dmExpEvent =
-                                        new IncomingWebSocketEvent<Integer>(
-                                                DataChangeDestination.DCD_ACTIVEMODULE, "driverExposure", data);
-                                var dmBrightEvent =
-                                        new IncomingWebSocketEvent<Integer>(
-                                                DataChangeDestination.DCD_ACTIVEMODULE, "driverBrightness", data);
+                                var data = (Boolean) entryValue;
                                 var dmIsDriverEvent =
                                         new IncomingWebSocketEvent<Boolean>(
-                                                DataChangeDestination.DCD_ACTIVEMODULE, "isDriver", data);
+                                                DataChangeDestination.DCD_ACTIVEMODULE,
+                                                "isDriverMode",
+                                                data,
+                                                cameraIndex,
+                                                context);
 
-                                dcService.publishEvents(dmExpEvent, dmBrightEvent, dmIsDriverEvent);
+                                dcService.publishEvents(dmIsDriverEvent);
                                 break;
                             }
                         case SMT_CHANGECAMERANAME:
@@ -350,8 +348,7 @@ public class DataSocketHandler {
         }
     }
 
-    private void sendMessage(Object message, WsContext user) throws JsonProcessingException {
-        ByteBuffer b = ByteBuffer.wrap(objectMapper.writeValueAsBytes(message));
+    private void sendMessage(ByteBuffer b, WsContext user) throws JsonProcessingException {
         if (user.session.isOpen()) {
             user.send(b);
         }
@@ -359,16 +356,18 @@ public class DataSocketHandler {
 
     public void broadcastMessage(Object message, WsContext userToSkip)
             throws JsonProcessingException {
+        ByteBuffer b = ByteBuffer.wrap(objectMapper.writeValueAsBytes(message));
+
         if (userToSkip == null) {
             for (WsContext user : users) {
-                sendMessage(message, user);
+                sendMessage(b, user);
             }
         } else {
             var skipUserPort = ((InetSocketAddress) userToSkip.session.getRemoteAddress()).getPort();
             for (WsContext user : users) {
                 var userPort = ((InetSocketAddress) user.session.getRemoteAddress()).getPort();
                 if (userPort != skipUserPort) {
-                    sendMessage(message, user);
+                    sendMessage(b, user);
                 }
             }
         }

photon-server/src/main/java/org/photonvision/server/RequestHandler.java

@@ -31,6 +31,9 @@ import java.util.HashMap;
 import java.util.Optional;
 import javax.imageio.ImageIO;
 import org.apache.commons.io.FileUtils;
+import org.opencv.core.MatOfByte;
+import org.opencv.core.MatOfInt;
+import org.opencv.imgcodecs.Imgcodecs;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.configuration.NetworkConfig;
 import org.photonvision.common.dataflow.DataChangeDestination;
@@ -580,6 +583,77 @@ public class RequestHandler {
         ctx.status(204);
     }
 
+    public static void onCalibrationSnapshotRequest(Context ctx) {
+        logger.info(ctx.queryString().toString());
+
+        int idx = Integer.parseInt(ctx.queryParam("cameraIdx"));
+        var width = Integer.parseInt(ctx.queryParam("width"));
+        var height = Integer.parseInt(ctx.queryParam("height"));
+        var observationIdx = Integer.parseInt(ctx.queryParam("snapshotIdx"));
+
+        CameraCalibrationCoefficients calList =
+                VisionModuleManager.getInstance()
+                        .getModule(idx)
+                        .getStateAsCameraConfig()
+                        .calibrations
+                        .stream()
+                        .filter(
+                                it ->
+                                        Math.abs(it.resolution.width - width) < 1e-4
+                                                && Math.abs(it.resolution.height - height) < 1e-4)
+                        .findFirst()
+                        .orElse(null);
+
+        if (calList == null || calList.observations.size() < observationIdx) {
+            ctx.status(404);
+            return;
+        }
+
+        // encode as jpeg to save even more space. reduces size of a 1280p image from 300k to 25k
+        var jpegBytes = new MatOfByte();
+        Imgcodecs.imencode(
+                ".jpg",
+                calList.observations.get(observationIdx).snapshotData.getAsMat(),
+                jpegBytes,
+                new MatOfInt(Imgcodecs.IMWRITE_JPEG_QUALITY, 60));
+
+        ctx.result(jpegBytes.toArray());
+        jpegBytes.release();
+
+        ctx.status(200);
+    }
+
+    public static void onCalibrationExportRequest(Context ctx) {
+        logger.info(ctx.queryString().toString());
+
+        int idx = Integer.parseInt(ctx.queryParam("cameraIdx"));
+        var width = Integer.parseInt(ctx.queryParam("width"));
+        var height = Integer.parseInt(ctx.queryParam("height"));
+
+        var cc = VisionModuleManager.getInstance().getModule(idx).getStateAsCameraConfig();
+
+        CameraCalibrationCoefficients calList =
+                cc.calibrations.stream()
+                        .filter(
+                                it ->
+                                        Math.abs(it.resolution.width - width) < 1e-4
+                                                && Math.abs(it.resolution.height - height) < 1e-4)
+                        .findFirst()
+                        .orElse(null);
+
+        if (calList == null) {
+            ctx.status(404);
+            return;
+        }
+
+        var filename = "photon_calibration_" + cc.uniqueName + "_" + width + "x" + height + ".json";
+        ctx.contentType("application/zip");
+        ctx.header("Content-Disposition", "attachment; filename=\"" + filename + "\"");
+        ctx.json(calList);
+
+        ctx.status(200);
+    }
+
     public static void onImageSnapshotsRequest(Context ctx) {
         var snapshots = new ArrayList<HashMap<String, Object>>();
         var cameraDirs = ConfigManager.getInstance().getImageSavePath().toFile().listFiles();

photon-server/src/main/java/org/photonvision/server/Server.java

@@ -130,6 +130,8 @@ public class Server {
         app.post("/api/utils/restartDevice", RequestHandler::onDeviceRestartRequest);
         app.post("/api/utils/publishMetrics", RequestHandler::onMetricsPublishRequest);
         app.get("/api/utils/getImageSnapshots", RequestHandler::onImageSnapshotsRequest);
+        app.get("/api/utils/getCalSnapshot", RequestHandler::onCalibrationSnapshotRequest);
+        app.get("/api/utils/getCalibrationJSON", RequestHandler::onCalibrationExportRequest);
 
         // Calibration
         app.post("/api/calibration/end", RequestHandler::onCalibrationEndRequest);

photonlib-cpp-examples/aimandrange/build.gradle

@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.2.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.2"
 
     id "com.dorongold.task-tree" version "2.1.0"
 }

photonlib-cpp-examples/aimattarget/build.gradle

@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.2.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.2"
 
     id "com.dorongold.task-tree" version "2.1.0"
 }

photonlib-cpp-examples/aimattarget/src/main/include/Robot.h

@@ -39,8 +39,8 @@ class Robot : public frc::TimedRobot {
   void TeleopPeriodic() override;
 
  private:
-  // Change this to match the name of your camera
-  photon::PhotonCamera camera{"photonvision"};
+  // Change this to match the name of your camera as shown in the web UI
+  photon::PhotonCamera camera{"YOUR_CAMERA_NAME_HERE"};
   // PID constants should be tuned per robot
   frc::PIDController controller{.1, 0, 0};
 

photonlib-cpp-examples/apriltagExample/build.gradle

@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.2.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.2"
 
     id "com.dorongold.task-tree" version "2.1.0"
 }

photonlib-cpp-examples/getinrange/build.gradle

@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.2.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.2"
 
     id "com.dorongold.task-tree" version "2.1.0"
 }

photonlib-cpp-examples/swervedriveposeestsim/build.gradle

@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.2.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.2"
 
     id "com.dorongold.task-tree" version "2.1.0"
 }
@@ -12,8 +12,8 @@ repositories {
 }
 
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = "2024.2.1"
-wpi.versions.wpimathVersion = "2024.2.1"
+wpi.versions.wpilibVersion = "2024.3.2"
+wpi.versions.wpimathVersion = "2024.3.2"
 
 apply from: "${rootDir}/../shared/examples_common.gradle"
 

photonlib-java-examples/aimandrange/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.2.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.2"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11

photonlib-java-examples/aimattarget/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.2.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.2"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11

photonlib-java-examples/aimattarget/src/main/java/frc/robot/Robot.java

@@ -48,8 +48,8 @@ public class Robot extends TimedRobot {
     // How far from the target we want to be
     final double GOAL_RANGE_METERS = Units.feetToMeters(3);
 
-    // Change this to match the name of your camera
-    PhotonCamera camera = new PhotonCamera("photonvision");
+    // Change this to match the name of your camera as shown in the web UI
+    PhotonCamera camera = new PhotonCamera("YOUR_CAMERA_NAME_HERE");
 
     // PID constants should be tuned per robot
     final double LINEAR_P = 0.1;

photonlib-java-examples/getinrange/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.2.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.2"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11

photonlib-java-examples/simaimandrange/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.2.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.2"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11

photonlib-java-examples/swervedriveposeestsim/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.2.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.2"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11
@@ -11,8 +11,8 @@ apply from: "${rootDir}/../shared/examples_common.gradle"
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = "2024.2.1"
-wpi.versions.wpimathVersion = "2024.2.1"
+wpi.versions.wpilibVersion = "2024.3.2"
+wpi.versions.wpimathVersion = "2024.3.2"
 
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

scripts/install.sh

@@ -80,6 +80,9 @@ if [[ "$DISTRO" = "Ubuntu" && "$INSTALL_NETWORK_MANAGER" != "true" && -z "$QUIET
   fi
 fi
 
+echo "Update package list"
+apt-get update
+
 echo "Installing curl..."
 apt-get install --yes curl
 echo "curl installation complete."
@@ -132,6 +135,13 @@ fi
 echo "Installing additional math packages"
 apt-get install --yes libcholmod3 liblapack3 libsuitesparseconfig5
 
+echo "Installing v4l-utils..."
+apt-get install --yes v4l-utils
+echo "v4l-utils installation complete."
+
+echo "Installing sqlite3"
+apt-get install --yes sqlite3
+
 echo "Downloading latest stable release of PhotonVision..."
 mkdir -p /opt/photonvision
 cd /opt/photonvision