Backport maven changes

Still in testing, might break our docs for now

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

@@ -26,7 +26,9 @@ const getUniqueVideoFormatsByResolution = (): VideoFormat[] => {
       const calib = useCameraSettingsStore().getCalibrationCoeffs(format.resolution);
       if (calib !== undefined) {
         // For each error, square it, sum the squares, and divide by total points N
-        format.mean = calib.meanErrors.reduce((a, b) => a + b) / calib.meanErrors.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);
@@ -102,7 +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");
           }
         }
@@ -256,7 +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-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java

@@ -395,6 +395,7 @@ 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-lib/py/photonlibpy/photonCamera.py

@@ -90,7 +90,7 @@ class PhotonCamera:
             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/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/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;
 }
 

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-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;