Backport maven changes

2026-06-21 01:01:41 +00:00 · 2024-08-02 08:19:07 -07:00
70 changed files with 430 additions and 1510 deletions
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -2,123 +2,14 @@ name: Build

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

 jobs:
-  build-client:
-    name: "PhotonClient Build"
-    defaults:
-      run:
-        working-directory: photon-client
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v4
-      - name: Setup Node.js
-        uses: actions/setup-node@v4
-        with:
-          node-version: 18
-      - name: Install Dependencies
-        run: npm ci
-      - name: Build Production Client
-        run: npm run build
-      - uses: actions/upload-artifact@v4
-        with:
-          name: built-client
-          path: photon-client/dist/
-  build-examples:
-    name: "Build Examples"
-    runs-on: ubuntu-22.04
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - name: Fetch tags
-        run: git fetch --tags --force
-      - name: Install Java 17
-        uses: actions/setup-java@v4
-        with:
-          java-version: 17
-          distribution: temurin
-      # Need to publish to maven local first, so that C++ sim can pick it up
-      # Still haven't figured out how to make the vendordep file be copied before trying to build examples
-      - name: Publish photonlib to maven local
-        run: |
-          chmod +x gradlew
-          ./gradlew publishtomavenlocal -x check
-      - name: Build Java examples
-        working-directory: photonlib-java-examples
-        run: |
-          chmod +x gradlew
-          ./gradlew copyPhotonlib -x check
-          ./gradlew build -x check --max-workers 2
-      - name: Build C++ examples
-        working-directory: photonlib-cpp-examples
-        run: |
-          chmod +x gradlew
-          ./gradlew copyPhotonlib -x check
-          ./gradlew build -x check --max-workers 2
-  build-gradle:
-    name: "Gradle Build"
-    runs-on: ubuntu-22.04
-    steps:
-      # Checkout code.
-      - name: Checkout code
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - name: Fetch tags
-        run: git fetch --tags --force
-      - name: Install Java 17
-        uses: actions/setup-java@v3
-        with:
-          java-version: 17
-          distribution: temurin
-      - name: Install mrcal deps
-        run: sudo apt-get update && sudo apt-get install -y libcholmod3 liblapack3 libsuitesparseconfig5
-      - name: Gradle Build
-        run: |
-          chmod +x gradlew
-          ./gradlew build -x check --max-workers 2
-      - name: Gradle Tests
-        run: ./gradlew testHeadless -i --max-workers 1 --stacktrace
-      - name: Gradle Coverage
-        run: ./gradlew jacocoTestReport --max-workers 1
-      - name: Publish Coverage Report
-        uses: codecov/codecov-action@v3
-        with:
-          file: ./photon-server/build/reports/jacoco/test/jacocoTestReport.xml
-      - name: Publish Core Coverage Report
-        uses: codecov/codecov-action@v3
-        with:
-          file: ./photon-core/build/reports/jacoco/test/jacocoTestReport.xml
-  build-offline-docs:
-    name: "Build Offline Docs"
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          repository: 'PhotonVision/photonvision-docs.git'
-          ref: master
-      - uses: actions/setup-python@v5
-        with:
-          python-version: '3.9'
-      - name: Install dependencies
-        run: |
-          python -m pip install --upgrade pip
-          pip install sphinx sphinx_rtd_theme sphinx-tabs sphinxext-opengraph doc8
-          pip install -r requirements.txt
-      - name: Build the docs
-        run: |
-          make html
-      - uses: actions/upload-artifact@master
-        with:
-          name: built-docs
-          path: build/html
  build-photonlib-host:
    env:
      MACOSX_DEPLOYMENT_TARGET: 12
@@ -188,179 +79,3 @@ jobs:
        env:
          ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
        if: github.event_name == 'push'
-  build-package:
-    needs: [build-client, build-gradle, build-offline-docs]
-
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: windows-latest
-            artifact-name: Win64
-            architecture: x64
-            arch-override: none
-          - os: macos-latest
-            artifact-name: macOS
-            architecture: x64
-            arch-override: none
-          - os: ubuntu-latest
-            artifact-name: Linux
-            architecture: x64
-            arch-override: none
-          - os: macos-latest
-            artifact-name: macOSArm
-            architecture: x64
-            arch-override: macarm64
-          - os: ubuntu-latest
-            artifact-name: LinuxArm32
-            architecture: x64
-            arch-override: linuxarm32
-          - os: ubuntu-latest
-            artifact-name: LinuxArm64
-            architecture: x64
-            arch-override: linuxarm64
-
-    runs-on: ${{ matrix.os }}
-    name: "Build fat JAR - ${{ matrix.artifact-name }}"
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - name: Install Java 17
-        uses: actions/setup-java@v4
-        with:
-          java-version: 17
-          distribution: temurin
-      - run: |
-          rm -rf photon-server/src/main/resources/web/*
-          mkdir -p photon-server/src/main/resources/web/docs
-        if: ${{ (matrix.os) != 'windows-latest' }}
-      - run: |
-          del photon-server\src\main\resources\web\*.*
-          mkdir photon-server\src\main\resources\web\docs
-        if: ${{ (matrix.os) == 'windows-latest' }}
-      - uses: actions/download-artifact@v4
-        with:
-          name: built-client
-          path: photon-server/src/main/resources/web/
-      - uses: actions/download-artifact@v4
-        with:
-          name: built-docs
-          path: photon-server/src/main/resources/web/docs
-      - run: |
-          chmod +x gradlew
-          ./gradlew photon-server:shadowJar --max-workers 2 -PArchOverride=${{ matrix.arch-override }}
-        if: ${{ (matrix.arch-override != 'none') }}
-      - run: |
-          chmod +x gradlew
-          ./gradlew photon-server:shadowJar --max-workers 2
-        if: ${{ (matrix.arch-override == 'none') }}
-      - uses: actions/upload-artifact@v4
-        with:
-          name: jar-${{ matrix.artifact-name }}
-          path: photon-server/build/libs
-  build-image:
-    needs: [build-package]
-
-    if: ${{ github.event_name != 'pull_request' }}
-
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: ubuntu-latest
-            artifact-name: LinuxArm64
-            image_suffix: RaspberryPi
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_raspi.img.xz
-            cpu: cortex-a7
-            image_additional_mb: 0
-          - os: ubuntu-latest
-            artifact-name: LinuxArm64
-            image_suffix: limelight2
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_limelight.img.xz
-            cpu: cortex-a7
-            image_additional_mb: 0
-          - os: ubuntu-latest
-            artifact-name: LinuxArm64
-            image_suffix: limelight3
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.5/photonvision_limelight3.img.xz
-            cpu: cortex-a7
-            image_additional_mb: 0
-          - os: ubuntu-latest
-            artifact-name: LinuxArm64
-            image_suffix: orangepi5
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.6/photonvision_opi5.img.xz
-            cpu: cortex-a8
-            image_additional_mb: 4096
-          - os: ubuntu-latest
-            artifact-name: LinuxArm64
-            image_suffix: orangepi5plus
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.6/photonvision_opi5plus.img.xz
-            cpu: cortex-a8
-            image_additional_mb: 4096
-
-    runs-on: ${{ matrix.os }}
-    name: "Build image - ${{ matrix.image_url }}"
-
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - uses: actions/download-artifact@v4
-        with:
-          name: jar-${{ matrix.artifact-name }}
-      - uses: pguyot/arm-runner-action@v2
-        name: Generate image
-        id: generate_image
-        with:
-          base_image: ${{ matrix.image_url }}
-          image_additional_mb: ${{ matrix.image_additional_mb }}
-          optimize_image: yes
-          cpu: ${{ matrix.cpu }}
-          # We do _not_ wanna copy photon into the image. Bind mount instead
-          bind_mount_repository: true
-          commands: |
-            chmod +x scripts/armrunner.sh
-            ./scripts/armrunner.sh
-      - name: Compress image
-        run: |
-          new_jar=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
-          new_image_name=$(basename "${new_jar/.jar/_${{ matrix.image_suffix }}.img}")
-          mv ${{ steps.generate_image.outputs.image }} $new_image_name
-          sudo xz -T 0 -v $new_image_name
-      - uses: actions/upload-artifact@v4
-        name: Upload image
-        with:
-          name: image-${{ matrix.image_suffix }}
-          path: photonvision*.xz
-  release:
-    needs: [build-package, build-image]
-    runs-on: ubuntu-22.04
-    steps:
-      # Download literally every single artifact. This also downloads client and docs,
-      # but the filtering below won't pick these up (I hope)
-      - uses: actions/download-artifact@v4
-      - run: find
-      # Push to dev release
-      - uses: pyTooling/Actions/releaser@r0
-        with:
-          token: ${{ secrets.GITHUB_TOKEN }}
-          tag: 'Dev'
-          rm: true
-          files: |
-            **/*.xz
-            **/*.jar
-            **/photonlib*.json
-        if: github.event_name == 'push'
-      # Upload all jars and xz archives
-      - uses: softprops/action-gh-release@v1
-        with:
-          files: |
-            **/*.xz
-            **/*.jar
-            **/photonlib*.json
-        if: startsWith(github.ref, 'refs/tags/v')
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
--- a/.github/workflows/documentation.yml
+++ b/.github/workflows/documentation.yml
@@ -1,86 +0,0 @@
-name: Documentation
-
-on:
-  push:
-    # For now, run on all commits to master
-    branches: [ master ]
-    # and also all tags starting with v
-    tags:
-      - 'v*'
-
-# Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
-permissions:
-  contents: read
-  pages: write
-  id-token: write
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build-client:
-    name: "PhotonClient Build"
-    defaults:
-      run:
-        working-directory: photon-client
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v4
-      - name: Setup Node.js
-        uses: actions/setup-node@v4
-        with:
-          node-version: 18
-      - name: Install Dependencies
-        run: npm ci
-      - name: Build Production Client
-        run: npm run build-demo
-      - uses: actions/upload-artifact@v4
-        with:
-          name: built-client
-          path: photon-client/dist/
-
-  run_docs:
-    runs-on: "ubuntu-22.04"
-    steps:
-    - name: Checkout code
-      uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
-    - name: Fetch tags
-      run: git fetch --tags --force
-    - name: Install Java 17
-      uses: actions/setup-java@v3
-      with:
-        java-version: 17
-        distribution: temurin
-
-    - name: Build javadocs/doxygen
-      run: |
-        chmod +x gradlew
-        ./gradlew docs:generateJavaDocs docs:doxygen
-
-    - uses: actions/upload-artifact@v4
-      with:
-        name: built-docs
-        path: docs/build/docs
-
-  release:
-    needs: [build-client, run_docs]
-
-    runs-on: ubuntu-22.04
-    steps:
-
-      # Download literally every single artifact.
-      - uses: actions/download-artifact@v4
-
-      - run: find .
-      - name: copy file via ssh password
-        uses: appleboy/scp-action@v0.1.7
-        with:
-          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/
--- a/.github/workflows/lint-format.yml
+++ b/.github/workflows/lint-format.yml
@@ -1,88 +0,0 @@
-name: Lint and Format
-
-on:
-  push:
-    branches: [ master ]
-    tags:
-      - 'v*'
-  pull_request:
-    branches: [ master ]
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  wpiformat:
-    name: "wpiformat"
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v3
-      - name: Fetch all history and metadata
-        run: |
-          git fetch --prune --unshallow
-          git checkout -b pr
-          git branch -f master origin/master
-      - name: Set up Python 3.8
-        uses: actions/setup-python@v4
-        with:
-          python-version: 3.8
-      - name: Install wpiformat
-        run: pip3 install wpiformat
-      - name: Run
-        run: wpiformat
-      - name: Check output
-        run: git --no-pager diff --exit-code HEAD
-      - name: Generate diff
-        run: git diff HEAD > wpiformat-fixes.patch
-        if: ${{ failure() }}
-      - uses: actions/upload-artifact@v3
-        with:
-          name: wpiformat fixes
-          path: wpiformat-fixes.patch
-        if: ${{ failure() }}
-  javaformat:
-    name: "Java Formatting"
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v3
-        with:
-          fetch-depth: 0
-      - uses: actions/setup-java@v3
-        with:
-          java-version: 17
-          distribution: temurin
-      - run: |
-          chmod +x gradlew
-          ./gradlew spotlessCheck
-
-  client-lint-format:
-    name: "PhotonClient Lint and Formatting"
-    defaults:
-      run:
-        working-directory: photon-client
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v3
-      - name: Setup Node.js
-        uses: actions/setup-node@v3
-        with:
-          node-version: 18
-      - name: Install Dependencies
-        run: npm ci
-      - name: Check Linting
-        run: npm run lint-ci
-      - name: Check Formatting
-        run: npm run format-ci
-  server-index:
-    name: "Check server index.html not changed"
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v3
-      - name: Fetch all history and metadata
-        run: |
-          git fetch --prune --unshallow
-          git checkout -b pr
-          git branch -f master origin/master
-      - name: Check index.html not changed
-        run: git --no-pager diff --exit-code origin/master photon-server/src/main/resources/web/index.html
--- a/.github/workflows/python.yml
+++ b/.github/workflows/python.yml
@@ -1,60 +0,0 @@
-name: Build and Distribute PhotonLibPy
-
-permissions:
-  id-token: write  # IMPORTANT: this permission is mandatory for trusted publishing
-
-on:
-  push:
-    branches: [ master ]
-    tags:
-      - 'v*'
-  pull_request:
-    branches: [ master ]
-
-jobs:
-  buildAndDeploy:
-    runs-on: ubuntu-latest
-
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: Set up Python
-        uses: actions/setup-python@v5
-        with:
-          python-version: 3.11
-
-      - name: Install dependencies
-        run: |
-          python -m pip install --upgrade pip
-          pip install setuptools wheel pytest
-
-      - name: Build wheel
-        working-directory: ./photon-lib/py
-        run: |
-          python setup.py sdist bdist_wheel
-
-      - name: Run Unit Tests
-        working-directory: ./photon-lib/py
-        run: |
-            pip install --no-cache-dir dist/*.whl
-            pytest
-
-
-      - name: Upload artifacts
-        uses: actions/upload-artifact@master
-        with:
-          name: dist
-          path: ./photon-lib/py/dist/
-
-      - name: Publish package distributions to TestPyPI
-        # Only upload on tags
-        if: startsWith(github.ref, 'refs/tags/v')
-        uses: pypa/gh-action-pypi-publish@release/v1
-        with:
-          packages_dir: ./photon-lib/py/dist/
-
-    permissions:
-      id-token: write  # IMPORTANT: this permission is mandatory for trusted publishing
--- a/build.gradle
+++ b/build.gradle
@@ -13,8 +13,9 @@ allprojects {
    repositories {
        mavenCentral()
        mavenLocal()
-        maven { url = "https://maven.photonvision.org/repository/internal/" }
-        maven { url = "https://maven.photonvision.org/repository/snapshots/" }
+        maven { url = "https://maven.photonvision.org/releases" }
+        maven { url = "https://maven.photonvision.org/snapshots" }
+        maven { url = "https://jogamp.org/deployment/maven/" }
    }
    wpilibRepositories.addAllReleaseRepositories(it)
    wpilibRepositories.addAllDevelopmentRepositories(it)
@@ -30,7 +31,7 @@ ext {
    joglVersion = "2.4.0-rc-20200307"
    javalinVersion = "5.6.2"
    photonGlDriverLibVersion = "dev-v2023.1.0-9-g75fc678"
-    rknnVersion = "dev-v2024.0.0-64-gc0836a6"
+    rknnVersion = "dev-v2024.0.0-30-g001b5ec"
    frcYear = "2024"
    mrcalVersion = "dev-v2024.0.0-7-gc976aaa";

@@ -50,6 +51,10 @@ ext {
    println("Building for platform " + jniPlatform + " wpilib: " + wpilibNativeName)
    println("Using Wpilib: " + wpilibVersion)
    println("Using OpenCV: " + openCVversion)
+
+
+    photonMavenURL = 'https://maven.photonvision.org/' + (isDev ? 'snapshots' : 'releases');
+    println("Publishing Photonlib to " + photonMavenURL)
 }

 spotless {
--- a/photon-client/src/components/cameras/CameraCalibrationCard.vue
+++ b/photon-client/src/components/cameras/CameraCalibrationCard.vue
@@ -25,10 +25,15 @@ 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
-        if (calib.meanErrors.length)
-          format.mean = calib.meanErrors.reduce((a, b) => a + b, 0) / calib.meanErrors.length;
-        else format.mean = NaN;
+        format.mean = Math.sqrt(
+          perViewSumSquareReprojectionError.map((it) => Math.pow(it, 2)).reduce((a, b) => a + b, 0) /
+            perViewSumSquareReprojectionError.length
+        );

        format.horizontalFOV =
          2 * Math.atan2(format.resolution.width / 2, calib.cameraIntrinsics.data[0]) * (180 / Math.PI);
@@ -104,7 +109,7 @@ const downloadCalibBoard = () => {
          const yPos = chessboardStartY + squareY * squareSizeIn.value;

          // Only draw the odd squares to create the chessboard pattern
-          if (squareY % 2 != squareX % 2) {
+          if ((xPos + yPos + 0.25) % 2 === 0) {
            doc.rect(xPos, yPos, squareSizeIn.value, squareSizeIn.value, "F");
          }
        }
@@ -258,7 +263,7 @@ const setSelectedVideoFormat = (format: VideoFormat) => {
              >
                <td>{{ getResolutionString(value.resolution) }}</td>
                <td>
-                  {{ value.mean !== undefined ? (isNaN(value.mean) ? "Unknown" : value.mean.toFixed(2) + "px") : "-" }}
+                  {{ value.mean !== undefined ? (isNaN(value.mean) ? "NaN" : value.mean.toFixed(2) + "px") : "-" }}
                </td>
                <td>{{ value.horizontalFOV !== undefined ? value.horizontalFOV.toFixed(2) + "°" : "-" }}</td>
                <td>{{ value.verticalFOV !== undefined ? value.verticalFOV.toFixed(2) + "°" : "-" }}</td>
--- a/photon-client/src/components/cameras/CameraCalibrationInfoCard.vue
+++ b/photon-client/src/components/cameras/CameraCalibrationInfoCard.vue
@@ -1,19 +1,51 @@
 <script setup lang="ts">
-import type { CameraCalibrationResult, VideoFormat } from "@/types/SettingTypes";
+import type { BoardObservation, CameraCalibrationResult, VideoFormat } from "@/types/SettingTypes";
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
 import { useStateStore } from "@/stores/StateStore";
-import { computed, inject, ref } from "vue";
+import { ref } from "vue";
+import loadingImage from "@/assets/images/loading.svg";
 import { getResolutionString, parseJsonFile } from "@/lib/PhotonUtils";

 const props = defineProps<{
  videoFormat: VideoFormat;
 }>();

-const exportCalibration = ref();
-const openExportCalibrationPrompt = () => {
-  exportCalibration.value.click();
+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
+  );
 };

+// 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();
@@ -65,28 +97,19 @@ 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 => {
-  const coefficients = currentCalibrationCoeffs.value;
-
-  return coefficients?.meanErrors.map((m, i) => ({
-    index: i,
-    mean: parseFloat(m.toFixed(2))
-  }));
+  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 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>
@@ -117,22 +140,19 @@ const calibrationImageURL = (index: number) =>
        <v-btn
          color="secondary"
          class="mt-4"
-          :disabled="!currentCalibrationCoeffs"
+          :disabled="useCameraSettingsStore().getCalibrationCoeffs(props.videoFormat.resolution) === undefined"
          style="width: 100%"
-          @click="openExportCalibrationPrompt"
+          @click="downloadCalibration"
        >
          <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="currentCalibrationCoeffs" class="pt-2">
+    <v-row
+      v-if="useCameraSettingsStore().getCalibrationCoeffs(props.videoFormat.resolution) !== undefined"
+      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>
@@ -211,9 +231,7 @@ const calibrationImageURL = (index: number) =>
            </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>
@@ -224,7 +242,11 @@ const calibrationImageURL = (index: number) =>
              <td>{{ videoFormat.diagonalFOV !== undefined ? videoFormat.diagonalFOV.toFixed(2) + "°" : "-" }}</td>
            </tr>
            <!-- Board warp, only shown for mrcal-calibrated cameras -->
-            <tr v-if="currentCalibrationCoeffs?.calobjectWarp?.length === 2">
+            <tr
+              v-if="
+                useCameraSettingsStore().getCalibrationCoeffs(props.videoFormat.resolution)?.calobjectWarp?.length === 2
+              "
+            >
              <td>Board warp, X/Y</td>
              <td>
                {{
@@ -256,7 +278,7 @@ const calibrationImageURL = (index: number) =>
        <template #expanded-item="{ headers, item }">
          <td :colspan="headers.length">
            <div style="display: flex; justify-content: center; width: 100%">
-              <img :src="calibrationImageURL(item.index)" alt="observation image" class="snapshot-preview pt-2 pb-2" />
+              <img :src="item.snapshotSrc" alt="observation image" class="snapshot-preview pt-2 pb-2" />
            </div>
          </td>
        </template>
--- a/photon-client/src/components/dashboard/tabs/ObjectDetectionTab.vue
+++ b/photon-client/src/components/dashboard/tabs/ObjectDetectionTab.vue
@@ -11,16 +11,6 @@ const currentPipelineSettings = computed<ActivePipelineSettings>(
  () => useCameraSettingsStore().currentPipelineSettings
 );

-// TODO fix pv-range-slider so that store access doesn't need to be deferred
-const contourArea = computed<[number, number]>({
-  get: () => Object.values(useCameraSettingsStore().currentPipelineSettings.contourArea) as [number, number],
-  set: (v) => (useCameraSettingsStore().currentPipelineSettings.contourArea = v)
-});
-const contourRatio = computed<[number, number]>({
-  get: () => Object.values(useCameraSettingsStore().currentPipelineSettings.contourRatio) as [number, number],
-  set: (v) => (useCameraSettingsStore().currentPipelineSettings.contourRatio = v)
-});
-
 const interactiveCols = computed(() =>
  (getCurrentInstance()?.proxy.$vuetify.breakpoint.mdAndDown || false) &&
  (!useStateStore().sidebarFolded || useCameraSettingsStore().isDriverMode)
@@ -42,42 +32,5 @@ const interactiveCols = computed(() =>
      :step="0.01"
      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ confidence: value }, false)"
    />
-    <pv-range-slider
-      v-model="contourArea"
-      label="Area"
-      :min="0"
-      :max="100"
-      :slider-cols="interactiveCols"
-      :step="0.01"
-      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourArea: value }, false)"
-    />
-    <pv-range-slider
-      v-model="contourRatio"
-      label="Ratio (W/H)"
-      tooltip="Min and max ratio between the width and height of a contour's bounding rectangle"
-      :min="0"
-      :max="100"
-      :slider-cols="interactiveCols"
-      :step="0.01"
-      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourRatio: value }, false)"
-    />
-    <pv-select
-      v-model="useCameraSettingsStore().currentPipelineSettings.contourTargetOrientation"
-      label="Target Orientation"
-      tooltip="Used to determine how to calculate target landmarks, as well as aspect ratio"
-      :items="['Portrait', 'Landscape']"
-      :select-cols="interactiveCols"
-      @input="
-        (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourTargetOrientation: value }, false)
-      "
-    />
-    <pv-select
-      v-model="currentPipelineSettings.contourSortMode"
-      label="Target Sort"
-      tooltip="Chooses the sorting mode used to determine the 'best' targets to provide to user code"
-      :select-cols="interactiveCols"
-      :items="['Largest', 'Smallest', 'Highest', 'Lowest', 'Rightmost', 'Leftmost', 'Centermost']"
-      @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourSortMode: value }, false)"
-    />
  </div>
 </template>
--- a/photon-client/src/components/settings/MetricsCard.vue
+++ b/photon-client/src/components/settings/MetricsCard.vue
@@ -27,54 +27,42 @@ const generalMetrics = computed<MetricItem[]>(() => [
    value: useSettingsStore().general.gpuAcceleration || "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 ${useSettingsStore().metrics.gpuMem}MB`
-    },
-    {
-      header: "CPU Throttling",
-      value: useSettingsStore().metrics.cpuThr || "Unknown"
-    },
-    {
-      header: "CPU Uptime",
-      value: useSettingsStore().metrics.cpuUptime || "Unknown"
-    },
-    {
-      header: "Disk Usage",
-      value: useSettingsStore().metrics.diskUtilPct || "Unknown"
-    }
-  ];
-
-  if (useSettingsStore().metrics.npuUsage) {
-    stats.push({
-      header: "NPU Usage",
-      value: useSettingsStore().metrics.npuUsage || "Unknown"
-    });
+const platformMetrics = computed<MetricItem[]>(() => [
+  {
+    header: "CPU Temp",
+    value: useSettingsStore().metrics.cpuTemp === undefined ? "Unknown" : `${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"
  }
-
-  return stats;
-});
+]);

 const metricsLastFetched = ref("Never");
 const fetchMetrics = () => {
--- a/photon-client/src/components/settings/NetworkingCard.vue
+++ b/photon-client/src/components/settings/NetworkingCard.vue
@@ -59,8 +59,7 @@ const settingsHaveChanged = (): boolean => {
    a.shouldPublishProto !== b.shouldPublishProto ||
    a.networkManagerIface !== b.networkManagerIface ||
    a.setStaticCommand !== b.setStaticCommand ||
-    a.setDHCPcommand !== b.setDHCPcommand ||
-    a.matchCamerasOnlyByPath !== b.matchCamerasOnlyByPath
+    a.setDHCPcommand !== b.setDHCPcommand
  );
 };

@@ -78,7 +77,6 @@ const saveGeneralSettings = () => {
    setStaticCommand: tempSettingsStruct.value.setStaticCommand || "",
    shouldManage: tempSettingsStruct.value.shouldManage,
    shouldPublishProto: tempSettingsStruct.value.shouldPublishProto,
-    matchCamerasOnlyByPath: tempSettingsStruct.value.matchCamerasOnlyByPath,
    staticIp: tempSettingsStruct.value.staticIp
  };

@@ -139,8 +137,6 @@ 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">
@@ -258,9 +254,6 @@ 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"
@@ -279,14 +272,6 @@ 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="Match cameras by-path ONLY"
-          tooltip="ONLY match cameras by the USB port they're plugged into + (basename or USB VID/PID), and never only by the device product string"
-          class="mt-3 mb-2"
-          :label-cols="4"
-        />
-        <v-divider class="mb-3" />
      </v-form>
      <v-btn
        color="accent"
--- a/photon-client/src/stores/settings/CameraSettingsStore.ts
+++ b/photon-client/src/stores/settings/CameraSettingsStore.ts
@@ -416,23 +416,6 @@ 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;
    }
  }
 });
--- a/photon-client/src/stores/settings/GeneralSettingsStore.ts
+++ b/photon-client/src/stores/settings/GeneralSettingsStore.ts
@@ -44,9 +44,7 @@ export const useSettingsStore = defineStore("settings", {
          connName: "Example Wired Connection",
          devName: "eth0"
        }
-      ],
-      networkingDisabled: false,
-      matchCamerasOnlyByPath: false
+      ]
    },
    lighting: {
      supported: true,
@@ -61,8 +59,7 @@ export const useSettingsStore = defineStore("settings", {
      gpuMemUtil: undefined,
      cpuThr: undefined,
      cpuUptime: undefined,
-      diskUtilPct: undefined,
-      npuUsage: undefined
+      diskUtilPct: undefined
    },
    currentFieldLayout: {
      field: {
@@ -94,8 +91,7 @@ export const useSettingsStore = defineStore("settings", {
        gpuMemUtil: data.gpuMemUtil || undefined,
        cpuThr: data.cpuThr || undefined,
        cpuUptime: data.cpuUptime || undefined,
-        diskUtilPct: data.diskUtilPct || undefined,
-        npuUsage: data.npuUsage || undefined
+        diskUtilPct: data.diskUtilPct || undefined
      };
    },
    updateGeneralSettingsFromWebsocket(data: WebsocketSettingsUpdate) {
--- a/photon-client/src/types/SettingTypes.ts
+++ b/photon-client/src/types/SettingTypes.ts
@@ -20,7 +20,6 @@ export interface MetricData {
  cpuThr?: string;
  cpuUptime?: string;
  diskUtilPct?: string;
-  npuUsage?: string;
 }

 export enum NetworkConnectionType {
@@ -47,7 +46,6 @@ export interface NetworkSettings {
  setDHCPcommand?: string;
  networkInterfaceNames: NetworkInterfaceType[];
  networkingDisabled: boolean;
-  matchCamerasOnlyByPath: boolean;
 }

 export type ConfigurableNetworkSettings = Omit<
@@ -140,9 +138,6 @@ 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 {
@@ -260,9 +255,7 @@ 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"],
--- a/photon-core/build.gradle
+++ b/photon-core/build.gradle
@@ -37,8 +37,9 @@ dependencies {
    implementation 'org.zeroturnaround:zt-zip:1.14'

    implementation "org.xerial:sqlite-jdbc:3.41.0.0"
-    implementation "org.photonvision:rknn_jni-jni:$rknnVersion:linuxarm64"
-    implementation "org.photonvision:rknn_jni-java:$rknnVersion"
+    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:photon-libcamera-gl-driver-jni:$photonGlDriverLibVersion:linuxarm64"
    implementation "org.photonvision:photon-libcamera-gl-driver-java:$photonGlDriverLibVersion"

--- a/photon-core/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java
@@ -23,7 +23,6 @@ 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;
@@ -52,12 +51,6 @@ 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;
@@ -105,9 +98,7 @@ public class CameraConfiguration {
            @JsonProperty("cameraType") CameraType cameraType,
            @JsonProperty("cameraQuirks") QuirkyCamera cameraQuirks,
            @JsonProperty("calibration") List<CameraCalibrationCoefficients> calibrations,
-            @JsonProperty("currentPipelineIndex") int currentPipelineIndex,
-            @JsonProperty("usbVID") int usbVID,
-            @JsonProperty("usbPID") int usbPID) {
+            @JsonProperty("currentPipelineIndex") int currentPipelineIndex) {
        this.baseName = baseName;
        this.uniqueName = uniqueName;
        this.nickname = nickname;
@@ -117,8 +108,6 @@ 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 "
@@ -167,17 +156,6 @@ 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="
--- a/photon-core/src/main/java/org/photonvision/common/configuration/HardwareSettings.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/HardwareSettings.java
@@ -20,24 +20,6 @@ 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 + "]";
--- a/photon-core/src/main/java/org/photonvision/common/configuration/NetworkConfig.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/NetworkConfig.java
@@ -39,12 +39,6 @@ public class NetworkConfig {
    public boolean shouldManage;
    public boolean shouldPublishProto = false;

-    /**
-     * If we should ONLY match cameras by path, and NEVER only by base-name. For now default to false
-     * to preserve old matching logic
-     */
-    public boolean matchCamerasOnlyByPath = false;
-
    @JsonIgnore public static final String NM_IFACE_STRING = "${interface}";
    @JsonIgnore public static final String NM_IP_STRING = "${ipaddr}";

@@ -82,8 +76,7 @@ public class NetworkConfig {
            @JsonProperty("shouldPublishProto") boolean shouldPublishProto,
            @JsonProperty("networkManagerIface") String networkManagerIface,
            @JsonProperty("setStaticCommand") String setStaticCommand,
-            @JsonProperty("setDHCPcommand") String setDHCPcommand,
-            @JsonProperty("matchCamerasOnlyByPath") boolean matchCamerasOnlyByPath) {
+            @JsonProperty("setDHCPcommand") String setDHCPcommand) {
        this.ntServerAddress = ntServerAddress;
        this.connectionType = connectionType;
        this.staticIp = staticIp;
@@ -93,7 +86,6 @@ public class NetworkConfig {
        this.networkManagerIface = networkManagerIface;
        this.setStaticCommand = setStaticCommand;
        this.setDHCPcommand = setDHCPcommand;
-        this.matchCamerasOnlyByPath = matchCamerasOnlyByPath;
        setShouldManage(shouldManage);
    }

--- a/photon-core/src/main/java/org/photonvision/common/configuration/NeuralNetworkModelManager.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/NeuralNetworkModelManager.java
@@ -25,14 +25,12 @@ 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;

@@ -53,7 +51,7 @@ public class NeuralNetworkModelManager {
        this.defaultModelFile = new File(modelsFolder, MODEL_NAME);
        extractResource(modelResourcePath, defaultModelFile);

-        File labelsFile = new File(modelsFolder, "labels_v5.txt");
+        File labelsFile = new File(modelsFolder, "labels.txt");
        var labelResourcePath = "/models/" + labelsFile.getName();
        extractResource(labelResourcePath, labelsFile);

@@ -97,8 +95,4 @@ public class NeuralNetworkModelManager {
    public List<String> getLabels() {
        return labels;
    }
-
-    public RknnJNI.ModelVersion getModelVersion() {
-        return modelVersion;
-    }
 }
--- a/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
+++ b/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.UICameraCalibrationCoefficients;
+import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.processes.VisionModule;
 import org.photonvision.vision.processes.VisionModuleManager;
@@ -126,6 +126,13 @@ 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();
@@ -174,7 +181,7 @@ public class PhotonConfiguration {
        public HashMap<Integer, HashMap<String, Object>> videoFormatList;
        public int outputStreamPort;
        public int inputStreamPort;
-        public List<UICameraCalibrationCoefficients> calibrations;
+        public List<CameraCalibrationCoefficients> calibrations;
        public boolean isFovConfigurable = true;
        public QuirkyCamera cameraQuirks;
        public boolean isCSICamera;
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIDataPublisher.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIDataPublisher.java
@@ -26,7 +26,6 @@ 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);
@@ -42,22 +41,16 @@ public class UIDataPublisher implements CVPipelineResultConsumer {
    public void accept(CVPipelineResult result) {
        long now = System.currentTimeMillis();

-        // only update the UI at 10hz
+        // only update the UI at 15hz
        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());
-
-        // 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());
-            }
+        for (var t : result.targets) {
+            uiTargets.add(t.toHashMap());
        }
-
        dataMap.put("targets", uiTargets);
        dataMap.put("classNames", result.objectDetectionClassNames);

--- a/photon-core/src/main/java/org/photonvision/common/hardware/metrics/MetricsManager.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/metrics/MetricsManager.java
@@ -92,10 +92,6 @@ public class MetricsManager {
        return safeExecute(cmds.cpuThrottleReasonCmd);
    }

-    public String getNpuUsage() {
-        return safeExecute(cmds.npuUsageCommand);
-    }
-
    private String gpuMemSave = null;

    public String getGPUMemorySplit() {
@@ -132,7 +128,6 @@ 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));
    }
--- a/photon-core/src/main/java/org/photonvision/common/hardware/metrics/cmds/CmdBase.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/metrics/cmds/CmdBase.java
@@ -29,8 +29,6 @@ public class CmdBase {
    // GPU
    public String gpuMemoryCommand = "";
    public String gpuMemUsageCommand = "";
-    // NPU
-    public String npuUsageCommand = "";
    // RAM
    public String ramUsageCommand = "";
    // Disk
--- a/photon-core/src/main/java/org/photonvision/common/hardware/metrics/cmds/RK3588Cmds.java
+++ b/photon-core/src/main/java/org/photonvision/common/hardware/metrics/cmds/RK3588Cmds.java
@@ -44,7 +44,5 @@ public class RK3588Cmds extends LinuxCmds {
         */
        cpuTemperatureCommand =
                "cat /sys/class/thermal/thermal_zone1/temp | awk '{printf \"%.1f\", $1/1000}'";
-
-        npuUsageCommand = "cat /sys/kernel/debug/rknpu/load | sed 's/NPU load://; s/^ *//; s/ *$//'";
    }
 }
--- a/photon-core/src/main/java/org/photonvision/jni/RknnDetectorJNI.java
+++ b/photon-core/src/main/java/org/photonvision/jni/RknnDetectorJNI.java
@@ -65,11 +65,12 @@ public class RknnDetectorJNI extends PhotonJNICommon {
        long objPointer = -1;
        private List<String> labels;
        private final Object lock = new Object();
+
        private static final CopyOnWriteArrayList<Long> detectors = new CopyOnWriteArrayList<>();

-        public RknnObjectDetector(String modelPath, List<String> labels, RknnJNI.ModelVersion version) {
+        public RknnObjectDetector(String modelPath, List<String> labels) {
            synchronized (lock) {
-                objPointer = RknnJNI.create(modelPath, labels.size(), version.ordinal(), -1);
+                objPointer = RknnJNI.create(modelPath, labels.size());
                detectors.add(objPointer);
                System.out.println(
                        "Created " + objPointer + "! Detectors: " + Arrays.toString(detectors.toArray()));
--- a/photon-core/src/main/java/org/photonvision/mrcal/MrCalJNILoader.java
+++ b/photon-core/src/main/java/org/photonvision/mrcal/MrCalJNILoader.java
@@ -53,7 +53,6 @@ public class MrCalJNILoader extends PhotonJNICommon {
                            "libcolamd",
                            "libccolamd",
                            "openblas",
-                            "libwinpthread-1",
                            "libgcc_s_seh-1",
                            "libquadmath-0",
                            "libgfortran-5",
--- a/photon-core/src/main/java/org/photonvision/vision/calibration/BoardObservation.java
+++ b/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 implements Cloneable {
+public final class BoardObservation {
    // Expected feature 3d location in the camera frame
    @JsonProperty("locationInObjectSpace")
    public List<Point3> locationInObjectSpace;
@@ -68,33 +68,4 @@ public final class BoardObservation implements Cloneable {
        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;
-        }
-    }
 }
--- a/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java
+++ b/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java
@@ -191,8 +191,8 @@ public class CameraCalibrationCoefficients implements Releasable {
                + cameraIntrinsics
                + ", distCoeffs="
                + distCoeffs
-                + ", observationslen="
-                + observations.size()
+                + ", observations="
+                + observations
                + ", calobjectWarp="
                + Arrays.toString(calobjectWarp)
                + ", intrinsicsArr="
@@ -201,16 +201,4 @@ public class CameraCalibrationCoefficients implements Releasable {
                + Arrays.toString(distCoeffsArr)
                + "]";
    }
-
-    public UICameraCalibrationCoefficients cloneWithoutObservations() {
-        return new UICameraCalibrationCoefficients(
-                resolution,
-                cameraIntrinsics,
-                distCoeffs,
-                calobjectWarp,
-                observations,
-                calobjectSize,
-                calobjectSpacing,
-                lensmodel);
-    }
 }
--- a/photon-core/src/main/java/org/photonvision/vision/calibration/JsonImageMat.java
+++ b/photon-core/src/main/java/org/photonvision/vision/calibration/JsonImageMat.java
@@ -76,17 +76,4 @@ 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()
-                + "]";
-    }
 }
--- a/photon-core/src/main/java/org/photonvision/vision/calibration/JsonMatOfDouble.java
+++ b/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;

-    @JsonIgnore private MatOfDouble wrappedMatOfDouble;
+    private MatOfDouble wrappedMatOfDouble;

    public JsonMatOfDouble(int rows, int cols, double[] data) {
        this(rows, cols, CvType.CV_64FC1, data);
--- a/photon-core/src/main/java/org/photonvision/vision/calibration/UICameraCalibrationCoefficients.java
+++ b/photon-core/src/main/java/org/photonvision/vision/calibration/UICameraCalibrationCoefficients.java
@@ -1,59 +0,0 @@
-/*
- * Copyright (C) Photon Vision.
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- */
-
-package org.photonvision.vision.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());
-    }
-}
--- a/photon-core/src/main/java/org/photonvision/vision/camera/CameraInfo.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/CameraInfo.java
@@ -19,7 +19,6 @@ package org.photonvision.vision.camera;

 import edu.wpi.first.cscore.UsbCameraInfo;
 import java.util.Arrays;
-import java.util.Optional;

 public class CameraInfo extends UsbCameraInfo {
    public final CameraType cameraType;
@@ -69,16 +68,6 @@ 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;
@@ -90,19 +79,4 @@ public class CameraInfo extends UsbCameraInfo {
                && productId == other.productId
                && vendorId == other.vendorId;
    }
-
-    @Override
-    public String toString() {
-        return "CameraInfo [cameraType="
-                + cameraType
-                + "baseName="
-                + getBaseName()
-                + ", vid="
-                + vendorId
-                + ", pid="
-                + productId
-                + ", otherPaths="
-                + Arrays.toString(otherPaths)
-                + "]";
-    }
 }
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
@@ -49,17 +49,9 @@ public class USBCameraSource extends VisionSource {
        super(config);

        logger = new Logger(USBCameraSource.class, config.nickname, LogGroup.Camera);
-        // 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));
+        camera = new UsbCamera(config.nickname, 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(
@@ -403,7 +395,6 @@ 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);
--- a/photon-core/src/main/java/org/photonvision/vision/opencv/Contour.java
+++ b/photon-core/src/main/java/org/photonvision/vision/opencv/Contour.java
@@ -47,16 +47,6 @@ public class Contour implements Releasable {
        this.mat = mat;
    }

-    public Contour(Rect2d box) {
-        // no easy way to convert a Rect2d to Mat, diy it. Order is tl tr br bl
-        this.mat =
-                new MatOfPoint(
-                        box.tl(),
-                        new Point(box.x + box.width, box.y),
-                        box.br(),
-                        new Point(box.x, box.y + box.height));
-    }
-
    public MatOfPoint2f getMat2f() {
        if (mat2f == null) {
            mat2f = new MatOfPoint2f(mat.toArray());
--- a/photon-core/src/main/java/org/photonvision/vision/opencv/ContourSortMode.java
+++ b/photon-core/src/main/java/org/photonvision/vision/opencv/ContourSortMode.java
@@ -25,15 +25,15 @@ public enum ContourSortMode {
            Comparator.comparingDouble(PotentialTarget::getArea)
                    .reversed()), // reversed so that zero index has the largest size
    Smallest(Largest.getComparator().reversed()),
-    Highest(Comparator.comparingDouble(tgt -> tgt.getMinAreaRect().center.y)),
+    Highest(Comparator.comparingDouble(rect -> rect.getMinAreaRect().center.y)),
    Lowest(Highest.getComparator().reversed()),
-    Leftmost(Comparator.comparingDouble(tgt -> tgt.getMinAreaRect().center.x * -1)),
+    Leftmost(Comparator.comparingDouble(target -> target.getMinAreaRect().center.x * -1)),
    Rightmost(Leftmost.getComparator().reversed()),
    Centermost(
            Comparator.comparingDouble(
-                    tgt ->
-                            (Math.pow(tgt.getMinAreaRect().center.y, 2)
-                                    + Math.pow(tgt.getMinAreaRect().center.x, 2))));
+                    rect ->
+                            (Math.pow(rect.getMinAreaRect().center.y, 2)
+                                    + Math.pow(rect.getMinAreaRect().center.x, 2))));

    private final Comparator<PotentialTarget> m_comparator;

--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FilterObjectDetectionsPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FilterObjectDetectionsPipe.java
@@ -1,89 +0,0 @@
-/*
- * Copyright (C) Photon Vision.
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- */
-
-package org.photonvision.vision.pipe.impl;
-
-import java.util.ArrayList;
-import java.util.List;
-import org.photonvision.common.util.numbers.DoubleCouple;
-import org.photonvision.vision.frame.FrameStaticProperties;
-import org.photonvision.vision.pipe.CVPipe;
-
-public class FilterObjectDetectionsPipe
-        extends CVPipe<
-                List<NeuralNetworkPipeResult>,
-                List<NeuralNetworkPipeResult>,
-                FilterObjectDetectionsPipe.FilterContoursParams> {
-    List<NeuralNetworkPipeResult> m_filteredContours = new ArrayList<>();
-
-    @Override
-    protected List<NeuralNetworkPipeResult> process(List<NeuralNetworkPipeResult> in) {
-        m_filteredContours.clear();
-        for (var contour : in) {
-            filterContour(contour);
-        }
-
-        return m_filteredContours;
-    }
-
-    private void filterContour(NeuralNetworkPipeResult contour) {
-        var boc = contour.box;
-
-        // Area filtering
-        double areaPercentage = boc.area() / params.getFrameStaticProperties().imageArea * 100.0;
-        double minAreaPercentage = params.getArea().getFirst();
-        double maxAreaPercentage = params.getArea().getSecond();
-        if (areaPercentage < minAreaPercentage || areaPercentage > maxAreaPercentage) return;
-
-        // Aspect ratio filtering; much simpler since always axis-aligned
-        double aspectRatio = boc.width / boc.height;
-        if (aspectRatio < params.getRatio().getFirst() || aspectRatio > params.getRatio().getSecond())
-            return;
-
-        m_filteredContours.add(contour);
-    }
-
-    public static class FilterContoursParams {
-        private final DoubleCouple m_area;
-        private final DoubleCouple m_ratio;
-        private final FrameStaticProperties m_frameStaticProperties;
-        public final boolean isLandscape;
-
-        public FilterContoursParams(
-                DoubleCouple area,
-                DoubleCouple ratio,
-                FrameStaticProperties camProperties,
-                boolean isLandscape) {
-            this.m_area = area;
-            this.m_ratio = ratio;
-            this.m_frameStaticProperties = camProperties;
-            this.isLandscape = isLandscape;
-        }
-
-        public DoubleCouple getArea() {
-            return m_area;
-        }
-
-        public DoubleCouple getRatio() {
-            return m_ratio;
-        }
-
-        public FrameStaticProperties getFrameStaticProperties() {
-            return m_frameStaticProperties;
-        }
-    }
-}
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/RknnDetectionPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/RknnDetectionPipe.java
@@ -35,8 +35,7 @@ public class RknnDetectionPipe
        this.detector =
                new RknnObjectDetector(
                        NeuralNetworkModelManager.getInstance().getDefaultRknnModel().getAbsolutePath(),
-                        NeuralNetworkModelManager.getInstance().getLabels(),
-                        NeuralNetworkModelManager.getInstance().getModelVersion());
+                        NeuralNetworkModelManager.getInstance().getLabels());
    }

    @Override
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/SortContoursPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/SortContoursPipe.java
@@ -42,7 +42,6 @@ public class SortContoursPipe
            if (params.getSortMode() != ContourSortMode.Centermost) {
                m_sortedContours.sort(params.getSortMode().getComparator());
            } else {
-                // we need knowledge of camera properties to calculate this distance -- do it ourselves
                m_sortedContours.sort(Comparator.comparingDouble(this::calcSquareCenterDistance));
            }
        }
@@ -51,10 +50,10 @@ public class SortContoursPipe
                m_sortedContours.subList(0, Math.min(in.size(), params.getMaxTargets())));
    }

-    private double calcSquareCenterDistance(PotentialTarget tgt) {
+    private double calcSquareCenterDistance(PotentialTarget rect) {
        return Math.sqrt(
-                Math.pow(params.getCamProperties().centerX - tgt.getMinAreaRect().center.x, 2)
-                        + Math.pow(params.getCamProperties().centerY - tgt.getMinAreaRect().center.y, 2));
+                Math.pow(params.getCamProperties().centerX - rect.getMinAreaRect().center.x, 2)
+                        + Math.pow(params.getCamProperties().centerY - rect.getMinAreaRect().center.y, 2));
    }

    public static class SortContoursParams {
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/CVPipeline.java
@@ -26,8 +26,6 @@ import org.photonvision.vision.pipeline.result.CVPipelineResult;

 public abstract class CVPipeline<R extends CVPipelineResult, S extends CVPipelineSettings>
        implements Releasable {
-    static final int MAX_MULTI_TARGET_RESULTS = 10;
-
    protected S settings;
    protected FrameStaticProperties frameStaticProperties;
    protected QuirkyCamera cameraQuirks;
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java
@@ -109,7 +109,7 @@ public class ColoredShapePipeline
        SortContoursPipe.SortContoursParams sortContoursParams =
                new SortContoursPipe.SortContoursParams(
                        settings.contourSortMode,
-                        settings.outputShowMultipleTargets ? MAX_MULTI_TARGET_RESULTS : 1,
+                        settings.outputShowMultipleTargets ? 5 : 1,
                        frameStaticProperties); // TODO don't hardcode?
        sortContoursPipe.setParams(sortContoursParams);

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

 package org.photonvision.vision.pipeline;

+import java.util.ArrayList;
 import java.util.List;
-import java.util.stream.Collectors;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.FrameThresholdType;
-import org.photonvision.vision.opencv.DualOffsetValues;
 import org.photonvision.vision.pipe.CVPipe.CVPipeResult;
 import org.photonvision.vision.pipe.impl.*;
 import org.photonvision.vision.pipe.impl.RknnDetectionPipe.RknnDetectionPipeParams;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
-import org.photonvision.vision.target.PotentialTarget;
-import org.photonvision.vision.target.TargetOrientation;
 import org.photonvision.vision.target.TrackedTarget;
+import org.photonvision.vision.target.TrackedTarget.TargetCalculationParameters;

 public class ObjectDetectionPipeline
        extends CVPipeline<CVPipelineResult, ObjectDetectionPipelineSettings> {
    private final CalculateFPSPipe calculateFPSPipe = new CalculateFPSPipe();
    private final RknnDetectionPipe rknnPipe = new RknnDetectionPipe();
-    private final SortContoursPipe sortContoursPipe = new SortContoursPipe();
-    private final Collect2dTargetsPipe collect2dTargetsPipe = new Collect2dTargetsPipe();
-    private final FilterObjectDetectionsPipe filterContoursPipe = new FilterObjectDetectionsPipe();

    private static final FrameThresholdType PROCESSING_TYPE = FrameThresholdType.NONE;

@@ -57,38 +52,6 @@ public class ObjectDetectionPipeline
        params.confidence = settings.confidence;
        params.nms = settings.nms;
        rknnPipe.setParams(params);
-
-        DualOffsetValues dualOffsetValues =
-                new DualOffsetValues(
-                        settings.offsetDualPointA,
-                        settings.offsetDualPointAArea,
-                        settings.offsetDualPointB,
-                        settings.offsetDualPointBArea);
-
-        SortContoursPipe.SortContoursParams sortContoursParams =
-                new SortContoursPipe.SortContoursParams(
-                        settings.contourSortMode,
-                        settings.outputShowMultipleTargets ? MAX_MULTI_TARGET_RESULTS : 1,
-                        frameStaticProperties);
-        sortContoursPipe.setParams(sortContoursParams);
-
-        var filterContoursParams =
-                new FilterObjectDetectionsPipe.FilterContoursParams(
-                        settings.contourArea,
-                        settings.contourRatio,
-                        frameStaticProperties,
-                        settings.contourTargetOrientation == TargetOrientation.Landscape);
-        filterContoursPipe.setParams(filterContoursParams);
-
-        Collect2dTargetsPipe.Collect2dTargetsParams collect2dTargetsParams =
-                new Collect2dTargetsPipe.Collect2dTargetsParams(
-                        settings.offsetRobotOffsetMode,
-                        settings.offsetSinglePoint,
-                        dualOffsetValues,
-                        settings.contourTargetOffsetPointEdge,
-                        settings.contourTargetOrientation,
-                        frameStaticProperties);
-        collect2dTargetsPipe.setParams(collect2dTargetsParams);
    }

    @Override
@@ -97,35 +60,31 @@ public class ObjectDetectionPipeline

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

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

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

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

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

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

-        CVPipeResult<List<PotentialTarget>> sortContoursResult =
-                sortContoursPipe.run(
-                        filterContoursResult.output.stream()
-                                .map(shape -> new PotentialTarget(shape))
-                                .collect(Collectors.toList()));
-        sumPipeNanosElapsed += sortContoursResult.nanosElapsed;
-
-        CVPipeResult<List<TrackedTarget>> collect2dTargetsResult =
-                collect2dTargetsPipe.run(sortContoursResult.output);
-        sumPipeNanosElapsed += collect2dTargetsResult.nanosElapsed;
+        for (var t : targetList) {
+            targets.add(
+                    new TrackedTarget(
+                            t,
+                            new TargetCalculationParameters(
+                                    false, null, null, null, null, frameStaticProperties)));
+        }

        var fpsResult = calculateFPSPipe.run(null);
        var fps = fpsResult.output;

-        return new CVPipelineResult(
-                sumPipeNanosElapsed, fps, collect2dTargetsResult.output, input_frame, names);
+        return new CVPipelineResult(sumPipeNanosElapsed, fps, targets, input_frame, names);
    }

    @Override
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java
@@ -64,6 +64,29 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
                        settings.offsetDualPointB,
                        settings.offsetDualPointBArea);

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

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

--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
@@ -26,7 +26,6 @@ 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;
@@ -537,10 +536,7 @@ public class VisionModule {
        ret.outputStreamPort = this.outputStreamPort;
        ret.inputStreamPort = this.inputStreamPort;

-        ret.calibrations =
-                visionSource.getSettables().getConfiguration().calibrations.stream()
-                        .map(CameraCalibrationCoefficients::cloneWithoutObservations)
-                        .collect(Collectors.toList());
+        ret.calibrations = visionSource.getSettables().getConfiguration().calibrations;

        ret.isFovConfigurable =
                !(ConfigManager.getInstance().getConfig().getHardwareConfig().hasPresetFOV()
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionRunner.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionRunner.java
@@ -98,7 +98,8 @@ public class VisionRunner {
                var pipelineResult = pipeline.run(frame, cameraQuirks);
                pipelineResultConsumer.accept(pipelineResult);
            } catch (Exception ex) {
-                logger.error("Exception on loop " + loopCount, ex);
+                logger.error("Exception on loop " + loopCount);
+                ex.printStackTrace();
            }

            loopCount++;
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java
@@ -23,7 +23,6 @@ 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;
@@ -165,7 +164,7 @@ public class VisionSourceManager {

        // Debug prints
        for (var info : connectedCameras) {
-            logger.info("Detected unmatched physical camera: " + info.toString());
+            logger.info("Adding local video device - \"" + info.name + "\" at \"" + info.path + "\"");
        }

        if (!unmatchedLoadedConfigs.isEmpty())
@@ -217,52 +216,6 @@ public class VisionSourceManager {
        return sources;
    }

-    /**
-     * Get a predicate for checking cameras against a saved config.
-     *
-     * @param savedConfig The saved camera configuration to match against
-     * @param checkUSBPath If we should compare the USB port/bus IDs
-     * @param checkVidPid If we should compare USB VID and PID
-     * @param checkBaseName If we should compare {@link CameraInfo#getBaseName}
-     * @param checkPath If we should check {@link CameraInfo::path} (eg /dev/videoN on Linux, or
-     *     ?/usb#vid_05c8&pid_03df&mi_00#7&fa76035&0&0000#{e5323777-f976-4f5b-9b55-b94699c46e44}\global
-     *     on Windows)
-     */
-    private final Predicate<CameraInfo> getCameraMatcher(
-            final CameraConfiguration savedConfig,
-            boolean checkUSBPath,
-            boolean checkVidPid,
-            boolean checkBaseName,
-            boolean checkPath) {
-        if (checkUSBPath && savedConfig.getUSBPath().isEmpty()) {
-            logger.debug(
-                    "WARN: Camera has empty USB path, but asked to match by name: "
-                            + camCfgToString(savedConfig));
-        }
-
-        return (CameraInfo physicalCamera) -> {
-            var matches = true;
-
-            if (checkUSBPath) {
-                var savedPath = savedConfig.getUSBPath();
-                matches &= (savedPath.isPresent() && physicalCamera.getUSBPath().equals(savedPath));
-            }
-            if (checkBaseName) {
-                matches &= physicalCamera.getBaseName().equals(savedConfig.baseName);
-            }
-            if (checkVidPid) {
-                matches &=
-                        (physicalCamera.vendorId == savedConfig.usbVID
-                                && physicalCamera.productId == savedConfig.usbPID);
-            }
-            if (checkPath) {
-                matches &= (physicalCamera.path.equals(savedConfig.path));
-            }
-
-            return matches;
-        };
-    }
-
    /**
     * Create {@link CameraConfiguration}s based on a list of detected USB cameras and the configs on
     * disk.
@@ -273,111 +226,35 @@ 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) {
-            logger.info("Matching by usb port & name & USB VID/PID...");
-            cameraConfigurations.addAll(
-                    matchCamerasByStrategy(detectedCameraList, unloadedConfigs, true, true, true, false));
-        } else
-            logger.debug("Skipping match by usb port/name/vid/pid, no configs or cameras left to match");
+        if (detectedCameraList.size() > 0 || unloadedConfigs.size() > 0)
+            cameraConfigurations.addAll(matchByPathByID(detectedCameraList, unloadedConfigs));
+        else logger.debug("Skipping matchByPath no configs or cameras left to match");

-        // On windows, the v4l path is actually useful and tells us the port the camera is physically
-        // connected to which is neat
-        if (Platform.isWindows()) {
-            if (detectedCameraList.size() > 0 || unloadedConfigs.size() > 0) {
-                logger.info("Matching by windows-path & USB VID/PID only...");
-                cameraConfigurations.addAll(
-                        matchCamerasByStrategy(detectedCameraList, unloadedConfigs, false, true, true, true));
-            } else
-                logger.debug(
-                        "Skipping matching by windiws-path/name/vid/pid, no configs or cameras left to match");
-        }
+        if (detectedCameraList.size() > 0 || unloadedConfigs.size() > 0)
+            cameraConfigurations.addAll(matchByPath(detectedCameraList, unloadedConfigs));
+        else logger.debug("Skipping matchByPath no configs or cameras left to match");

-        if (detectedCameraList.size() > 0 || unloadedConfigs.size() > 0) {
-            logger.info("Matching by usb port & USB VID/PID...");
-            cameraConfigurations.addAll(
-                    matchCamerasByStrategy(detectedCameraList, unloadedConfigs, true, true, false, false));
-        } else logger.debug("Skipping match by port/vid/pid, no configs or cameras left to match");
+        if (detectedCameraList.size() > 0 || unloadedConfigs.size() > 0)
+            cameraConfigurations.addAll(matchByName(detectedCameraList, unloadedConfigs));
+        else logger.debug("Skipping matchByName no configs or cameras left to match");

-        // handle disabling only-by-base-name matching
-        if (!matchCamerasOnlyByPath) {
-            if (detectedCameraList.size() > 0 || unloadedConfigs.size() > 0) {
-                logger.info("Matching by base-name & USB VID/PID only...");
-                cameraConfigurations.addAll(
-                        matchCamerasByStrategy(detectedCameraList, unloadedConfigs, false, true, true, false));
-            } else
-                logger.debug("Skipping match by base-name/viid/pid, no configs or cameras left to match");
-        } else logger.info("Skipping match by filepath/vid/pid, disabled by user");
-
-        if (detectedCameraList.size() > 0) {
+        if (detectedCameraList.size() > 0)
            cameraConfigurations.addAll(
                    createConfigsForCameras(detectedCameraList, unloadedConfigs, cameraConfigurations));
-        }

        logger.debug("Matched or created " + cameraConfigurations.size() + " camera configs!");
        return cameraConfigurations;
    }

-    /**
-     * Abstractly match cameras
-     *
-     * @param detectedCamInfos Physical cameras unmatched and attached to the device
-     * @param unloadedConfigs {@link CameraConfiguration}
-     * @param checkUSBPath If we should compare the USB port/bus IDs
-     * @param checkVidPid If we should compare USB VID and PID
-     * @param checkBaseName If we should check {@link CameraInfo::getBaseName}
-     * @param checkPath If we should check {@link CameraInfo::path} (eg /dev/videoN on Linux, or
-     *     usb#vid_05c8&pid_03df&mi_00#7&fa76035&0&0000#{e5323777-f976-4f5b-9b55-b94699c46e44}\global
-     *     on Windows). Note that path may change based on order cameras are plugged in/unplugged on
-     *     Linux, and should not be trusted to remain the same.
-     * @return All matched or created new configs
-     */
-    private List<CameraConfiguration> matchCamerasByStrategy(
-            List<CameraInfo> detectedCamInfos,
-            List<CameraConfiguration> unloadedConfigs,
-            boolean checkUSBPath,
-            boolean checkVidPid,
-            boolean checkBaseName,
-            boolean checkPath) {
+    // 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) {
        List<CameraConfiguration> ret = new ArrayList<CameraConfiguration>();
        List<CameraConfiguration> unloadedConfigsCopy =
                new ArrayList<CameraConfiguration>(unloadedConfigs);
@@ -385,43 +262,111 @@ public class VisionSourceManager {
        for (CameraConfiguration config : unloadedConfigsCopy) {
            // Only run match path by id if the camera is not a CSI camera.
            if (config.cameraType != CameraType.ZeroCopyPicam) {
-                logger.debug(
-                        String.format(
-                                "Trying to find a match for loaded camera %s by strategy (path %s vid/pid %s basename %s path %s) with camera config: %s",
-                                config.baseName,
-                                checkUSBPath,
-                                checkVidPid,
-                                checkBaseName,
-                                checkPath,
-                                camCfgToString(config)));
-
-                // Get matcher and filter against it, picking out the first match
-                Predicate<CameraInfo> matches =
-                        getCameraMatcher(config, checkUSBPath, checkVidPid, checkBaseName, checkPath);
-                var cameraInfo = detectedCamInfos.stream().filter(matches).findFirst().orElse(null);
-
-                // If we actually matched a camera to a config, remove that camera from the list
-                // and add it to the output
-                if (cameraInfo != null) {
-                    logger.debug("Matched the config for " + config.baseName + " to a physical camera!");
-                    ret.add(mergeInfoIntoConfig(config, cameraInfo));
-                    detectedCamInfos.remove(cameraInfo);
-                    unloadedConfigs.remove(config);
+                CameraInfo cameraInfo;
+                if (config.otherPaths.length == 0) {
+                    logger.debug("No valid path-by-id found for config with name " + config.baseName);
                } else {
-                    logger.debug("No camera found for the config " + config.baseName);
+                    // 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 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;
    }

-    /**
-     * 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> 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.
    private List<CameraConfiguration> createConfigsForCameras(
            List<CameraInfo> detectedCameraList,
-            List<CameraConfiguration> unloadedCamConfigs,
+            List<CameraConfiguration> loadedCamConfigs,
            List<CameraConfiguration> loadedConfigs) {
        List<CameraConfiguration> ret = new ArrayList<CameraConfiguration>();
        logger.debug(
@@ -432,9 +377,7 @@ public class VisionSourceManager {
            String uniqueName = info.getHumanReadableName();

            int suffix = 0;
-            while (containsName(loadedConfigs, uniqueName)
-                    || containsName(uniqueName)
-                    || containsName(unloadedCamConfigs, uniqueName)) {
+            while (containsName(loadedConfigs, uniqueName) || containsName(uniqueName)) {
                suffix++;
                uniqueName = String.format("%s (%d)", uniqueName, suffix);
            }
@@ -517,7 +460,7 @@ public class VisionSourceManager {
            List<CameraConfiguration> camConfigs) {
        var cameraSources = new ArrayList<VisionSource>();
        for (var configuration : camConfigs) {
-            logger.debug("Creating VisionSource for " + camCfgToString(configuration));
+            logger.debug("Creating VisionSource for " + configuration);

            boolean is_pi = Platform.isRaspberryPi();

--- a/photon-core/src/main/java/org/photonvision/vision/target/PotentialTarget.java
+++ b/photon-core/src/main/java/org/photonvision/vision/target/PotentialTarget.java
@@ -21,9 +21,7 @@ import java.util.List;
 import org.opencv.core.RotatedRect;
 import org.photonvision.vision.opencv.CVShape;
 import org.photonvision.vision.opencv.Contour;
-import org.photonvision.vision.opencv.ContourShape;
 import org.photonvision.vision.opencv.Releasable;
-import org.photonvision.vision.pipe.impl.NeuralNetworkPipeResult;

 public class PotentialTarget implements Releasable {

@@ -31,10 +29,6 @@ public class PotentialTarget implements Releasable {
    public final List<Contour> m_subContours;
    public final CVShape shape;

-    // additional metadata about object detections we need to keep around
-    public final double confidence;
-    public final int clsId;
-
    public PotentialTarget(Contour inputContour) {
        this(inputContour, List.of());
    }
@@ -47,26 +41,12 @@ public class PotentialTarget implements Releasable {
        m_mainContour = inputContour;
        m_subContours = new ArrayList<>(subContours);
        this.shape = shape;
-        this.clsId = -1;
-        this.confidence = -1;
    }

    public PotentialTarget(Contour inputContour, CVShape shape) {
        this(inputContour, List.of(), shape);
    }

-    public PotentialTarget(NeuralNetworkPipeResult det) {
-        this.shape = new CVShape(new Contour(det.box), ContourShape.Quadrilateral);
-        this.m_mainContour = this.shape.getContour();
-        m_subContours = List.of();
-        this.clsId = det.classIdx;
-        this.confidence = det.confidence;
-    }
-
-    public PotentialTarget(CVShape cvShape) {
-        this(cvShape.getContour(), cvShape);
-    }
-
    public RotatedRect getMinAreaRect() {
        return m_mainContour.getMinAreaRect();
    }
@@ -81,7 +61,7 @@ public class PotentialTarget implements Releasable {
        for (var sc : m_subContours) {
            sc.release();
        }
-        if (!m_subContours.isEmpty()) m_subContours.clear();
+        m_subContours.clear();
        if (shape != null) shape.release();
    }
 }
--- a/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java
+++ b/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java
@@ -27,6 +27,7 @@ import org.opencv.core.Mat;
 import org.opencv.core.MatOfPoint;
 import org.opencv.core.MatOfPoint2f;
 import org.opencv.core.Point;
+import org.opencv.core.Rect2d;
 import org.opencv.core.RotatedRect;
 import org.photonvision.common.util.SerializationUtils;
 import org.photonvision.common.util.math.MathUtils;
@@ -38,6 +39,7 @@ import org.photonvision.vision.opencv.CVShape;
 import org.photonvision.vision.opencv.Contour;
 import org.photonvision.vision.opencv.DualOffsetValues;
 import org.photonvision.vision.opencv.Releasable;
+import org.photonvision.vision.pipe.impl.NeuralNetworkPipeResult;

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

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

+    public TrackedTarget(
+            Rect2d box, int class_id, double confidence, TargetCalculationParameters params) {
+        m_targetOffsetPoint = new Point(box.x + box.width / 2.0, box.y + box.height / 2.0);
+        m_robotOffsetPoint = new Point();
+
+        var yawPitch =
+                TargetCalculations.calculateYawPitch(
+                        params.cameraCenterPoint.x,
+                        box.x + box.width / 2.0,
+                        params.horizontalFocalLength,
+                        params.cameraCenterPoint.y,
+                        box.y + box.height / 2.0,
+                        params.verticalFocalLength);
+        m_yaw = yawPitch.getFirst();
+        m_pitch = yawPitch.getSecond();
+
+        Point[] cornerPoints =
+                new Point[] {
+                    // Box.x/y is the top-left corner, not the center
+                    new Point(box.x, box.y), // tl
+                    new Point(box.x + box.width, box.y), // tr
+                    new Point(box.x + box.width, box.y + box.height), // br
+                    new Point(box.x, box.y + box.height), // bl
+                };
+
+        m_targetCorners = List.of(cornerPoints);
+        MatOfPoint contourMat = new MatOfPoint(cornerPoints);
+        m_approximateBoundingPolygon = new MatOfPoint2f(cornerPoints);
+
+        m_mainContour = new Contour(contourMat);
+        m_area = m_mainContour.getArea() / params.imageArea * 100;
+
+        m_classId = class_id;
+        m_confidence = confidence;
+    }
+
+    public TrackedTarget(
+            NeuralNetworkPipeResult t, TargetCalculationParameters targetCalculationParameters) {
+        this(t.box, t.classIdx, t.confidence, targetCalculationParameters);
+    }
+
    /**
     * @return Returns the confidence of the detection ranging from 0 - 1.
     */
--- a/photon-core/src/test/java/org/photonvision/common/configuration/ConfigTest.java
+++ b/photon-core/src/test/java/org/photonvision/common/configuration/ConfigTest.java
@@ -139,31 +139,8 @@ public class ConfigTest {
        writer.write(str);
        writer.flush();
        writer.close();
-        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();
-        }
+        Assertions.assertDoesNotThrow(
+                () -> JacksonUtils.deserialize(tempFile.toPath(), CameraConfiguration.class));

        tempFile.delete();
    }
--- a/photon-core/src/test/java/org/photonvision/common/configuration/SQLConfigTest.java
+++ b/photon-core/src/test/java/org/photonvision/common/configuration/SQLConfigTest.java
@@ -84,9 +84,7 @@ public class SQLConfigTest {
                        CameraType.UsbCamera,
                        QuirkyCamera.getQuirkyCamera(-1, -1),
                        List.of(),
-                        0,
-                        -1,
-                        -1);
+                        0);
        testcamcfg.pipelineSettings =
                List.of(
                        new ReflectivePipelineSettings(),
--- a/photon-core/src/test/java/org/photonvision/vision/processes/VisionSourceManagerTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/processes/VisionSourceManagerTest.java
@@ -24,20 +24,14 @@ import java.util.ArrayList;
 import org.junit.jupiter.api.Test;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
-import org.photonvision.common.logging.LogGroup;
-import org.photonvision.common.logging.LogLevel;
-import org.photonvision.common.logging.Logger;
 import org.photonvision.vision.camera.CameraInfo;
 import org.photonvision.vision.camera.CameraType;

 public class VisionSourceManagerTest {
    @Test
    public void visionSourceTest() {
-        Logger.setLevel(LogGroup.Camera, LogLevel.DEBUG);
-
        var inst = new VisionSourceManager();
        var cameraInfos = new ArrayList<CameraInfo>();
-        ConfigManager.getInstance().clearConfig();
        ConfigManager.getInstance().load();

        inst.tryMatchCamImpl(cameraInfos);
@@ -49,8 +43,6 @@ public class VisionSourceManagerTest {
                        "thirdTestVideo",
                        "dev/video1",
                        new String[] {"by-id/123"});
-        config3.usbVID = 3;
-        config3.usbPID = 4;
        var config4 =
                new CameraConfiguration(
                        "fourthTestVideo",
@@ -58,8 +50,6 @@ 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);

--- a/photon-lib/py/photonlibpy/estimatedRobotPose.py
+++ b/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: list[PhotonTrackedTarget]
+    targetsUsed: [PhotonTrackedTarget]
    """A list of the targets used to compute this pose"""

    strategy: "PoseStrategy"
--- a/photon-lib/py/photonlibpy/packet.py
+++ b/photon-lib/py/photonlibpy/packet.py
@@ -4,7 +4,7 @@ import wpilib


 class Packet:
-    def __init__(self, data: bytes):
+    def __init__(self, data: list[int]):
        """
        * Constructs an empty packet.
        *
@@ -30,7 +30,7 @@ class Packet:
    matches the version of photonlib running in the robot code.
    """

-    def _getNextByteAsInt(self) -> int:
+    def _getNextByte(self) -> int:
        retVal = 0x00

        if not self.outOfBytes:
@@ -43,7 +43,7 @@ class Packet:

        return retVal

-    def getData(self) -> bytes:
+    def getData(self) -> list[int]:
        """
        * Returns the packet data.
        *
@@ -51,7 +51,7 @@ class Packet:
        """
        return self.packetData

-    def setData(self, data: bytes):
+    def setData(self, data: list[int]):
        """
        * 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._getNextByteAsInt())
+            intList.append(self._getNextByte())

        # Interpret the bytes as a floating point number
        value = struct.unpack(unpackFormat, bytes(intList))[0]
--- a/photon-lib/py/photonlibpy/photonCamera.py
+++ b/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  # type: ignore[import-untyped]
+from photonlibpy.version import PHOTONVISION_VERSION, PHOTONLIB_VERSION


 class VisionLEDMode(Enum):
@@ -86,11 +86,10 @@ class PhotonCamera:
        if len(byteList) < 1:
            return retVal
        else:
-            pkt = Packet(byteList)
-            retVal.populateFromPacket(pkt)
+            retVal.populateFromPacket(Packet(byteList))
            # NT4 allows us to correct the timestamp based on when the message was sent
            retVal.setTimestampSeconds(
-                timestamp / 1e6 - retVal.getLatencyMillis() / 1e3
+                timestamp / 1e-6 - retVal.getLatencyMillis() / 1e-3
            )
            return retVal

--- a/photon-lib/py/photonlibpy/photonPipelineResult.py
+++ b/photon-lib/py/photonlibpy/photonPipelineResult.py
@@ -38,6 +38,3 @@ class PhotonPipelineResult:

    def getTargets(self) -> list[PhotonTrackedTarget]:
        return self.targets
-
-    def hasTargets(self) -> bool:
-        return len(self.targets) > 0
--- a/photon-lib/py/photonlibpy/photonPoseEstimator.py
+++ b/photon-lib/py/photonlibpy/photonPoseEstimator.py
@@ -75,7 +75,7 @@ class PhotonPoseEstimator:

        self._multiTagFallbackStrategy = PoseStrategy.LOWEST_AMBIGUITY
        self._reportedErrors: set[int] = set()
-        self._poseCacheTimestampSeconds = -1.0
+        self._poseCacheTimestampSeconds = -1
        self._lastPose: Optional[Pose3d] = None
        self._referencePose: Optional[Pose3d] = None

@@ -143,7 +143,7 @@ class PhotonPoseEstimator:
        self._multiTagFallbackStrategy = strategy

    @property
-    def referencePose(self) -> Optional[Pose3d]:
+    def referencePose(self) -> 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) -> Optional[Pose3d]:
+    def lastPose(self) -> Pose3d:
        return self._lastPose

    @lastPose.setter
@@ -178,10 +178,10 @@ class PhotonPoseEstimator:
        self._checkUpdate(self._lastPose, lastPose)
        self._lastPose = lastPose

-    def _invalidatePoseCache(self) -> None:
-        self._poseCacheTimestampSeconds = -1.0
+    def _invalidatePoseCache(self):
+        self._poseCacheTimestampSeconds = -1

-    def _checkUpdate(self, oldObj, newObj) -> None:
+    def _checkUpdate(self, oldObj, newObj):
        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 None
+                return
            cameraResult = self._camera.getLatestResult()

        if cameraResult.timestampSec < 0:
-            return None
+            return

        # If the pose cache timestamp was set, and the result is from the same
        # timestamp, return an
        # empty result
        if (
-            self._poseCacheTimestampSeconds > 0.0
+            self._poseCacheTimestampSeconds > 0
            and abs(self._poseCacheTimestampSeconds - cameraResult.timestampSec) < 1e-6
        ):
-            return None
+            return

        # 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 None
+            return

        return self._update(cameraResult, self._primaryStrategy)

@@ -239,7 +239,7 @@ class PhotonPoseEstimator:
            wpilib.reportError(
                "[PhotonPoseEstimator] Unknown Position Estimation Strategy!", False
            )
-            return None
+            return

        if not estimatedPose:
            self._lastPose = None
@@ -280,7 +280,7 @@ class PhotonPoseEstimator:
        """
        lowestAmbiguityTarget = None

-        lowestAmbiguityScore = 10.0
+        lowestAmbiguityScore = 10

        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 None
+            return

        targetFiducialId = lowestAmbiguityTarget.fiducialId

@@ -301,7 +301,7 @@ class PhotonPoseEstimator:

        if not targetPosition:
            self._reportFiducialPoseError(targetFiducialId)
-            return None
+            return

        return EstimatedRobotPose(
            targetPosition.transformBy(
--- a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
+++ b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
@@ -408,8 +408,8 @@ public class PhotonPoseEstimator {
                return Optional.empty();
        }

-        if (estimatedPose.isPresent()) {
-            lastPose = estimatedPose.get().estimatedPose;
+        if (estimatedPose.isEmpty()) {
+            lastPose = null;
        }

        return estimatedPose;
--- a/photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp
+++ b/photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp
@@ -186,9 +186,6 @@ std::optional<EstimatedRobotPose> PhotonPoseEstimator::Update(
      ret = std::nullopt;
  }

-  if (ret) {
-    lastPose = ret.value().estimatedPose;
-  }
  return ret;
 }

--- a/photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h
+++ b/photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h
@@ -435,7 +435,7 @@ class PhotonCameraSim {
  double minTargetAreaPercent;

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

  cs::CvSource videoSimRaw;
  cv::Mat videoSimFrameRaw{};
--- a/photon-server/src/main/java/org/photonvision/server/DataSocketHandler.java
+++ b/photon-server/src/main/java/org/photonvision/server/DataSocketHandler.java
@@ -350,7 +350,8 @@ public class DataSocketHandler {
        }
    }

-    private void sendMessage(ByteBuffer b, WsContext user) throws JsonProcessingException {
+    private void sendMessage(Object message, WsContext user) throws JsonProcessingException {
+        ByteBuffer b = ByteBuffer.wrap(objectMapper.writeValueAsBytes(message));
        if (user.session.isOpen()) {
            user.send(b);
        }
@@ -358,18 +359,16 @@ 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(b, user);
+                sendMessage(message, user);
            }
        } else {
            var skipUserPort = ((InetSocketAddress) userToSkip.session.getRemoteAddress()).getPort();
            for (WsContext user : users) {
                var userPort = ((InetSocketAddress) user.session.getRemoteAddress()).getPort();
                if (userPort != skipUserPort) {
-                    sendMessage(b, user);
+                    sendMessage(message, user);
                }
            }
        }
--- a/photon-server/src/main/java/org/photonvision/server/RequestHandler.java
+++ b/photon-server/src/main/java/org/photonvision/server/RequestHandler.java
@@ -31,9 +31,6 @@ 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;
@@ -583,77 +580,6 @@ 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();
--- a/photon-server/src/main/java/org/photonvision/server/Server.java
+++ b/photon-server/src/main/java/org/photonvision/server/Server.java
@@ -130,8 +130,6 @@ 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);
@@ -140,6 +138,7 @@ public class Server {
        app.post("/api/calibration/importFromData", RequestHandler::onDataCalibrationImportRequest);

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

    /**
--- a/photon-server/src/main/resources/models/labels_v5.txt
+++ b/photon-server/src/main/resources/models/labels_v5.txt
--- a/photonlib-cpp-examples/aimattarget/src/main/include/Robot.h
+++ b/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 as shown in the web UI
-  photon::PhotonCamera camera{"YOUR_CAMERA_NAME_HERE"};
+  // Change this to match the name of your camera
+  photon::PhotonCamera camera{"photonvision"};
  // PID constants should be tuned per robot
  frc::PIDController controller{.1, 0, 0};

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

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

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

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

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

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

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

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

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

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

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

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

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

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

 private:
+  frc::Transform3d robotToCam{frc::Translation3d{0.5_m, 0.5_m, 0.5_m},
+                              frc::Rotation3d{}};
  photon::PhotonPoseEstimator photonEstimator{
-      constants::Vision::kTagLayout,
+      LoadAprilTagLayoutField(frc::AprilTagField::k2023ChargedUp),
      photon::PoseStrategy::MULTI_TAG_PNP_ON_COPROCESSOR,
-      photon::PhotonCamera{"photonvision"}, constants::Vision::kRobotToCam};
+      photon::PhotonCamera{"photonvision"}, robotToCam};
  std::shared_ptr<photon::PhotonCamera> camera{photonEstimator.GetCamera()};
  std::unique_ptr<photon::VisionSystemSim> visionSim;
  std::unique_ptr<photon::SimCameraProperties> cameraProp;
--- a/photonlib-java-examples/aimattarget/src/main/java/frc/robot/Robot.java
+++ b/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 as shown in the web UI
-    PhotonCamera camera = new PhotonCamera("YOUR_CAMERA_NAME_HERE");
+    // Change this to match the name of your camera
+    PhotonCamera camera = new PhotonCamera("photonvision");

    // PID constants should be tuned per robot
    final double LINEAR_P = 0.1;
--- a/photonlib-java-examples/build.gradle
+++ b/photonlib-java-examples/build.gradle
@@ -8,7 +8,7 @@ allprojects {
    repositories {
        mavenCentral()
        mavenLocal()
-        maven { url = "https://maven.photonvision.org/repository/internal/" }
+        maven { url = "https://maven.photonvision.org/releases" }
    }
 }

--- a/scripts/install.sh
+++ b/scripts/install.sh
@@ -132,10 +132,6 @@ 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 "Downloading latest stable release of PhotonVision..."
 mkdir -p /opt/photonvision
 cd /opt/photonvision
--- a/shared/javacommon.gradle
+++ b/shared/javacommon.gradle
@@ -79,7 +79,7 @@ publishing {

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

        repositories {
            maven {
-                url ('https://maven.photonvision.org/repository/' + (isDev ? 'snapshots' : 'internal'))
+                url(photonMavenURL)
                credentials {
                    username 'ghactions'
                    password System.getenv("ARTIFACTORY_API_KEY")