# PhotonVision

[![Discord](https://img.shields.io/discord/725836368059826228?color=%23738ADB&label=Join%20our%20Discord&logo=discord&logoColor=white)](https://discord.gg/wYxTwym)

PhotonVision is the free, fast, and easy-to-use computer vision solution for the *FIRST* Robotics Competition. You can read an overview of our features [on our website](https://photonvision.org). You can find our comprehensive documentation [here](https://docs.photonvision.org).

The latest release of platform-specific jars and images is found [here](https://github.com/PhotonVision/photonvision/releases).

If you are interested in contributing code or documentation to the project, please [read our getting started page for contributors](https://docs.photonvision.org/en/latest/docs/contributing/index.html) and **[join the Discord](https://discord.gg/wYxTwym) to introduce yourself!** We hope to provide a welcoming community to anyone who is interested in helping.

## Documentation

- Our main documentation page: [docs.photonvision.org](https://docs.photonvision.org)
- Photon UI demo: [demo.photonvision.org](https://demo.photonvision.org)
- Javadocs: [javadocs.photonvision.org](https://javadocs.photonvision.org)
- C++ Doxygen: [cppdocs.photonvision.org](https://cppdocs.photonvision.org)

## Authors

<a href="https://github.com/PhotonVision/photonvision/graphs/contributors">
  <img src="https://contrib.rocks/image?repo=PhotonVision/photonvision" />
</a>

## Building

Gradle is used for all C++ and Java code, and pnpm is used for the web UI. Instructions to compile PhotonVision yourself can be found [in our docs](https://docs.photonvision.org/en/latest/docs/contributing/building-photon.html#compiling-instructions).

You can run one of the many built in examples straight from the command line, too! They contain a fully featured robot project, and some include simulation support. The projects can be found inside the [`photonlib-java-examples`](photonlib-java-examples) and [`photonlib-cpp-examples`](photonlib-cpp-examples) subdirectories, respectively. Instructions for running these examples directly from the repo are found [in the docs](https://docs.photonvision.org/en/latest/docs/contributing/building-photon.html#running-examples).

## Gradle Arguments

Note that these are case sensitive!

* `-PArchOverride=foobar`: builds for a target system other than your current architecture. [Valid overrides](https://github.com/wpilibsuite/wpilib-tool-plugin/blob/main/src/main/java/edu/wpi/first/tools/NativePlatforms.java) are:
    * winx86-64
    * winarm64
    * macx86-64
    * macarm64
    * linuxx86-64
    * linuxarm64
    * linuxathena
- `-PtgtIP`: Specifies where `./gradlew deploy` should try to copy the fat JAR to
- `-PtgtUser`: Specifies custom username for `./gradlew deploy` to SSH into
- `-PtgtPw`: Specifies custom password for `./gradlew deploy` to SSH into
- `-Pprofile`: enables JVM profiling
- `-PwithSanitizers`: On Linux, enables `-fsanitize=address,undefined,leak`

If you're cross-compiling, you'll need the WPILib toolchain installed. This must be done via Gradle: for example `./gradlew installArm64Toolchain` or `./gradlew installSystemCoreToolchain`

## Out-of-Source Dependencies

PhotonVision uses the following additional out-of-source repositories for building code.

- Base system images for supported coprocessors: https://github.com/PhotonVision/photon-image-modifier
- C++ driver for Raspberry Pi CSI cameras: https://github.com/PhotonVision/photon-libcamera-gl-driver
- JNI code for [mrcal](https://mrcal.secretsauce.net/): https://github.com/PhotonVision/mrcal-java
- JNI code for RKNN: https://github.com/PhotonVision/rknn_jni
- JNI code for Rubik Pi NPU: https://github.com/PhotonVision/rubik_jni

## Acknowledgments

PhotonVision was forked from [Chameleon Vision](https://github.com/Chameleon-Vision/chameleon-vision/). Thank you to everyone who worked on the original project.

* [WPILib](https://github.com/wpilibsuite) - Specifically [allwpilib](https://github.com/wpilibsuite/allwpilib) and [their build of OpenCV](https://github.com/wpilibsuite/thirdparty-opencv).
* [Apache Commons](https://commons.apache.org/) - Specifically [Commons IO](https://commons.apache.org/proper/commons-io/), and [Commons CLI](https://commons.apache.org/proper/commons-cli/)
* [diozero](https://www.diozero.com/)
* [EJML](https://github.com/lessthanoptimal/ejml)
* [Javalin](https://javalin.io/)
* [JSON](https://json.org)
* [Avaje](https://avaje.io) - Specifically [jsonb](https://avaje.io/jsonb/)
* [MessagePack for Java](https://github.com/msgpack/msgpack-java)
* [OSHI](https://github.com/oshi/oshi)
* [QuickBuffers](https://github.com/HebiRobotics/QuickBuffers)
* [SQLite JDBC](https://github.com/xerial/sqlite-jdbc)
* [ZT ZIP](https://github.com/zeroturnaround/zt-zip)

## License

PhotonVision is licensed under the [GNU General Public License](https://www.gnu.org/licenses/gpl-3.0.html).

## Meeting Notes

Our [meeting notes](https://github.com/PhotonVision/photonvision/wiki/PhotonVision-Meeting-Notes) can be found in the wiki section of this repository.