Merge 2025

.github/workflows/build.yml

@@ -48,6 +48,8 @@ jobs:
           fetch-depth: 0
       - name: Fetch tags
         run: git fetch --tags --force
+      - name: Install RoboRIO Toolchain
+        run: ./gradlew installRoboRioToolchain
       - name: Install Java 17
         uses: actions/setup-java@v4
         with:
@@ -158,14 +160,14 @@ jobs:
       - run: git fetch --tags --force
       - run: |
           chmod +x gradlew
-          ./gradlew photon-targeting:build photon-lib:build -Pbuildalldesktop -i
-      - run: ./gradlew photon-lib:publish photon-targeting:publish -Pbuildalldesktop
+          ./gradlew photon-targeting:build photon-lib:build -i
+      - run: ./gradlew photon-lib:publish photon-targeting:publish
         name: Publish
         env:
           ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
         if: github.event_name == 'push' && github.repository_owner == 'photonvision'
       # Copy artifacts to build/outputs/maven
-      - run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts -Pbuildalldesktop
+      - run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts
       - uses: actions/upload-artifact@v4
         with:
           name: maven-${{ matrix.artifact-name }}
@@ -218,7 +220,7 @@ jobs:
   combine:
     name: Combine
     needs: [build-photonlib-docker, build-photonlib-host]
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v4
         with:
@@ -259,11 +261,11 @@ jobs:
             artifact-name: macOSArm
             architecture: x64
             arch-override: macarm64
-          - os: ubuntu-latest
+          - os: ubuntu-22.04
             artifact-name: Linux
             architecture: x64
             arch-override: linuxx64
-          - os: ubuntu-latest
+          - os: ubuntu-22.04
             artifact-name: LinuxArm64
             architecture: x64
             arch-override: linuxarm64
@@ -317,7 +319,7 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - os: ubuntu-latest
+          - os: ubuntu-22.04
             artifact-name: jar-Linux
             extraOpts: -Djdk.lang.Process.launchMechanism=vfork
           - os: windows-latest
@@ -356,10 +358,10 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - os: ubuntu-latest
+          - os: ubuntu-22.04
             artifact-name: LinuxArm64
             image_suffix: RaspberryPi
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-1/photonvision_raspi.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-4/photonvision_raspi.img.xz
             cpu: cortex-a7
             image_additional_mb: 0
             extraOpts: -Djdk.lang.Process.launchMechanism=vfork
@@ -395,46 +397,52 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - os: ubuntu-latest
+          - os: ubuntu-22.04
             artifact-name: LinuxArm64
             image_suffix: RaspberryPi
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-1/photonvision_raspi.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-6/photonvision_raspi.img.xz
             cpu: cortex-a7
             image_additional_mb: 0
-          - os: ubuntu-latest
+          - os: ubuntu-22.04
             artifact-name: LinuxArm64
             image_suffix: limelight2
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-1/photonvision_limelight.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-6/photonvision_limelight.img.xz
             cpu: cortex-a7
             image_additional_mb: 0
-          - os: ubuntu-latest
+          - os: ubuntu-22.04
             artifact-name: LinuxArm64
             image_suffix: limelight3
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-1/photonvision_limelight3.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-6/photonvision_limelight3.img.xz
             cpu: cortex-a7
             image_additional_mb: 0
-          - os: ubuntu-latest
+          - os: ubuntu-22.04
             artifact-name: LinuxArm64
             image_suffix: orangepi5
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-3/photonvision_opi5.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-6/photonvision_opi5.img.xz
             cpu: cortex-a8
             image_additional_mb: 1024
-          - os: ubuntu-latest
+          - os: ubuntu-22.04
             artifact-name: LinuxArm64
             image_suffix: orangepi5b
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-3/photonvision_opi5b.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-6/photonvision_opi5b.img.xz
             cpu: cortex-a8
             image_additional_mb: 1024
-          - os: ubuntu-latest
+          - os: ubuntu-22.04
             artifact-name: LinuxArm64
             image_suffix: orangepi5plus
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-3/photonvision_opi5plus.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-6/photonvision_opi5plus.img.xz
             cpu: cortex-a8
             image_additional_mb: 1024
-          - os: ubuntu-latest
+          - os: ubuntu-22.04
             artifact-name: LinuxArm64
             image_suffix: orangepi5pro
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-3/photonvision_opi5pro.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-6/photonvision_opi5pro.img.xz
+            cpu: cortex-a8
+            image_additional_mb: 1024
+          - os: ubuntu-latest
+            artifact-name: LinuxArm64
+            image_suffix: orangepi5max
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-6/photonvision_opi5max.img.xz
             cpu: cortex-a8
             image_additional_mb: 1024
 
@@ -507,10 +515,19 @@ jobs:
             **/photonlib*.zip
         if: github.event_name == 'push'
       # Upload all jars and xz archives
-      - uses: softprops/action-gh-release@v1
+      # Split into two uploads to work around max size limits in action-gh-releases
+      # https://github.com/softprops/action-gh-release/issues/353
+      - uses: softprops/action-gh-release@v2.0.8
         with:
           files: |
-            **/*.xz
+            **/*orangepi5*.xz
+        if: startsWith(github.ref, 'refs/tags/v')
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      - uses: softprops/action-gh-release@v2.0.8
+        with:
+          files: |
+            **/!(*orangepi5*).xz
             **/*.jar
             **/photonlib*.json
             **/photonlib*.zip

.github/workflows/lint-format.yml

@@ -37,7 +37,7 @@ jobs:
         with:
           python-version: 3.11
       - name: Install wpiformat
-        run: pip3 install wpiformat==2024.37
+        run: pip3 install wpiformat==2024.41
       - name: Run
         run: wpiformat
       - name: Check output

.github/workflows/photonvision-docs.yml

@@ -14,7 +14,7 @@ on:
 
 jobs:
   build:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
 
     steps:
     - uses: actions/checkout@v3

.gitignore

@@ -167,3 +167,5 @@ photon-lib/src/generate/native/cpp/PhotonVersion.cpp
 venv
 
 !photon-core/src/main/resources/models.zip
+.venv/*
+.venv

README.md

@@ -31,15 +31,20 @@ You can run one of the many built in examples straight from the command line, to
 
 Note that these are case sensitive!
 
-* `-PArchOverride=foobar`: builds for a target system other than your current architecture. Valid overrides are:
-    * linuxathena
+* `-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:
+    * winx32
+    * winx64
+    * winarm64
+    * macx64
+    * macarm64
+    * linuxx64
     * linuxarm64
-    * arm64
-    * x86-64
-    * x86
-- `-PtgtIp`: Specifies where `./gradlew deploy` should try to copy the fat JAR to
+    * linuxathena
+- `-PtgtIP`: Specifies where `./gradlew deploy` should try to copy the fat JAR to
 - `-Pprofile`: enables JVM profiling
 
+If you're cross-compiling, you'll need the wpilib toolchain installed. This can be done via Gradle: for example `./gradlew installArm64Toolchain` or `./gradlew installRoboRioToolchain`
+
 ## Out-of-Source Dependencies
 
 PhotonVision uses the following additonal out-of-source repositories for building code.

build.gradle

@@ -1,12 +1,15 @@
 import edu.wpi.first.toolchain.*
 
 plugins {
+    id "java"
+    id "cpp"
     id "com.diffplug.spotless" version "6.24.0"
-    id "edu.wpi.first.NativeUtils" version "2024.7.2" apply false
+    id "edu.wpi.first.NativeUtils" version "2024.6.1" apply false
     id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
     id "edu.wpi.first.GradleRIO" version "2024.3.2"
     id 'edu.wpi.first.WpilibTools' version '1.3.0'
     id 'com.google.protobuf' version '0.9.4' apply false
+    id 'edu.wpi.first.GradleJni' version '1.1.0'
 }
 
 allprojects {
@@ -28,12 +31,12 @@ ext.allOutputsFolder = file("$project.buildDir/outputs")
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2025.0.0-alpha-1"
+    wpilibVersion = "2024.3.2"
     wpimathVersion = wpilibVersion
     openCVversion = "4.8.0-2"
     joglVersion = "2.4.0"
     javalinVersion = "5.6.2"
-    libcameraDriverVersion = "dev-v2023.1.0-12-gfb1eafb"
+    libcameraDriverVersion = "dev-v2023.1.0-14-g787ab59"
     rknnVersion = "dev-v2024.0.1-4-g0db16ac"
     frcYear = "2024"
     mrcalVersion = "dev-v2024.0.0-24-gc1efcf0";
@@ -64,7 +67,7 @@ spotless {
     java {
         target fileTree('.') {
             include '**/*.java'
-            exclude '**/build/**', '**/build-*/**', "photon-core\\src\\main\\java\\org\\photonvision\\PhotonVersion.java", "photon-lib\\src\\main\\java\\org\\photonvision\\PhotonVersion.java"
+            exclude '**/build/**', '**/build-*/**', "photon-core\\src\\main\\java\\org\\photonvision\\PhotonVersion.java", "photon-lib\\src\\main\\java\\org\\photonvision\\PhotonVersion.java", "**/src/generated/**"
         }
         toggleOffOn()
         googleJavaFormat()

devTools/calibrationUtils.py

@@ -3,7 +3,6 @@
 from dataclasses import dataclass
 import json
 import os
-from typing import Union
 import cv2
 import numpy as np
 import mrcal

docs/source/conf.py

@@ -36,6 +36,7 @@
     "sphinxcontrib.ghcontributors",
     "sphinx_design",
     "myst_parser",
+    "sphinx.ext.mathjax",
 ]
 
 # Configure OpenGraph support

docs/source/docs/additional-resources/best-practices.md

@@ -15,9 +15,9 @@
 - Make sure you take advantage of the field calibration time given at the start of the event:
     - Bring your robot to the field at the allotted time.
     - Turn on your robot and pull up the dashboard on your driver station.
-    - Point your robot at the target(s) and ensure you get a consistent tracking (you hold one target consistently, the ceiling lights aren't detected, etc.).
-    - If you have problems with your pipeline, go to the pipeline tuning section and retune the pipeline using the guide there. You want to make your exposure as low as possible with a tight hue value to ensure no extra targets are detected.
-    - Move the robot close, far, angled, and around the field to ensure no extra targets are found anywhere when looking for a target.
+    - Point your robot at the AprilTags(s) and ensure you get a consistent tracking (you hold one AprilTag consistently, the ceiling lights aren't detected, etc.).
+    - If you have problems with your pipeline, go to the pipeline tuning section and retune the pipeline using the guide there.
+    - Move the robot close, far, angled, and around the field to ensure no extra AprilTags are found.
     - Go to a practice match to ensure everything is working correctly.
 - After field calibration, use the "Export Settings" button in the "Settings" page to create a backup.
     - Do this for each coprocessor on your robot that runs PhotonVision, and name your exports with meaningful names.
@@ -26,4 +26,4 @@
     - This effectively works as a snapshot of your PhotonVision data that can be restored at any point.
 - Before every match, check the ethernet connection going into your coprocessor and that it is seated fully.
 - Ensure that exposure is as low as possible and that you don't have the dashboard up when you don't need it to reduce bandwidth.
-- Stream at as low of a resolution as possible while still detecting targets to stay within bandwidth limits.
+- Stream at as low of a resolution as possible while still detecting AprilTags to stay within field bandwidth limits.

docs/source/docs/apriltag-pipelines/2D-tracking-tuning.md

@@ -47,7 +47,7 @@ Pose iterations represents the amount of iterations done in order for the AprilT
 
 Max error bits, also known as hamming distance, is the number of positions at which corresponding pieces of data / tag are different. Put more generally, this is the number of bits (think of these as squares in the tag) that need to be changed / corrected in the tag to correctly detect it. A higher value means that more tags will be detected while a lower value cuts out tags that could be "questionable" in terms of detection.
 
-We recommend a value of 0 for the 16h5 and 7+ for the 36h11 family.
+We recommend a value of 0 for the 16h5 and at most 3 for the 36h11 family.
 
 ### Decision Margin Cutoff
 

docs/source/docs/apriltag-pipelines/multitag.md

@@ -24,7 +24,7 @@ This multi-target pose estimate can be accessed using PhotonLib. We suggest usin
 ```{eval-rst}
 .. tab-set-code::
 
-    .. code-block:: java
+    .. code-block:: Java
 
         var result = camera.getLatestResult();
         if (result.getMultiTagResult().estimatedPose.isPresent) {
@@ -38,6 +38,11 @@ This multi-target pose estimate can be accessed using PhotonLib. We suggest usin
         if (result.MultiTagResult().result.isPresent) {
           frc::Transform3d fieldToCamera = result.MultiTagResult().result.best;
         }
+
+    .. code-block:: Python
+
+        # Coming Soon!
+
 ```
 
 :::{note}