PhotonVision · samfreund · Jul 20, 2026 · Jul 20, 2026 · Jul 20, 2026 · Jul 20, 2026
@@ -10,7 +10,7 @@ concurrency:
   cancel-in-progress: true
 
 env:
-  IMAGE_VERSION: v2027.1.1
+  IMAGE_VERSION: Dev
 
 jobs:
 
@@ -27,7 +27,7 @@ jobs:
   #       fail-fast: false
   #       matrix:
   #         include:
-  #           - os: windows-2022
+  #           - os: windows-latest
   #             artifact-name: Win64
   #           - os: macos-14
   #             artifact-name: macOS
@@ -39,12 +39,10 @@ jobs:
   #     needs: [build-photonlib-host, build-photonlib-docker]
 
   #     steps:
-  #       - name: Checkout code
-  #         uses: actions/checkout@v6
+  #       - uses: actions/checkout@v6
   #         with:
   #           fetch-depth: 0
-  #       - name: Fetch tags
-  #         run: git fetch --tags --force
+  #       - run: git fetch --tags --force
   #       - uses: actions/setup-java@v5
   #         with:
   #           java-version: 25
@@ -93,11 +91,11 @@ jobs:
 
   playwright-tests:
     name: "Playwright E2E tests"
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-26.04
     needs: [validation]
+    # container: wpilib/systemcore-cross-debian:trixie
     steps:
-      - name: Checkout code
-        uses: actions/checkout@v6
+      - uses: actions/checkout@v6
       - uses: actions/setup-java@v5
         with:
           java-version: 25
@@ -129,15 +127,15 @@ jobs:
           retention-days: 30
   build-gradle:
     name: "Gradle Build"
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-26.04
+    container: wpilib/systemcore-cross-debian:trixie
     needs: [validation]
     steps:
-      - name: Checkout code
-        uses: actions/checkout@v6
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
-      - name: Fetch tags
-        run: git fetch --tags --force
+      - run: git config --global --add safe.directory /__w/photonvision/photonvision
+      - run: git fetch --tags --force
       - uses: actions/setup-java@v5
         with:
           java-version: 25
@@ -153,9 +151,8 @@ jobs:
       - name: Generate Java/cpp Serde Tests
         working-directory: photon-serde
         run: |
-          python -m pip install --upgrade pip
-          pip install -r requirements.txt
-          python generate_messages.py --tests
+          pip install -r requirements.txt --break-system-packages
+          python3 generate_messages.py --tests
       - name: Upload Java/cpp Serde Tests
         uses: actions/upload-artifact@v7
         with:
@@ -228,12 +225,10 @@ jobs:
       fail-fast: false
       matrix:
         include:
-         - os: windows-2022
-           artifact-name: Win64
-         - os: macos-26
-           artifact-name: macOS
-         - os: ubuntu-24.04
-           artifact-name: Linux
+          - os: windows-latest
+            artifact-name: Win64
+          - os: macos-26
+            artifact-name: macOS
 
     name: "Photonlib - Build Host - ${{ matrix.artifact-name }}"
     runs-on: ${{ matrix.os }}
@@ -266,15 +261,15 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/systemcore-cross-ubuntu:2027-24.04
+          - container: wpilib/systemcore-cross-debian:trixie
             artifact-name: SystemCore
             build-options: "-Ponlylinuxsystemcore"
-          - container: wpilib/raspbian-cross-ubuntu:2027-bookworm-24.04
-            artifact-name: Raspbian
-            build-options: "-Ponlylinuxarm32"
-          - container: wpilib/aarch64-cross-ubuntu:2027-bookworm-24.04
+          - container: wpilib/aarch64-cross-debian:trixie
             artifact-name: Aarch64
             build-options: "-Ponlylinuxarm64"
+          - container: wpilib/systemcore-cross-debian:trixie
+            artifact-name: Linux
+            build-options: "-Ponlylinuxx86-64"
 
     runs-on: ubuntu-24.04
     container: ${{ matrix.container }}
@@ -363,6 +358,11 @@ jobs:
       - name: Install Arm64 Toolchain
         run: ./gradlew installArm64Toolchain
         if: ${{ (matrix.artifact-name) == 'LinuxArm64' }}
+      - name: Make GCC 14 the default toolchain (Linux)
+        if: runner.os == 'Linux'
+        run: |
+          sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-14 200
+          sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-14 200
       - uses: actions/download-artifact@v8
         with:
           name: built-docs
@@ -403,7 +403,7 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - os: windows-2022
+          - os: windows-latest
             artifact-name: Win
             arch-override: winx86-64
 
@@ -419,14 +419,14 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - os: ubuntu-24.04
+          - os: ubuntu-26.04
             artifact-name: photonvision-*-linuxx86-64.jar
             extraOpts: -Djdk.lang.Process.launchMechanism=vfork
-          - os: windows-2022
+          - os: windows-latest
             artifact-name: photonvision-*-winx86-64.jar
           - os: macos-latest
             artifact-name: photonvision-*-macarm64.jar
-          - os: ubuntu-24.04-arm
+          - os: ubuntu-26.04-arm
             artifact-name: photonvision-*-linuxarm64.jar
 
 
@@ -462,11 +462,11 @@ jobs:
           fi
           echo "=== Second run ==="
           java -jar ${{ matrix.extraOpts }} *.jar --smoketest
-        if: ${{ (matrix.os) != 'windows-2022' }}
+        if: ${{ (matrix.os) != 'windows-latest' }}
       - run: |
           ls *.jar | %{ Write-Host "Running $($_.Name)"; Start-Process "java" -ArgumentList "-jar `"$($_.FullName)`" --smoketest" -NoNewWindow -Wait; break }
           ls *.jar | %{ Write-Host "Running $($_.Name)"; Start-Process "java" -ArgumentList "-jar `"$($_.FullName)`" --smoketest" -NoNewWindow -Wait; break }
-        if: ${{ (matrix.os) == 'windows-2022' }}
+        if: ${{ (matrix.os) == 'windows-latest' }}
 
   build-image:
     needs: [build-package-linux]
@@ -555,8 +555,7 @@ jobs:
     name: "Build image - ${{ matrix.image_suffix }}"
 
     steps:
-      - name: Checkout code
-        uses: actions/checkout@v6
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - uses: actions/download-artifact@v8

@@ -52,12 +52,10 @@ jobs:
     needs: [validation]
     runs-on: "ubuntu-24.04"
     steps:
-    - name: Checkout code
-      uses: actions/checkout@v6
+    - uses: actions/checkout@v6
       with:
         fetch-depth: 0
-    - name: Fetch tags
-      run: git fetch --tags --force
+    - run: git fetch --tags --force
     - uses: actions/setup-java@v5
       with:
         java-version: 25

@@ -16,8 +16,7 @@ jobs:
     runs-on: ubuntu-24.04
 
     steps:
-      - name: Checkout code
-        uses: actions/checkout@v6
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
 
@@ -46,8 +45,7 @@ jobs:
     runs-on: ubuntu-24.04
 
     steps:
-      - name: Checkout code
-        uses: actions/checkout@v6
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
 
@@ -83,8 +81,7 @@ jobs:
     runs-on: ubuntu-24.04
 
     steps:
-      - name: Checkout code
-        uses: actions/checkout@v6
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
 
@@ -137,8 +134,7 @@ jobs:
 
     steps:
 
-      - name: Checkout code
-        uses: actions/checkout@v6
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
 

@@ -4,8 +4,8 @@ plugins {
     id "cpp"
     id "com.diffplug.spotless" version "8.1.0"
     id "org.wpilib.WPILibRepositoriesPlugin" version "2027.0.0"
-    id 'org.wpilib.NativeUtils' version '2027.7.1' apply false
-    id 'org.wpilib.DeployUtils' version '2027.1.0' apply false
+    id 'org.wpilib.NativeUtils' version '2027.14.1' apply false
+    id 'org.wpilib.DeployUtils' version '2027.2.0' apply false
     id 'org.photonvision.tools.WpilibTools' version 'v5.0.1'
     id 'com.google.protobuf' version '0.9.5' apply false
     id 'org.wpilib.GradleJni' version '2027.0.0'
@@ -31,12 +31,13 @@ ext.localMavenURL = file("$project.buildDir/outputs/maven")
 ext.allOutputsFolder = file("$project.buildDir/outputs")
 
 ext {
-    wpilibVersion = "2027.0.0-alpha-6"
+    wpilibVersion = "2027.0.0-alpha-6-282-g817d119e8"
+    mrclibVersion = "2027.1.0-alpha-1-91-gb154ee9"
     openCVversion = "2027-4.13.0-3"
-    ejmlVersion = "0.43.1";
+    ejmlVersion = "0.46.0";
     avajeJsonbVersion = "3.14";
     msgpackVersion = "0.9.0";
-    quickbufVersion = "1.3.3";
+    quickbufVersion = "1.4";
     jacocoVersion = "0.8.14";
 
     javalinVersion = "6.7.0"
@@ -97,7 +98,7 @@ spotless {
 }
 
 wrapper {
-    gradleVersion = '9.4.0'
+    gradleVersion = '9.4.1'
 }
 
 ext.getCurrentArch = {

@@ -6,11 +6,11 @@ For more information on how to methods to get AprilTag data, look {ref}`here <do
 
 PhotonLib includes a `PhotonPoseEstimator` class, which allows you to combine the pose data from all tags in view in order to get a field relative pose. For each camera, a separate instance of the `PhotonPoseEstimator` class should be created.
 
-## Creating an `AprilTagFieldLayout`
+## Creating a `Field`
 
-`AprilTagFieldLayout` is used to represent a layout of AprilTags within a space (field, shop at home, classroom, etc.). WPILib provides a JSON that describes the layout of AprilTags on the field which you can then use in the AprilTagFieldLayout constructor. You can also specify a custom layout.
+A WPILib `Field` is used to represent a field containing a set of AprilTags (field, shop at home, classroom, etc.). WPILib provides a JSON that describes the layout of AprilTags on the field which you can then use in the `Field` constructor. You can also specify a custom layout.
 
-The API documentation can be found in here: [Java](https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/apriltag/AprilTagFieldLayout.html), [C++](https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc_1_1_april_tag_field_layout.html), and [Python](https://robotpy.readthedocs.io/projects/apriltag/en/stable/robotpy_apriltag/AprilTagFieldLayout.html#robotpy_apriltag.AprilTagFieldLayout).
+The API documentation can be found in here: [Java](https://github.wpilib.org/allwpilib/docs/release/java/org/wpilib/fields/Field.html), [C++](https://github.wpilib.org/allwpilib/docs/release/cpp/classwpi_1_1fields_1_1_field.html), and [Python](https://robotpy.readthedocs.io/projects/fields/en/stable/robotpy_fields/Field.html#robotpy_fields.Field).
 
 ```{eval-rst}
 .. tab-set-code::
@@ -48,7 +48,7 @@ Another necessary argument for creating a `PhotonPoseEstimator` is the `Transfor
 
 ## Creating a `PhotonPoseEstimator`
 
-The PhotonPoseEstimator has a constructor that takes an `AprilTagFieldLayout` (see above) and `Transform3d`.
+The PhotonPoseEstimator has a constructor that takes a `Field` (see above) and `Transform3d`.
 
 ```{eval-rst}
 .. tab-set-code::
@@ -88,7 +88,7 @@ When taking in a result from a `PhotonCamera`, PhotonPoseEstimator offers nine p
 
 - Coprocessor MultiTag (`estimateCoprocMultiTagPose`)
   - Calculates a new robot position estimate by combining all visible tag corners. Recommended for all teams as it will be the most accurate.
-  - Must configure the AprilTagFieldLayout properly in the UI, please see {ref}`here <docs/apriltag-pipelines/multitag:multitag localization>` for more information.
+  - Must configure the field properly in the UI, please see {ref}`here <docs/apriltag-pipelines/multitag:multitag localization>` for more information.
 - Lowest Ambiguity (`estimateLowestAmbiguityPose`)
   - Choose the Pose with the lowest ambiguity.
 - Closest to Camera Height (`estimateClosestToCameraHeightPose`)

@@ -116,15 +116,15 @@ To use simulated object detection, you must provide an objDetClassId (zero-index
       visionSim.addVisionTargets(visionTarget);
 ```
 
-For convenience, an `AprilTagFieldLayout` can also be added to automatically create a target for each of its AprilTags.
+For convenience, a `Field` can also be added to automatically create a target for each of its AprilTags.
 
 ```{eval-rst}
 .. tab-set-code::
 
    .. code-block:: java
 
       // The layout of AprilTags which we want to add to the vision system
-      AprilTagFieldLayout tagLayout = AprilTagFieldLayout.loadFromResource(AprilTagFields.kDefaultField.m_resourceFile);
+      Field tagLayout = Field.loadField(Fields.DEFAULT_FIELD);
 
       visionSim.addAprilTags(tagLayout);
 ```

@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-9.4.0-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-9.4.1-bin.zip
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME

@@ -1,9 +1,15 @@
 <script setup lang="ts">
 import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
-import type { Quaternion } from "@/types/PhotonTrackingTypes";
+import type { FieldTag, Quaternion } from "@/types/PhotonTrackingTypes";
 import { toDeg } from "@/lib/MathUtils";
+import { computed } from "vue";
 const { Euler, Quaternion: ThreeQuat } = await import("three");
 
+const currentFieldLayout = computed(() => useSettingsStore().currentFieldLayout);
+const fieldWidth = computed(() => currentFieldLayout.value["field-dimensions"].width);
+const fieldLength = computed(() => currentFieldLayout.value["field-dimensions"].length);
+const fieldTags = computed<FieldTag[]>(() => currentFieldLayout.value["field-tags"] ?? []);
+
 const quaternionToEuler = (rot_quat: Quaternion): { x: number; y: number; z: number } => {
   const quat = new ThreeQuat(rot_quat.X, rot_quat.Y, rot_quat.Z, rot_quat.W);
   const euler = new Euler().setFromQuaternion(quat, "ZYX");
@@ -16,8 +22,8 @@ const quaternionToEuler = (rot_quat: Quaternion): { x: number; y: number; z: num
   <v-card color="surface" class="rounded-12">
     <v-card-title>AprilTag Field Layout</v-card-title>
     <v-card-text class="pt-0">
-      <p>Field width: {{ useSettingsStore().currentFieldLayout.field.width.toFixed(2) }} meters</p>
-      <p>Field length: {{ useSettingsStore().currentFieldLayout.field.length.toFixed(2) }} meters</p>
+      <p>Field width: {{ fieldWidth.toFixed(2) }} meters</p>
+      <p>Field length: {{ fieldLength.toFixed(2) }} meters</p>
 
       <!-- Simple table height must be set here and in the CSS for the fixed-header to work -->
       <v-table fixed-header height="100%" density="compact">
@@ -34,7 +40,7 @@ const quaternionToEuler = (rot_quat: Quaternion): { x: number; y: number; z: num
             </tr>
           </thead>
           <tbody>
-            <tr v-for="(tag, index) in useSettingsStore().currentFieldLayout.tags" :key="index">
+            <tr v-for="(tag, index) in fieldTags" :key="index">
               <td>{{ tag.ID }}</td>
               <td v-for="(val, idx) in Object.values(tag.pose.translation)" :key="idx">{{ val.toFixed(2) }}&nbsp;m</td>
               <td v-for="(val, idx) in Object.values(quaternionToEuler(tag.pose.rotation.quaternion))" :key="idx + 4">