diff --git a/build.gradle b/build.gradle
index 1f066ba997..9cfb7e8c6f 100644
--- a/build.gradle
+++ b/build.gradle
@@ -12,6 +12,7 @@ allprojects {
         mavenCentral()
         mavenLocal()
         maven { url = "https://maven.photonvision.org/repository/internal/" }
+        maven { url = "https://maven.photonvision.org/repository/snapshots/" }
     }
     wpilibRepositories.addAllReleaseRepositories(it)
     wpilibRepositories.addAllDevelopmentRepositories(it)
@@ -21,11 +22,12 @@ allprojects {
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2024.1.1-beta-4"
+    wpilibVersion = "2024.1.1-beta-4-35-g141241d"
     wpimathVersion = wpilibVersion
     openCVversion = "4.8.0-2"
     joglVersion = "2.4.0-rc-20200307"
     javalinVersion = "5.6.2"
+    photonGlDriverLibVersion = "dev-v2023.1.0-6-g5e6f7fa"
     frcYear = "2024"
 
     pubVersion = versionString
diff --git a/photon-client/package-lock.json b/photon-client/package-lock.json
index 727546fc6b..a3794eaedf 100644
--- a/photon-client/package-lock.json
+++ b/photon-client/package-lock.json
@@ -1,43 +1,43 @@
 {
   "name": "photonclient",
   "version": "0.0.0",
-  "lockfileVersion": 2,
+  "lockfileVersion": 3,
   "requires": true,
   "packages": {
     "": {
       "name": "photonclient",
       "version": "0.0.0",
       "dependencies": {
-        "@fontsource/prompt": "^5.0.5",
-        "@mdi/font": "^7.2.96",
+        "@fontsource/prompt": "^5.0.9",
+        "@mdi/font": "^7.4.47",
         "@msgpack/msgpack": "^3.0.0-beta2",
-        "axios": "^1.4.0",
+        "axios": "^1.6.3",
         "jspdf": "^2.5.1",
         "pinia": "^2.1.4",
-        "three": "^0.154.0",
+        "three": "^0.160.0",
         "vue": "^2.7.14",
         "vue-router": "^3.6.5",
-        "vuetify": "^2.6.15"
+        "vuetify": "^2.7.1"
       },
       "devDependencies": {
         "@rushstack/eslint-patch": "^1.3.2",
         "@types/node": "^16.11.45",
-        "@types/three": "^0.154.0",
-        "@vitejs/plugin-vue2": "^2.2.0",
-        "@vue/eslint-config-prettier": "^8.0.0",
-        "@vue/eslint-config-typescript": "^11.0.3",
-        "@vue/tsconfig": "^0.1.3",
+        "@types/three": "^0.160.0",
+        "@vitejs/plugin-vue2": "^2.3.1",
+        "@vue/eslint-config-prettier": "^9.0.0",
+        "@vue/eslint-config-typescript": "^12.0.0",
+        "@vue/tsconfig": "^0.5.1",
         "deepmerge": "^4.3.1",
-        "eslint": "^8.45.0",
-        "eslint-plugin-vue": "^9.0.0",
+        "eslint": "^8.56.0",
+        "eslint-plugin-vue": "^9.19.2",
         "npm-run-all": "^4.1.5",
-        "prettier": "^3.0.0",
+        "prettier": "^3.1.1",
         "sass": "~1.32",
         "sass-loader": "^13.3.2",
         "terser": "^5.14.2",
-        "typescript": "~4.7.4",
-        "unplugin-vue-components": "^0.25.1",
-        "vite": "^4.3.9"
+        "typescript": "^5.3.3",
+        "unplugin-vue-components": "^0.26.0",
+        "vite": "^4.5.1"
       }
     },
     "node_modules/@aashutoshrathi/word-wrap": {
@@ -50,18 +50,18 @@
       }
     },
     "node_modules/@antfu/utils": {
-      "version": "0.7.4",
-      "resolved": "https://registry.npmjs.org/@antfu/utils/-/utils-0.7.4.tgz",
-      "integrity": "sha512-qe8Nmh9rYI/HIspLSTwtbMFPj6dISG6+dJnOguTlPNXtCvS2uezdxscVBb7/3DrmNbQK49TDqpkSQ1chbRGdpQ==",
+      "version": "0.7.7",
+      "resolved": "https://registry.npmjs.org/@antfu/utils/-/utils-0.7.7.tgz",
+      "integrity": "sha512-gFPqTG7otEJ8uP6wrhDv6mqwGWYZKNvAcCq6u9hOj0c+IKCEsY4L1oC9trPq2SaWIzAfHvqfBDxF591JkMf+kg==",
       "dev": true,
       "funding": {
         "url": "https://github.com/sponsors/antfu"
       }
     },
     "node_modules/@babel/parser": {
-      "version": "7.22.5",
-      "resolved": "https://registry.npmjs.org/@babel/parser/-/parser-7.22.5.tgz",
-      "integrity": "sha512-DFZMC9LJUG9PLOclRC32G63UXwzqS2koQC8dkx+PLdmt1xSePYpbT/NbsrJy8Q/muXz7o/h/d4A7Fuyixm559Q==",
+      "version": "7.23.6",
+      "resolved": "https://registry.npmjs.org/@babel/parser/-/parser-7.23.6.tgz",
+      "integrity": "sha512-Z2uID7YJ7oNvAI20O9X0bblw7Qqs8Q2hFy0R9tAfnfLkp5MW0UH9eUvnDSnFwKZ0AvgS1ucqR4KzvVHgnke1VQ==",
       "bin": {
         "parser": "bin/babel-parser.js"
       },
@@ -70,20 +70,20 @@
       }
     },
     "node_modules/@babel/runtime": {
-      "version": "7.22.6",
-      "resolved": "https://registry.npmjs.org/@babel/runtime/-/runtime-7.22.6.tgz",
-      "integrity": "sha512-wDb5pWm4WDdF6LFUde3Jl8WzPA+3ZbxYqkC6xAXuD3irdEHN1k0NfTRrJD8ZD378SJ61miMLCqIOXYhd8x+AJQ==",
+      "version": "7.23.7",
+      "resolved": "https://registry.npmjs.org/@babel/runtime/-/runtime-7.23.7.tgz",
+      "integrity": "sha512-w06OXVOFso7LcbzMiDGt+3X7Rh7Ho8MmgPoWU3rarH+8upf+wSU/grlGbWzQyr3DkdN6ZeuMFjpdwW0Q+HxobA==",
       "dependencies": {
-        "regenerator-runtime": "^0.13.11"
+        "regenerator-runtime": "^0.14.0"
       },
       "engines": {
         "node": ">=6.9.0"
       }
     },
     "node_modules/@esbuild/android-arm": {
-      "version": "0.17.19",
-      "resolved": "https://registry.npmjs.org/@esbuild/android-arm/-/android-arm-0.17.19.tgz",
-      "integrity": "sha512-rIKddzqhmav7MSmoFCmDIb6e2W57geRsM94gV2l38fzhXMwq7hZoClug9USI2pFRGL06f4IOPHHpFNOkWieR8A==",
+      "version": "0.18.20",
+      "resolved": "https://registry.npmjs.org/@esbuild/android-arm/-/android-arm-0.18.20.tgz",
+      "integrity": "sha512-fyi7TDI/ijKKNZTUJAQqiG5T7YjJXgnzkURqmGj13C6dCqckZBLdl4h7bkhHt/t0WP+zO9/zwroDvANaOqO5Sw==",
       "cpu": [
         "arm"
       ],
@@ -97,9 +97,9 @@
       }
     },
     "node_modules/@esbuild/android-arm64": {
-      "version": "0.17.19",
-      "resolved": "https://registry.npmjs.org/@esbuild/android-arm64/-/android-arm64-0.17.19.tgz",
-      "integrity": "sha512-KBMWvEZooR7+kzY0BtbTQn0OAYY7CsiydT63pVEaPtVYF0hXbUaOyZog37DKxK7NF3XacBJOpYT4adIJh+avxA==",
+      "version": "0.18.20",
+      "resolved": "https://registry.npmjs.org/@esbuild/android-arm64/-/android-arm64-0.18.20.tgz",
+      "integrity": "sha512-Nz4rJcchGDtENV0eMKUNa6L12zz2zBDXuhj/Vjh18zGqB44Bi7MBMSXjgunJgjRhCmKOjnPuZp4Mb6OKqtMHLQ==",
       "cpu": [
         "arm64"
       ],
@@ -113,9 +113,9 @@
       }
     },
     "node_modules/@esbuild/android-x64": {
-      "version": "0.17.19",
-      "resolved": "https://registry.npmjs.org/@esbuild/android-x64/-/android-x64-0.17.19.tgz",
-      "integrity": "sha512-uUTTc4xGNDT7YSArp/zbtmbhO0uEEK9/ETW29Wk1thYUJBz3IVnvgEiEwEa9IeLyvnpKrWK64Utw2bgUmDveww==",
+      "version": "0.18.20",
+      "resolved": "https://registry.npmjs.org/@esbuild/android-x64/-/android-x64-0.18.20.tgz",
+      "integrity": "sha512-8GDdlePJA8D6zlZYJV/jnrRAi6rOiNaCC/JclcXpB+KIuvfBN4owLtgzY2bsxnx666XjJx2kDPUmnTtR8qKQUg==",
       "cpu": [
         "x64"
       ],
@@ -129,9 +129,9 @@
       }
     },
     "node_modules/@esbuild/darwin-arm64": {
-      "version": "0.17.19",
-      "resolved": "https://registry.npmjs.org/@esbuild/darwin-arm64/-/darwin-arm64-0.17.19.tgz",
-      "integrity": "sha512-80wEoCfF/hFKM6WE1FyBHc9SfUblloAWx6FJkFWTWiCoht9Mc0ARGEM47e67W9rI09YoUxJL68WHfDRYEAvOhg==",
+      "version": "0.18.20",
+      "resolved": "https://registry.npmjs.org/@esbuild/darwin-arm64/-/darwin-arm64-0.18.20.tgz",
+      "integrity": "sha512-bxRHW5kHU38zS2lPTPOyuyTm+S+eobPUnTNkdJEfAddYgEcll4xkT8DB9d2008DtTbl7uJag2HuE5NZAZgnNEA==",
       "cpu": [
         "arm64"
       ],
@@ -145,9 +145,9 @@
       }
     },
     "node_modules/@esbuild/darwin-x64": {
-      "version": "0.17.19",
-      "resolved": "https://registry.npmjs.org/@esbuild/darwin-x64/-/darwin-x64-0.17.19.tgz",
-      "integrity": "sha512-IJM4JJsLhRYr9xdtLytPLSH9k/oxR3boaUIYiHkAawtwNOXKE8KoU8tMvryogdcT8AU+Bflmh81Xn6Q0vTZbQw==",
+      "version": "0.18.20",
+      "resolved": "https://registry.npmjs.org/@esbuild/darwin-x64/-/darwin-x64-0.18.20.tgz",
+      "integrity": "sha512-pc5gxlMDxzm513qPGbCbDukOdsGtKhfxD1zJKXjCCcU7ju50O7MeAZ8c4krSJcOIJGFR+qx21yMMVYwiQvyTyQ==",
       "cpu": [
         "x64"
       ],
@@ -161,9 +161,9 @@
       }
     },
     "node_modules/@esbuild/freebsd-arm64": {
-      "version": "0.17.19",
-      "resolved": "https://registry.npmjs.org/@esbuild/freebsd-arm64/-/freebsd-arm64-0.17.19.tgz",
-      "integrity": "sha512-pBwbc7DufluUeGdjSU5Si+P3SoMF5DQ/F/UmTSb8HXO80ZEAJmrykPyzo1IfNbAoaqw48YRpv8shwd1NoI0jcQ==",
+      "version": "0.18.20",
+      "resolved": "https://registry.npmjs.org/@esbuild/freebsd-arm64/-/freebsd-arm64-0.18.20.tgz",
+      "integrity": "sha512-yqDQHy4QHevpMAaxhhIwYPMv1NECwOvIpGCZkECn8w2WFHXjEwrBn3CeNIYsibZ/iZEUemj++M26W3cNR5h+Tw==",
       "cpu": [
         "arm64"
       ],
@@ -177,9 +177,9 @@
       }
     },
     "node_modules/@esbuild/freebsd-x64": {
-      "version": "0.17.19",
-      "resolved": "https://registry.npmjs.org/@esbuild/freebsd-x64/-/freebsd-x64-0.17.19.tgz",
-      "integrity": "sha512-4lu+n8Wk0XlajEhbEffdy2xy53dpR06SlzvhGByyg36qJw6Kpfk7cp45DR/62aPH9mtJRmIyrXAS5UWBrJT6TQ==",
+      "version": "0.18.20",
+      "resolved": "https://registry.npmjs.org/@esbuild/freebsd-x64/-/freebsd-x64-0.18.20.tgz",
+      "integrity": "sha512-tgWRPPuQsd3RmBZwarGVHZQvtzfEBOreNuxEMKFcd5DaDn2PbBxfwLcj4+aenoh7ctXcbXmOQIn8HI6mCSw5MQ==",
       "cpu": [
         "x64"
       ],
@@ -193,9 +193,9 @@
       }
     },
     "node_modules/@esbuild/linux-arm": {
-      "version": "0.17.19",
-      "resolved": "https://registry.npmjs.org/@esbuild/linux-arm/-/linux-arm-0.17.19.tgz",
-      "integrity": "sha512-cdmT3KxjlOQ/gZ2cjfrQOtmhG4HJs6hhvm3mWSRDPtZ/lP5oe8FWceS10JaSJC13GBd4eH/haHnqf7hhGNLerA==",
+      "version": "0.18.20",
+      "resolved": "https://registry.npmjs.org/@esbuild/linux-arm/-/linux-arm-0.18.20.tgz",
+      "integrity": "sha512-/5bHkMWnq1EgKr1V+Ybz3s1hWXok7mDFUMQ4cG10AfW3wL02PSZi5kFpYKrptDsgb2WAJIvRcDm+qIvXf/apvg==",
       "cpu": [
         "arm"
       ],
@@ -209,9 +209,9 @@
       }
     },
     "node_modules/@esbuild/linux-arm64": {
-      "version": "0.17.19",
-      "resolved": "https://registry.npmjs.org/@esbuild/linux-arm64/-/linux-arm64-0.17.19.tgz",
-      "integrity": "sha512-ct1Tg3WGwd3P+oZYqic+YZF4snNl2bsnMKRkb3ozHmnM0dGWuxcPTTntAF6bOP0Sp4x0PjSF+4uHQ1xvxfRKqg==",
+      "version": "0.18.20",
+      "resolved": "https://registry.npmjs.org/@esbuild/linux-arm64/-/linux-arm64-0.18.20.tgz",
+      "integrity": "sha512-2YbscF+UL7SQAVIpnWvYwM+3LskyDmPhe31pE7/aoTMFKKzIc9lLbyGUpmmb8a8AixOL61sQ/mFh3jEjHYFvdA==",
       "cpu": [
         "arm64"
       ],
@@ -225,9 +225,9 @@
       }
     },
     "node_modules/@esbuild/linux-ia32": {
-      "version": "0.17.19",
-      "resolved": "https://registry.npmjs.org/@esbuild/linux-ia32/-/linux-ia32-0.17.19.tgz",
-      "integrity": "sha512-w4IRhSy1VbsNxHRQpeGCHEmibqdTUx61Vc38APcsRbuVgK0OPEnQ0YD39Brymn96mOx48Y2laBQGqgZ0j9w6SQ==",
+      "version": "0.18.20",
+      "resolved": "https://registry.npmjs.org/@esbuild/linux-ia32/-/linux-ia32-0.18.20.tgz",
+      "integrity": "sha512-P4etWwq6IsReT0E1KHU40bOnzMHoH73aXp96Fs8TIT6z9Hu8G6+0SHSw9i2isWrD2nbx2qo5yUqACgdfVGx7TA==",
       "cpu": [
         "ia32"
       ],
@@ -241,9 +241,9 @@
       }
     },
     "node_modules/@esbuild/linux-loong64": {
-      "version": "0.17.19",
-      "resolved": "https://registry.npmjs.org/@esbuild/linux-loong64/-/linux-loong64-0.17.19.tgz",
-      "integrity": "sha512-2iAngUbBPMq439a+z//gE+9WBldoMp1s5GWsUSgqHLzLJ9WoZLZhpwWuym0u0u/4XmZ3gpHmzV84PonE+9IIdQ==",
+      "version": "0.18.20",
+      "resolved": "https://registry.npmjs.org/@esbuild/linux-loong64/-/linux-loong64-0.18.20.tgz",
+      "integrity": "sha512-nXW8nqBTrOpDLPgPY9uV+/1DjxoQ7DoB2N8eocyq8I9XuqJ7BiAMDMf9n1xZM9TgW0J8zrquIb/A7s3BJv7rjg==",
       "cpu": [
         "loong64"
       ],
@@ -257,9 +257,9 @@
       }
     },
     "node_modules/@esbuild/linux-mips64el": {
-      "version": "0.17.19",
-      "resolved": "https://registry.npmjs.org/@esbuild/linux-mips64el/-/linux-mips64el-0.17.19.tgz",
-      "integrity": "sha512-LKJltc4LVdMKHsrFe4MGNPp0hqDFA1Wpt3jE1gEyM3nKUvOiO//9PheZZHfYRfYl6AwdTH4aTcXSqBerX0ml4A==",
+      "version": "0.18.20",
+      "resolved": "https://registry.npmjs.org/@esbuild/linux-mips64el/-/linux-mips64el-0.18.20.tgz",
+      "integrity": "sha512-d5NeaXZcHp8PzYy5VnXV3VSd2D328Zb+9dEq5HE6bw6+N86JVPExrA6O68OPwobntbNJ0pzCpUFZTo3w0GyetQ==",
       "cpu": [
         "mips64el"
       ],
@@ -273,9 +273,9 @@
       }
     },
     "node_modules/@esbuild/linux-ppc64": {
-      "version": "0.17.19",
-      "resolved": "https://registry.npmjs.org/@esbuild/linux-ppc64/-/linux-ppc64-0.17.19.tgz",
-      "integrity": "sha512-/c/DGybs95WXNS8y3Ti/ytqETiW7EU44MEKuCAcpPto3YjQbyK3IQVKfF6nbghD7EcLUGl0NbiL5Rt5DMhn5tg==",
+      "version": "0.18.20",
+      "resolved": "https://registry.npmjs.org/@esbuild/linux-ppc64/-/linux-ppc64-0.18.20.tgz",
+      "integrity": "sha512-WHPyeScRNcmANnLQkq6AfyXRFr5D6N2sKgkFo2FqguP44Nw2eyDlbTdZwd9GYk98DZG9QItIiTlFLHJHjxP3FA==",
       "cpu": [
         "ppc64"
       ],
@@ -289,9 +289,9 @@
       }
     },
     "node_modules/@esbuild/linux-riscv64": {
-      "version": "0.17.19",
-      "resolved": "https://registry.npmjs.org/@esbuild/linux-riscv64/-/linux-riscv64-0.17.19.tgz",
-      "integrity": "sha512-FC3nUAWhvFoutlhAkgHf8f5HwFWUL6bYdvLc/TTuxKlvLi3+pPzdZiFKSWz/PF30TB1K19SuCxDTI5KcqASJqA==",
+      "version": "0.18.20",
+      "resolved": "https://registry.npmjs.org/@esbuild/linux-riscv64/-/linux-riscv64-0.18.20.tgz",
+      "integrity": "sha512-WSxo6h5ecI5XH34KC7w5veNnKkju3zBRLEQNY7mv5mtBmrP/MjNBCAlsM2u5hDBlS3NGcTQpoBvRzqBcRtpq1A==",
       "cpu": [
         "riscv64"
       ],
@@ -305,9 +305,9 @@
       }
     },
     "node_modules/@esbuild/linux-s390x": {
-      "version": "0.17.19",
-      "resolved": "https://registry.npmjs.org/@esbuild/linux-s390x/-/linux-s390x-0.17.19.tgz",
-      "integrity": "sha512-IbFsFbxMWLuKEbH+7sTkKzL6NJmG2vRyy6K7JJo55w+8xDk7RElYn6xvXtDW8HCfoKBFK69f3pgBJSUSQPr+4Q==",
+      "version": "0.18.20",
+      "resolved": "https://registry.npmjs.org/@esbuild/linux-s390x/-/linux-s390x-0.18.20.tgz",
+      "integrity": "sha512-+8231GMs3mAEth6Ja1iK0a1sQ3ohfcpzpRLH8uuc5/KVDFneH6jtAJLFGafpzpMRO6DzJ6AvXKze9LfFMrIHVQ==",
       "cpu": [
         "s390x"
       ],
@@ -321,9 +321,9 @@
       }
     },
     "node_modules/@esbuild/linux-x64": {
-      "version": "0.17.19",
-      "resolved": "https://registry.npmjs.org/@esbuild/linux-x64/-/linux-x64-0.17.19.tgz",
-      "integrity": "sha512-68ngA9lg2H6zkZcyp22tsVt38mlhWde8l3eJLWkyLrp4HwMUr3c1s/M2t7+kHIhvMjglIBrFpncX1SzMckomGw==",
+      "version": "0.18.20",
+      "resolved": "https://registry.npmjs.org/@esbuild/linux-x64/-/linux-x64-0.18.20.tgz",
+      "integrity": "sha512-UYqiqemphJcNsFEskc73jQ7B9jgwjWrSayxawS6UVFZGWrAAtkzjxSqnoclCXxWtfwLdzU+vTpcNYhpn43uP1w==",
       "cpu": [
         "x64"
       ],
@@ -337,9 +337,9 @@
       }
     },
     "node_modules/@esbuild/netbsd-x64": {
-      "version": "0.17.19",
-      "resolved": "https://registry.npmjs.org/@esbuild/netbsd-x64/-/netbsd-x64-0.17.19.tgz",
-      "integrity": "sha512-CwFq42rXCR8TYIjIfpXCbRX0rp1jo6cPIUPSaWwzbVI4aOfX96OXY8M6KNmtPcg7QjYeDmN+DD0Wp3LaBOLf4Q==",
+      "version": "0.18.20",
+      "resolved": "https://registry.npmjs.org/@esbuild/netbsd-x64/-/netbsd-x64-0.18.20.tgz",
+      "integrity": "sha512-iO1c++VP6xUBUmltHZoMtCUdPlnPGdBom6IrO4gyKPFFVBKioIImVooR5I83nTew5UOYrk3gIJhbZh8X44y06A==",
       "cpu": [
         "x64"
       ],
@@ -353,9 +353,9 @@
       }
     },
     "node_modules/@esbuild/openbsd-x64": {
-      "version": "0.17.19",
-      "resolved": "https://registry.npmjs.org/@esbuild/openbsd-x64/-/openbsd-x64-0.17.19.tgz",
-      "integrity": "sha512-cnq5brJYrSZ2CF6c35eCmviIN3k3RczmHz8eYaVlNasVqsNY+JKohZU5MKmaOI+KkllCdzOKKdPs762VCPC20g==",
+      "version": "0.18.20",
+      "resolved": "https://registry.npmjs.org/@esbuild/openbsd-x64/-/openbsd-x64-0.18.20.tgz",
+      "integrity": "sha512-e5e4YSsuQfX4cxcygw/UCPIEP6wbIL+se3sxPdCiMbFLBWu0eiZOJ7WoD+ptCLrmjZBK1Wk7I6D/I3NglUGOxg==",
       "cpu": [
         "x64"
       ],
@@ -369,9 +369,9 @@
       }
     },
     "node_modules/@esbuild/sunos-x64": {
-      "version": "0.17.19",
-      "resolved": "https://registry.npmjs.org/@esbuild/sunos-x64/-/sunos-x64-0.17.19.tgz",
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 }
diff --git a/photon-client/package.json b/photon-client/package.json
index 63a0e080bd..c201232839 100644
--- a/photon-client/package.json
+++ b/photon-client/package.json
@@ -13,35 +13,35 @@
     "format-ci": "prettier --check src/"
   },
   "dependencies": {
-    "@fontsource/prompt": "^5.0.5",
-    "@mdi/font": "^7.2.96",
+    "@fontsource/prompt": "^5.0.9",
+    "@mdi/font": "^7.4.47",
     "@msgpack/msgpack": "^3.0.0-beta2",
-    "axios": "^1.4.0",
+    "axios": "^1.6.3",
     "jspdf": "^2.5.1",
     "pinia": "^2.1.4",
-    "three": "^0.154.0",
+    "three": "^0.160.0",
     "vue": "^2.7.14",
     "vue-router": "^3.6.5",
-    "vuetify": "^2.6.15"
+    "vuetify": "^2.7.1"
   },
   "devDependencies": {
     "@rushstack/eslint-patch": "^1.3.2",
-    "@vue/eslint-config-prettier": "^8.0.0",
-    "@vue/eslint-config-typescript": "^11.0.3",
-    "prettier": "^3.0.0",
+    "@vue/eslint-config-prettier": "^9.0.0",
+    "@vue/eslint-config-typescript": "^12.0.0",
+    "prettier": "^3.1.1",
     "@types/node": "^16.11.45",
-    "@types/three": "^0.154.0",
-    "@vitejs/plugin-vue2": "^2.2.0",
-    "@vue/tsconfig": "^0.1.3",
+    "@types/three": "^0.160.0",
+    "@vitejs/plugin-vue2": "^2.3.1",
+    "@vue/tsconfig": "^0.5.1",
     "deepmerge": "^4.3.1",
-    "eslint": "^8.45.0",
-    "eslint-plugin-vue": "^9.0.0",
+    "eslint": "^8.56.0",
+    "eslint-plugin-vue": "^9.19.2",
     "npm-run-all": "^4.1.5",
     "sass": "~1.32",
     "sass-loader": "^13.3.2",
     "terser": "^5.14.2",
-    "typescript": "~4.7.4",
-    "unplugin-vue-components": "^0.25.1",
-    "vite": "^4.3.9"
+    "typescript": "^5.3.3",
+    "unplugin-vue-components": "^0.26.0",
+    "vite": "^4.5.1"
   }
 }
diff --git a/photon-client/src/assets/styles/variables.scss b/photon-client/src/assets/styles/variables.scss
index 89886135fa..a3130f80ee 100644
--- a/photon-client/src/assets/styles/variables.scss
+++ b/photon-client/src/assets/styles/variables.scss
@@ -18,3 +18,7 @@ $heading-font-family: $default-font;
   > tr:hover:not(.v-data-table__expanded__content):not(.v-data-table__empty-wrapper) {
   background: #005281 !important;
 }
+
+.v-card__title {
+  word-break: break-word !important;
+}
diff --git a/photon-client/src/components/app/photon-log-view.vue b/photon-client/src/components/app/photon-log-view.vue
index 103ea94733..2f317c1c94 100644
--- a/photon-client/src/components/app/photon-log-view.vue
+++ b/photon-client/src/components/app/photon-log-view.vue
@@ -47,25 +47,33 @@ document.addEventListener("keydown", (e) => {
 <template>
   <v-dialog v-model="useStateStore().showLogModal" width="1500" dark>
     <v-card dark class="pt-3" color="primary" flat>
-      <v-card-title>
-        View Program Logs
-        <v-btn color="secondary" style="margin-left: auto" depressed @click="handleLogExport">
-          <v-icon left> mdi-download </v-icon>
-          Download Current Log
-
-          <!-- Special hidden link that gets 'clicked' when the user exports journalctl logs -->
-          <a
-            ref="exportLogFile"
-            style="color: black; text-decoration: none; display: none"
-            :href="`http://${backendHost}/api/utils/photonvision-journalctl.txt`"
-            download="photonvision-journalctl.txt"
-            target="_blank"
-          />
-        </v-btn>
-      </v-card-title>
+      <v-row class="heading-container pl-6 pr-6">
+        <v-col>
+          <v-card-title>View Program Logs</v-card-title>
+        </v-col>
+        <v-col class="align-self-center">
+          <v-btn
+            color="secondary"
+            style="margin-left: auto; max-width: 500px; width: 100%"
+            depressed
+            @click="handleLogExport"
+          >
+            <v-icon left class="open-icon"> mdi-download </v-icon>
+            <span class="open-label">Download Current Log</span>
 
+            <!-- Special hidden link that gets 'clicked' when the user exports journalctl logs -->
+            <a
+              ref="exportLogFile"
+              style="color: black; text-decoration: none; display: none"
+              :href="`http://${backendHost}/api/utils/photonvision-journalctl.txt`"
+              download="photonvision-journalctl.txt"
+              target="_blank"
+            />
+          </v-btn>
+        </v-col>
+      </v-row>
       <div class="pr-6 pl-6">
-        <v-btn-toggle v-model="selectedLogLevels" dark multiple class="fill mb-4">
+        <v-btn-toggle v-model="selectedLogLevels" dark multiple class="fill mb-4 overflow-x-auto">
           <v-btn v-for="level in [0, 1, 2, 3]" :key="level" color="secondary" class="fill">
             {{ getLogLevelFromIndex(level) }}
           </v-btn>
@@ -102,4 +110,18 @@ document.addEventListener("keydown", (e) => {
   width: 25%;
   height: 100%;
 }
+@media only screen and (max-width: 512px) {
+  .heading-container {
+    flex-direction: column;
+    padding-bottom: 14px;
+  }
+}
+@media only screen and (max-width: 312px) {
+  .open-icon {
+    margin: 0 !important;
+  }
+  .open-label {
+    display: none;
+  }
+}
 </style>
diff --git a/photon-client/src/components/cameras/CameraCalibrationCard.vue b/photon-client/src/components/cameras/CameraCalibrationCard.vue
index 0bbfbe3df9..e2d5e7d1f1 100644
--- a/photon-client/src/components/cameras/CameraCalibrationCard.vue
+++ b/photon-client/src/components/cameras/CameraCalibrationCard.vue
@@ -11,28 +11,28 @@ import PvSwitch from "@/components/common/pv-switch.vue";
 import PvSelect from "@/components/common/pv-select.vue";
 import PvNumberInput from "@/components/common/pv-number-input.vue";
 import { WebsocketPipelineType } from "@/types/WebsocketDataTypes";
+import { getResolutionString, resolutionsAreEqual } from "@/lib/PhotonUtils";
 
 const settingsValid = ref(true);
 
 const getCalibrationCoeffs = (resolution: Resolution) => {
-  return useCameraSettingsStore().currentCameraSettings.completeCalibrations.find(
-    (cal) => cal.resolution.width === resolution.width && cal.resolution.height === resolution.height
+  return useCameraSettingsStore().currentCameraSettings.completeCalibrations.find((cal) =>
+    resolutionsAreEqual(cal.resolution, resolution)
   );
 };
 const getUniqueVideoResolutions = (): VideoFormat[] => {
   const uniqueResolutions: VideoFormat[] = [];
   useCameraSettingsStore().currentCameraSettings.validVideoFormats.forEach((format, index) => {
-    if (
-      !uniqueResolutions.some(
-        (v) => v.resolution.width === format.resolution.width && v.resolution.height === format.resolution.height
-      )
-    ) {
+    if (!uniqueResolutions.some((v) => resolutionsAreEqual(v.resolution, format.resolution))) {
       format.index = index;
 
       const calib = getCalibrationCoeffs(format.resolution);
       if (calib !== undefined) {
         format.standardDeviation = calib.standardDeviation;
-        format.mean = calib.perViewErrors.reduce((a, b) => a + b) / calib.perViewErrors.length;
+        format.mean =
+          calib.perViewErrors === null
+            ? Number.NaN
+            : calib.perViewErrors.reduce((a, b) => a + b) / calib.perViewErrors.length;
         format.horizontalFOV = 2 * Math.atan2(format.resolution.width / 2, calib.intrinsics[0]) * (180 / Math.PI);
         format.verticalFOV = 2 * Math.atan2(format.resolution.height / 2, calib.intrinsics[4]) * (180 / Math.PI);
         format.diagonalFOV =
@@ -54,9 +54,9 @@ const getUniqueVideoResolutions = (): VideoFormat[] => {
   );
   return uniqueResolutions;
 };
-const getUniqueVideoResolutionStrings = () =>
+const getUniqueVideoResolutionStrings = (): { name: string; value: number }[] =>
   getUniqueVideoResolutions().map<{ name: string; value: number }>((f) => ({
-    name: `${f.resolution.width} X ${f.resolution.height}`,
+    name: `${getResolutionString(f.resolution)}`,
     // Index won't ever be undefined
     value: f.index || 0
   }));
@@ -150,9 +150,9 @@ const importCalibrationFromCalibDB = ref();
 const openCalibUploadPrompt = () => {
   importCalibrationFromCalibDB.value.click();
 };
-const readImportedCalibration = (payload: Event) => {
-  if (payload.target == null || !payload.target?.files) return;
-  const files: FileList = payload.target.files as FileList;
+const readImportedCalibration = () => {
+  const files = importCalibrationFromCalibDB.value.files;
+  if (files.length === 0) return;
 
   files[0].text().then((text) => {
     useCameraSettingsStore()
@@ -221,100 +221,96 @@ const endCalibration = () => {
     <v-card class="mb-3 pr-6 pb-3" color="primary" dark>
       <v-card-title>Camera Calibration</v-card-title>
       <div class="ml-5">
-        <v-row>
-          <v-col cols="12" md="6">
-            <v-form ref="form" v-model="settingsValid">
-              <pv-select
-                v-model="useStateStore().calibrationData.videoFormatIndex"
-                label="Resolution"
-                :select-cols="7"
-                :disabled="isCalibrating"
-                tooltip="Resolution to calibrate at (you will have to calibrate every resolution you use 3D mode on)"
-                :items="getUniqueVideoResolutionStrings()"
-              />
-              <pv-select
-                v-show="isCalibrating"
-                v-model="useCameraSettingsStore().currentPipelineSettings.streamingFrameDivisor"
-                label="Decimation"
-                tooltip="Resolution to which camera frames are downscaled for detection. Calibration still uses full-res"
-                :items="calibrationDivisors"
-                :select-cols="7"
-                @input="
-                  (v) => useCameraSettingsStore().changeCurrentPipelineSetting({ streamingFrameDivisor: v }, false)
-                "
-              />
-              <pv-select
-                v-model="boardType"
-                label="Board Type"
-                tooltip="Calibration board pattern to use"
-                :select-cols="7"
-                :items="['Chessboard', 'Dotboard']"
-                :disabled="isCalibrating"
-              />
-              <pv-number-input
-                v-model="squareSizeIn"
-                label="Pattern Spacing (in)"
-                tooltip="Spacing between pattern features in inches"
-                :disabled="isCalibrating"
-                :rules="[(v) => v > 0 || 'Size must be positive']"
-                :label-cols="5"
-              />
-              <pv-number-input
-                v-model="patternWidth"
-                label="Board Width (in)"
-                tooltip="Width of the board in dots or chessboard squares"
-                :disabled="isCalibrating"
-                :rules="[(v) => v >= 4 || 'Width must be at least 4']"
-                :label-cols="5"
-              />
-              <pv-number-input
-                v-model="patternHeight"
-                label="Board Height (in)"
-                tooltip="Height of the board in dots or chessboard squares"
-                :disabled="isCalibrating"
-                :rules="[(v) => v >= 4 || 'Height must be at least 4']"
-                :label-cols="5"
-              />
-            </v-form>
-          </v-col>
-          <v-col cols="12" md="6">
-            <v-row align="start" class="pb-4 pt-2">
-              <v-simple-table fixed-header height="100%" dense>
-                <thead>
-                  <tr>
-                    <th>Resolution</th>
-                    <th>Mean Error</th>
-                    <th>Standard Deviation</th>
-                    <th>Horizontal FOV</th>
-                    <th>Vertical FOV</th>
-                    <th>Diagonal FOV</th>
-                  </tr>
-                </thead>
-                <tbody>
-                  <tr v-for="(value, index) in getUniqueVideoResolutions()" :key="index">
-                    <td>{{ value.resolution.width }} X {{ value.resolution.height }}</td>
-                    <td>{{ value.mean !== undefined ? value.mean.toFixed(2) + "px" : "-" }}</td>
-                    <td>
-                      {{ value.standardDeviation !== undefined ? value.standardDeviation.toFixed(2) + "px" : "-" }}
-                    </td>
-                    <td>{{ value.horizontalFOV !== undefined ? value.horizontalFOV.toFixed(2) + "°" : "-" }}</td>
-                    <td>{{ value.verticalFOV !== undefined ? value.verticalFOV.toFixed(2) + "°" : "-" }}</td>
-                    <td>{{ value.diagonalFOV !== undefined ? value.diagonalFOV.toFixed(2) + "°" : "-" }}</td>
-                  </tr>
-                </tbody>
-              </v-simple-table>
-            </v-row>
-            <v-row justify="center">
-              <v-chip
-                v-show="isCalibrating"
-                label
-                :color="useStateStore().calibrationData.hasEnoughImages ? 'secondary' : 'gray'"
-              >
-                Snapshots: {{ useStateStore().calibrationData.imageCount }} of at least
-                {{ useStateStore().calibrationData.minimumImageCount }}
-              </v-chip>
-            </v-row>
-          </v-col>
+        <v-row v-show="!isCalibrating" class="pb-12">
+          <v-card-subtitle class="pb-0 mb-0 pl-3">Complete Calibrations</v-card-subtitle>
+          <v-simple-table fixed-header height="100%" dense class="mt-2">
+            <thead>
+              <tr>
+                <th>Resolution</th>
+                <th>Mean Error</th>
+                <th>Horizontal FOV</th>
+                <th>Vertical FOV</th>
+                <th>Diagonal FOV</th>
+              </tr>
+            </thead>
+            <tbody>
+              <tr v-for="(value, index) in getUniqueVideoResolutions()" :key="index">
+                <td>{{ getResolutionString(value.resolution) }}</td>
+                <td>
+                  {{ 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>
+                <td>{{ value.diagonalFOV !== undefined ? value.diagonalFOV.toFixed(2) + "°" : "-" }}</td>
+              </tr>
+            </tbody>
+          </v-simple-table>
+        </v-row>
+        <v-divider />
+        <v-row style="display: flex; flex-direction: column" class="mt-4">
+          <v-card-subtitle v-show="!isCalibrating" class="pl-3 pa-0 ma-0"> Configure New Calibration</v-card-subtitle>
+          <v-form ref="form" v-model="settingsValid" class="pl-4 mb-10 pr-5">
+            <pv-select
+              v-model="useStateStore().calibrationData.videoFormatIndex"
+              label="Resolution"
+              :select-cols="7"
+              :disabled="isCalibrating"
+              tooltip="Resolution to calibrate at (you will have to calibrate every resolution you use 3D mode on)"
+              :items="getUniqueVideoResolutionStrings()"
+            />
+            <pv-select
+              v-show="isCalibrating"
+              v-model="useCameraSettingsStore().currentPipelineSettings.streamingFrameDivisor"
+              label="Decimation"
+              tooltip="Resolution to which camera frames are downscaled for detection. Calibration still uses full-res"
+              :items="calibrationDivisors"
+              :select-cols="7"
+              @input="(v) => useCameraSettingsStore().changeCurrentPipelineSetting({ streamingFrameDivisor: v }, false)"
+            />
+            <pv-select
+              v-model="boardType"
+              label="Board Type"
+              tooltip="Calibration board pattern to use"
+              :select-cols="7"
+              :items="['Chessboard', 'Dotboard']"
+              :disabled="isCalibrating"
+            />
+            <pv-number-input
+              v-model="squareSizeIn"
+              label="Pattern Spacing (in)"
+              tooltip="Spacing between pattern features in inches"
+              :disabled="isCalibrating"
+              :rules="[(v) => v > 0 || 'Size must be positive']"
+              :label-cols="5"
+            />
+            <pv-number-input
+              v-model="patternWidth"
+              label="Board Width (in)"
+              tooltip="Width of the board in dots or chessboard squares"
+              :disabled="isCalibrating"
+              :rules="[(v) => v >= 4 || 'Width must be at least 4']"
+              :label-cols="5"
+            />
+            <pv-number-input
+              v-model="patternHeight"
+              label="Board Height (in)"
+              tooltip="Height of the board in dots or chessboard squares"
+              :disabled="isCalibrating"
+              :rules="[(v) => v >= 4 || 'Height must be at least 4']"
+              :label-cols="5"
+            />
+          </v-form>
+          <v-row justify="center">
+            <v-chip
+              v-show="isCalibrating"
+              label
+              :color="useStateStore().calibrationData.hasEnoughImages ? 'secondary' : 'gray'"
+              class="mb-6"
+            >
+              Snapshots: {{ useStateStore().calibrationData.imageCount }} of at least
+              {{ useStateStore().calibrationData.minimumImageCount }}
+            </v-chip>
+          </v-row>
         </v-row>
         <v-row v-if="isCalibrating">
           <v-col cols="12" class="pt-0">
@@ -387,7 +383,8 @@ const endCalibration = () => {
               :disabled="!settingsValid"
               @click="isCalibrating ? useCameraSettingsStore().takeCalibrationSnapshot() : startCalibration()"
             >
-              {{ isCalibrating ? "Take Snapshot" : "Start Calibration" }}
+              <v-icon left class="calib-btn-icon"> {{ isCalibrating ? "mdi-camera" : "mdi-flag-outline" }} </v-icon>
+              <span class="calib-btn-label">{{ isCalibrating ? "Take Snapshot" : "Start Calibration" }}</span>
             </v-btn>
           </v-col>
           <v-col :cols="6">
@@ -399,7 +396,12 @@ const endCalibration = () => {
               :disabled="!isCalibrating || !settingsValid"
               @click="endCalibration"
             >
-              {{ useStateStore().calibrationData.hasEnoughImages ? "Finish Calibration" : "Cancel Calibration" }}
+              <v-icon left class="calib-btn-icon">
+                {{ useStateStore().calibrationData.hasEnoughImages ? "mdi-flag-checkered" : "mdi-flag-off-outline" }}
+              </v-icon>
+              <span class="calib-btn-label">{{
+                useStateStore().calibrationData.hasEnoughImages ? "Finish Calibration" : "Cancel Calibration"
+              }}</span>
             </v-btn>
           </v-col>
         </v-row>
@@ -413,14 +415,14 @@ const endCalibration = () => {
               :disabled="!settingsValid"
               @click="downloadCalibBoard"
             >
-              <v-icon left> mdi-download </v-icon>
-              Generate Board
+              <v-icon left class="calib-btn-icon"> mdi-download </v-icon>
+              <span class="calib-btn-label">Generate Board</span>
             </v-btn>
           </v-col>
           <v-col :cols="6">
             <v-btn color="secondary" :disabled="isCalibrating" small style="width: 100%" @click="openCalibUploadPrompt">
-              <v-icon left> mdi-upload </v-icon>
-              Import From CalibDB
+              <v-icon left class="calib-btn-icon"> mdi-upload </v-icon>
+              <span class="calib-btn-label">Import From CalibDB</span>
             </v-btn>
             <input
               ref="importCalibrationFromCalibDB"
@@ -456,7 +458,7 @@ const endCalibration = () => {
                 {{
                   getUniqueVideoResolutionStrings().find(
                     (v) => v.value === useStateStore().calibrationData.videoFormatIndex
-                  ).name
+                  )?.name
                 }}!
               </v-card-text>
             </template>
@@ -482,6 +484,7 @@ const endCalibration = () => {
 <style scoped lang="scss">
 .v-data-table {
   text-align: center;
+  width: 100%;
 
   th,
   td {
@@ -509,4 +512,13 @@ const endCalibration = () => {
     border-radius: 10px;
   }
 }
+
+@media only screen and (max-width: 512px) {
+  .calib-btn-icon {
+    margin: 0 !important;
+  }
+  .calib-btn-label {
+    display: none;
+  }
+}
 </style>
diff --git a/photon-client/src/components/cameras/CameraControlCard.vue b/photon-client/src/components/cameras/CameraControlCard.vue
index 8f65b1eee8..e94bdf315b 100644
--- a/photon-client/src/components/cameras/CameraControlCard.vue
+++ b/photon-client/src/components/cameras/CameraControlCard.vue
@@ -96,8 +96,8 @@ const expanded = ref([]);
     <v-row class="pl-6">
       <v-col>
         <v-btn color="secondary" @click="fetchSnapshots">
-          <v-icon left> mdi-folder </v-icon>
-          Show Saved Snapshots
+          <v-icon left class="open-icon"> mdi-folder </v-icon>
+          <span class="open-label">Show Saved Snapshots</span>
         </v-btn>
       </v-col>
     </v-row>
@@ -199,4 +199,12 @@ const expanded = ref([]);
     max-width: 100%;
   }
 }
+@media only screen and (max-width: 351px) {
+  .open-icon {
+    margin: 0 !important;
+  }
+  .open-label {
+    display: none;
+  }
+}
 </style>
diff --git a/photon-client/src/components/cameras/CamerasView.vue b/photon-client/src/components/cameras/CamerasView.vue
index 1d52bfcf05..f1dbfef7d8 100644
--- a/photon-client/src/components/cameras/CamerasView.vue
+++ b/photon-client/src/components/cameras/CamerasView.vue
@@ -103,16 +103,16 @@ const fpsTooLow = computed<boolean>(() => {
           class="fill"
           :disabled="useCameraSettingsStore().isDriverMode || useCameraSettingsStore().isCalibrationMode"
         >
-          <v-icon>mdi-import</v-icon>
-          <span>Raw</span>
+          <v-icon left class="mode-btn-icon">mdi-import</v-icon>
+          <span class="mode-btn-label">Raw</span>
         </v-btn>
         <v-btn
           color="secondary"
           class="fill"
           :disabled="useCameraSettingsStore().isDriverMode || useCameraSettingsStore().isCalibrationMode"
         >
-          <v-icon>mdi-export</v-icon>
-          <span>Processed</span>
+          <v-icon left class="mode-btn-icon">mdi-export</v-icon>
+          <span class="mode-btn-label">Processed</span>
         </v-btn>
       </v-btn-toggle>
     </div>
@@ -156,4 +156,12 @@ th {
     max-width: 50%;
   }
 }
+@media only screen and (max-width: 351px) {
+  .mode-btn-icon {
+    margin: 0 !important;
+  }
+  .mode-btn-label {
+    display: none;
+  }
+}
 </style>
diff --git a/photon-client/src/components/dashboard/CamerasCard.vue b/photon-client/src/components/dashboard/CamerasCard.vue
index 21fb77ada2..9796d2505e 100644
--- a/photon-client/src/components/dashboard/CamerasCard.vue
+++ b/photon-client/src/components/dashboard/CamerasCard.vue
@@ -29,61 +29,83 @@ const fpsTooLow = computed<boolean>(() => {
 
   return currFPS - targetFPS < -5 && currFPS !== 0 && !driverMode && gpuAccel && isReflective;
 });
+
+const performanceRecommendation = computed<string>(() => {
+  if (
+    fpsTooLow.value &&
+    !useCameraSettingsStore().currentPipelineSettings.inputShouldShow &&
+    useCameraSettingsStore().currentPipelineSettings.pipelineType === PipelineType.Reflective
+  ) {
+    return "HSV thresholds are too broad; narrow them for better performance";
+  } else if (fpsTooLow.value && useCameraSettingsStore().currentPipelineSettings.inputShouldShow) {
+    return "Stop viewing the raw stream for better performance";
+  } else {
+    return `${Math.min(Math.round(useStateStore().currentPipelineResults?.latency || 0), 9999)} ms latency`;
+  }
+});
 </script>
 
 <template>
   <v-card color="primary" height="100%" style="display: flex; flex-direction: column" dark>
-    <v-card-title
-      class="pb-0 mb-0 pl-4 pt-1"
-      style="min-height: 50px; justify-content: space-between; align-content: center"
-    >
-      <div class="pt-2">
-        <span class="mr-4">Cameras</span>
+    <v-row>
+      <v-col class="align-self-center text-no-wrap">
+        <v-card-title>Cameras</v-card-title>
+      </v-col>
+      <v-col class="align-self-center" style="text-align: right; margin-right: 12px; padding-left: 24px">
         <v-chip
           label
           :color="fpsTooLow ? 'error' : 'transparent'"
           :text-color="fpsTooLow ? '#C7EA46' : '#ff4d00'"
           style="font-size: 1rem; padding: 0; margin: 0"
         >
-          <span class="pr-1">
-            Processing @ {{ Math.round(useStateStore().currentPipelineResults?.fps || 0) }}&nbsp;FPS &ndash;
-          </span>
-          <span
-            v-if="
-              fpsTooLow &&
-              !useCameraSettingsStore().currentPipelineSettings.inputShouldShow &&
-              useCameraSettingsStore().currentPipelineSettings.pipelineType === PipelineType.Reflective
-            "
-          >
-            HSV thresholds are too broad; narrow them for better performance
-          </span>
-          <span v-else-if="fpsTooLow && useCameraSettingsStore().currentPipelineSettings.inputShouldShow">
-            stop viewing the raw stream for better performance
-          </span>
-          <span v-else>
-            {{ Math.min(Math.round(useStateStore().currentPipelineResults?.latency || 0), 9999) }} ms latency
-          </span>
+          <span class="pr-1"
+            >Processing @ {{ Math.round(useStateStore().currentPipelineResults?.fps || 0) }}&nbsp;FPS &ndash;</span
+          ><span>{{ performanceRecommendation }}</span>
         </v-chip>
-      </div>
-      <div>
+      </v-col>
+      <v-col
+        class="align-self-center"
+        style="
+          width: min-content;
+          flex-grow: 0;
+          display: flex;
+          justify-content: flex-end;
+          margin-right: 24px;
+          padding: 0;
+        "
+      >
         <v-switch
           v-model="driverMode"
           :disabled="useCameraSettingsStore().isCalibrationMode || useCameraSettingsStore().pipelineNames.length === 0"
           label="Driver Mode"
-          style="margin-left: auto"
+          style="margin: 0; padding: 0; padding-left: 18px; margin-top: 14px"
           color="accent"
-          class="pt-2"
         />
-      </div>
-    </v-card-title>
+      </v-col>
+    </v-row>
     <v-divider style="border-color: white" />
-    <v-row class="pl-3 pr-3 pt-3 pb-3" style="flex-wrap: nowrap; justify-content: center">
-      <v-col v-show="value.includes(0)" style="max-width: 500px; display: flex; align-items: center">
+    <v-row class="stream-viewer-container pa-3">
+      <v-col v-show="value.includes(0)" class="stream-view">
         <photon-camera-stream id="input-camera-stream" stream-type="Raw" style="width: 100%; height: auto" />
       </v-col>
-      <v-col v-show="value.includes(1)" style="max-width: 500px; display: flex; align-items: center">
+      <v-col v-show="value.includes(1)" class="stream-view">
         <photon-camera-stream id="output-camera-stream" stream-type="Processed" style="width: 100%; height: auto" />
       </v-col>
     </v-row>
   </v-card>
 </template>
+
+<style scoped>
+.stream-viewer-container {
+  display: flex;
+  justify-content: center;
+}
+.stream-view {
+  max-width: 500px;
+}
+@media only screen and (max-width: 512px) {
+  .stream-view {
+    min-width: 80%;
+  }
+}
+</style>
diff --git a/photon-client/src/components/dashboard/StreamConfigCard.vue b/photon-client/src/components/dashboard/StreamConfigCard.vue
index be6a484315..307a380dfc 100644
--- a/photon-client/src/components/dashboard/StreamConfigCard.vue
+++ b/photon-client/src/components/dashboard/StreamConfigCard.vue
@@ -39,11 +39,11 @@ const processingMode = computed<number>({
         <p style="color: white">Processing Mode</p>
         <v-btn-toggle v-model="processingMode" mandatory dark class="fill">
           <v-btn color="secondary">
-            <v-icon>mdi-square-outline</v-icon>
+            <v-icon left>mdi-square-outline</v-icon>
             <span>2D</span>
           </v-btn>
           <v-btn color="secondary" :disabled="!useCameraSettingsStore().isCurrentVideoFormatCalibrated">
-            <v-icon>mdi-cube-outline</v-icon>
+            <v-icon left>mdi-cube-outline</v-icon>
             <span>3D</span>
           </v-btn>
         </v-btn-toggle>
@@ -54,12 +54,12 @@ const processingMode = computed<number>({
         <p style="color: white">Stream Display</p>
         <v-btn-toggle v-model="localValue" :multiple="true" mandatory dark class="fill">
           <v-btn color="secondary" class="fill">
-            <v-icon>mdi-import</v-icon>
-            <span>Raw</span>
+            <v-icon left class="mode-btn-icon">mdi-import</v-icon>
+            <span class="mode-btn-label">Raw</span>
           </v-btn>
           <v-btn color="secondary" class="fill">
-            <v-icon>mdi-export</v-icon>
-            <span>Processed</span>
+            <v-icon left class="mode-btn-icon">mdi-export</v-icon>
+            <span class="mode-btn-label">Processed</span>
           </v-btn>
         </v-btn-toggle>
       </v-col>
@@ -82,4 +82,13 @@ th {
   width: 80px;
   text-align: center;
 }
+
+@media only screen and (max-width: 351px) {
+  .mode-btn-icon {
+    margin: 0 !important;
+  }
+  .mode-btn-label {
+    display: none;
+  }
+}
 </style>
diff --git a/photon-client/src/components/dashboard/tabs/AprilTagTab.vue b/photon-client/src/components/dashboard/tabs/AprilTagTab.vue
index 25ef85b492..359c54f0fb 100644
--- a/photon-client/src/components/dashboard/tabs/AprilTagTab.vue
+++ b/photon-client/src/components/dashboard/tabs/AprilTagTab.vue
@@ -1,15 +1,18 @@
 <script setup lang="ts">
-import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
 import { PipelineType } from "@/types/PipelineTypes";
 import PvSelect from "@/components/common/pv-select.vue";
 import PvSlider from "@/components/common/pv-slider.vue";
 import PvSwitch from "@/components/common/pv-switch.vue";
 import { computed, getCurrentInstance } from "vue";
 import { useStateStore } from "@/stores/StateStore";
+import type { ActivePipelineSettings } from "@/types/PipelineTypes";
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
 
 // TODO fix pipeline typing in order to fix this, the store settings call should be able to infer that only valid pipeline type settings are exposed based on pre-checks for the entire config section
 // Defer reference to store access method
-const currentPipelineSettings = useCameraSettingsStore().currentPipelineSettings;
+const currentPipelineSettings = computed<ActivePipelineSettings>(
+  () => useCameraSettingsStore().currentPipelineSettings
+);
 
 const interactiveCols = computed(
   () =>
diff --git a/photon-client/src/components/dashboard/tabs/ArucoTab.vue b/photon-client/src/components/dashboard/tabs/ArucoTab.vue
index 596a17d00a..5be0ffe56d 100644
--- a/photon-client/src/components/dashboard/tabs/ArucoTab.vue
+++ b/photon-client/src/components/dashboard/tabs/ArucoTab.vue
@@ -1,6 +1,6 @@
 <script setup lang="ts">
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
-import { PipelineType } from "@/types/PipelineTypes";
+import { PipelineType, type ActivePipelineSettings } from "@/types/PipelineTypes";
 import PvSlider from "@/components/common/pv-slider.vue";
 import PvSwitch from "@/components/common/pv-switch.vue";
 import PvRangeSlider from "@/components/common/pv-range-slider.vue";
@@ -10,7 +10,9 @@ import { useStateStore } from "@/stores/StateStore";
 
 // TODO fix pipeline typing in order to fix this, the store settings call should be able to infer that only valid pipeline type settings are exposed based on pre-checks for the entire config section
 // Defer reference to store access method
-const currentPipelineSettings = useCameraSettingsStore().currentPipelineSettings;
+const currentPipelineSettings = computed<ActivePipelineSettings>(
+  () => useCameraSettingsStore().currentPipelineSettings
+);
 
 const interactiveCols = computed(
   () =>
diff --git a/photon-client/src/components/dashboard/tabs/ContoursTab.vue b/photon-client/src/components/dashboard/tabs/ContoursTab.vue
index dfdc65d2cf..d1879f449f 100644
--- a/photon-client/src/components/dashboard/tabs/ContoursTab.vue
+++ b/photon-client/src/components/dashboard/tabs/ContoursTab.vue
@@ -1,6 +1,6 @@
 <script setup lang="ts">
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
-import { PipelineType } from "@/types/PipelineTypes";
+import { type ActivePipelineSettings, PipelineType } from "@/types/PipelineTypes";
 import PvRangeSlider from "@/components/common/pv-range-slider.vue";
 import PvSelect from "@/components/common/pv-select.vue";
 import PvSlider from "@/components/common/pv-slider.vue";
@@ -9,7 +9,9 @@ import { useStateStore } from "@/stores/StateStore";
 
 // TODO fix pipeline typing in order to fix this, the store settings call should be able to infer that only valid pipeline type settings are exposed based on pre-checks for the entire config section
 // Defer reference to store access method
-const currentPipelineSettings = useCameraSettingsStore().currentPipelineSettings;
+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]>({
@@ -26,23 +28,23 @@ const contourFullness = computed<[number, number]>({
 });
 const contourPerimeter = computed<[number, number]>({
   get: () =>
-    currentPipelineSettings.pipelineType === PipelineType.ColoredShape
-      ? (Object.values(currentPipelineSettings.contourPerimeter) as [number, number])
+    currentPipelineSettings.value.pipelineType === PipelineType.ColoredShape
+      ? (Object.values(currentPipelineSettings.value.contourPerimeter) as [number, number])
       : ([0, 0] as [number, number]),
   set: (v) => {
-    if (currentPipelineSettings.pipelineType === PipelineType.ColoredShape) {
-      currentPipelineSettings.contourPerimeter = v;
+    if (currentPipelineSettings.value.pipelineType === PipelineType.ColoredShape) {
+      currentPipelineSettings.value.contourPerimeter = v;
     }
   }
 });
 const contourRadius = computed<[number, number]>({
   get: () =>
-    currentPipelineSettings.pipelineType === PipelineType.ColoredShape
-      ? (Object.values(currentPipelineSettings.contourRadius) as [number, number])
+    currentPipelineSettings.value.pipelineType === PipelineType.ColoredShape
+      ? (Object.values(currentPipelineSettings.value.contourRadius) as [number, number])
       : ([0, 0] as [number, number]),
   set: (v) => {
-    if (currentPipelineSettings.pipelineType === PipelineType.ColoredShape) {
-      currentPipelineSettings.contourRadius = v;
+    if (currentPipelineSettings.value.pipelineType === PipelineType.ColoredShape) {
+      currentPipelineSettings.value.contourRadius = v;
     }
   }
 });
@@ -103,8 +105,8 @@ const interactiveCols = computed(
       v-model="contourPerimeter"
       label="Perimeter"
       tooltip="Min and max perimeter of the shape, in pixels"
-      min="0"
-      max="4000"
+      :min="0"
+      :max="4000"
       :slider-cols="interactiveCols"
       @input="(value) => useCameraSettingsStore().changeCurrentPipelineSetting({ contourPerimeter: value }, false)"
     />
diff --git a/photon-client/src/components/dashboard/tabs/InputTab.vue b/photon-client/src/components/dashboard/tabs/InputTab.vue
index 52cfef129e..1737dda6a1 100644
--- a/photon-client/src/components/dashboard/tabs/InputTab.vue
+++ b/photon-client/src/components/dashboard/tabs/InputTab.vue
@@ -6,13 +6,14 @@ import PvSelect from "@/components/common/pv-select.vue";
 import { computed, getCurrentInstance } from "vue";
 import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
 import { useStateStore } from "@/stores/StateStore";
+import { getResolutionString } from "@/lib/PhotonUtils";
 
 // Due to something with libcamera or something else IDK much about, the 90° rotations need to be disabled if the libcamera drivers are being used.
 const cameraRotations = computed(() =>
   ["Normal", "90° CW", "180°", "90° CCW"].map((v, i) => ({
     name: v,
     value: i,
-    disabled: useSettingsStore().gpuAccelerationEnabled ? [1, 3].includes(i) : false
+    disabled: useCameraSettingsStore().isCSICamera ? [1, 3].includes(i) : false
   }))
 );
 
@@ -30,7 +31,7 @@ const getNumberOfSkippedDivisors = () => streamDivisors.length - getFilteredStre
 
 const cameraResolutions = computed(() =>
   useCameraSettingsStore().currentCameraSettings.validVideoFormats.map(
-    (f) => `${f.resolution.width} X ${f.resolution.height} at ${f.fps} FPS, ${f.pixelFormat}`
+    (f) => `${getResolutionString(f.resolution)} at ${f.fps} FPS, ${f.pixelFormat}`
   )
 );
 const handleResolutionChange = (value: number) => {
@@ -48,7 +49,11 @@ const streamResolutions = computed(() => {
   const streamDivisors = getFilteredStreamDivisors();
   const currentResolution = useCameraSettingsStore().currentVideoFormat.resolution;
   return streamDivisors.map(
-    (x) => `${Math.floor(currentResolution.width / x)} X ${Math.floor(currentResolution.height / x)}`
+    (x) =>
+      `${getResolutionString({
+        width: Math.floor(currentResolution.width / x),
+        height: Math.floor(currentResolution.height / x)
+      })}`
   );
 });
 const handleStreamResolutionChange = (value: number) => {
diff --git a/photon-client/src/components/dashboard/tabs/OutputTab.vue b/photon-client/src/components/dashboard/tabs/OutputTab.vue
index e1e270af8a..8caaffeb70 100644
--- a/photon-client/src/components/dashboard/tabs/OutputTab.vue
+++ b/photon-client/src/components/dashboard/tabs/OutputTab.vue
@@ -1,7 +1,7 @@
 <script setup lang="ts">
 import PvSelect from "@/components/common/pv-select.vue";
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
-import { PipelineType, RobotOffsetPointMode } from "@/types/PipelineTypes";
+import { type ActivePipelineSettings, PipelineType, RobotOffsetPointMode } from "@/types/PipelineTypes";
 import PvSwitch from "@/components/common/pv-switch.vue";
 import { computed, getCurrentInstance } from "vue";
 import { RobotOffsetType } from "@/types/SettingTypes";
@@ -40,7 +40,11 @@ const offsetPoints = computed<MetricItem[]>(() => {
   }
 });
 
-const currentPipelineSettings = useCameraSettingsStore().currentPipelineSettings;
+// TODO fix pipeline typing in order to fix this, the store settings call should be able to infer that only valid pipeline type settings are exposed based on pre-checks for the entire config section
+// Defer reference to store access method
+const currentPipelineSettings = computed<ActivePipelineSettings>(
+  () => useCameraSettingsStore().currentPipelineSettings
+);
 
 const interactiveCols = computed(
   () =>
diff --git a/photon-client/src/components/dashboard/tabs/TargetsTab.vue b/photon-client/src/components/dashboard/tabs/TargetsTab.vue
index ff624fb77e..87d32dcb43 100644
--- a/photon-client/src/components/dashboard/tabs/TargetsTab.vue
+++ b/photon-client/src/components/dashboard/tabs/TargetsTab.vue
@@ -1,14 +1,15 @@
 <script setup lang="ts">
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
-import { PipelineType } from "@/types/PipelineTypes";
+import { type ActivePipelineSettings, PipelineType } from "@/types/PipelineTypes";
 import { useStateStore } from "@/stores/StateStore";
+import { angleModulus, toDeg } from "@/lib/MathUtils";
+import { computed } from "vue";
 
-const wrapToPi = (delta: number): number => {
-  let ret = delta;
-  while (ret < -Math.PI) ret += Math.PI * 2;
-  while (ret > Math.PI) ret -= Math.PI * 2;
-  return ret;
-};
+// TODO fix pipeline typing in order to fix this, the store settings call should be able to infer that only valid pipeline type settings are exposed based on pre-checks for the entire config section
+// Defer reference to store access method
+const currentPipelineSettings = computed<ActivePipelineSettings>(
+  () => useCameraSettingsStore().currentPipelineSettings
+);
 
 const calculateStdDev = (values: number[]): number => {
   if (values.length < 2) return 0;
@@ -21,14 +22,9 @@ const calculateStdDev = (values: number[]): number => {
 
   // Borrowed from WPILib's Rotation2d
   const hypot = Math.hypot(cosmean, sinmean);
-  let mean;
-  if (hypot > 1e-6) {
-    mean = Math.atan2(sinmean / hypot, cosmean / hypot);
-  } else {
-    mean = 0;
-  }
+  const mean = hypot > 1e-6 ? Math.atan2(sinmean / hypot, cosmean / hypot) : 0;
 
-  return Math.sqrt(values.map((x) => Math.pow(wrapToPi(x - mean), 2)).reduce((a, b) => a + b) / values.length);
+  return Math.sqrt(values.map((x) => Math.pow(angleModulus(x - mean), 2)).reduce((a, b) => a + b) / values.length);
 };
 const resetCurrentBuffer = () => {
   // Need to clear the array in place
@@ -38,71 +34,78 @@ const resetCurrentBuffer = () => {
 
 <template>
   <div>
-    <v-row align="start" class="pb-4" style="height: 300px">
-      <v-simple-table fixed-header dense dark>
+    <v-row align="start" class="pb-4">
+      <v-simple-table dense class="pt-2 pb-12">
         <template #default>
-          <thead style="font-size: 1.25rem">
+          <thead>
             <tr>
               <th
                 v-if="
-                  useCameraSettingsStore().currentPipelineType === PipelineType.AprilTag ||
-                  useCameraSettingsStore().currentPipelineType === PipelineType.Aruco
+                  currentPipelineSettings.pipelineType === PipelineType.AprilTag ||
+                  currentPipelineSettings.pipelineType === PipelineType.Aruco
                 "
-                class="text-center"
+                class="text-center white--text"
               >
                 Fiducial ID
               </th>
               <template v-if="!useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled">
-                <th class="text-center">Pitch &theta;&deg;</th>
-                <th class="text-center">Yaw &theta;&deg;</th>
-                <th class="text-center">Skew &theta;&deg;</th>
-                <th class="text-center">Area %</th>
+                <th class="text-center white--text">Pitch &theta;&deg;</th>
+                <th class="text-center white--text">Yaw &theta;&deg;</th>
+                <th class="text-center white--text">Skew &theta;&deg;</th>
+                <th class="text-center white--text">Area %</th>
               </template>
               <template v-else>
-                <th class="text-center">X meters</th>
-                <th class="text-center">Y meters</th>
-                <th class="text-center">Z Angle &theta;&deg;</th>
+                <th class="text-center white--text">X meters</th>
+                <th class="text-center white--text">Y meters</th>
+                <th class="text-center white--text">Z Angle &theta;&deg;</th>
               </template>
               <template
                 v-if="
-                  (useCameraSettingsStore().currentPipelineType === PipelineType.AprilTag ||
-                    useCameraSettingsStore().currentPipelineType === PipelineType.Aruco) &&
+                  (currentPipelineSettings.pipelineType === PipelineType.AprilTag ||
+                    currentPipelineSettings.pipelineType === PipelineType.Aruco) &&
                   useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled
                 "
               >
-                <th class="text-center">Ambiguity Ratio</th>
+                <th class="text-center white--text">Ambiguity Ratio</th>
               </template>
             </tr>
           </thead>
           <tbody>
-            <tr v-for="(target, index) in useStateStore().currentPipelineResults?.targets" :key="index">
+            <tr
+              v-for="(target, index) in useStateStore().currentPipelineResults?.targets"
+              :key="index"
+              class="white--text"
+            >
               <td
                 v-if="
-                  useCameraSettingsStore().currentPipelineType === PipelineType.AprilTag ||
-                  useCameraSettingsStore().currentPipelineType === PipelineType.Aruco
+                  currentPipelineSettings.pipelineType === PipelineType.AprilTag ||
+                  currentPipelineSettings.pipelineType === PipelineType.Aruco
                 "
+                class="text-center"
               >
                 {{ target.fiducialId }}
               </td>
               <template v-if="!useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled">
-                <td>{{ target.pitch.toFixed(2) }}&deg;</td>
-                <td>{{ target.yaw.toFixed(2) }}&deg;</td>
-                <td>{{ target.skew.toFixed(2) }}&deg;</td>
-                <td>{{ target.area.toFixed(2) }}&deg;</td>
+                <td class="text-center">{{ target.pitch.toFixed(2) }}&deg;</td>
+                <td class="text-center">{{ target.yaw.toFixed(2) }}&deg;</td>
+                <td class="text-center">{{ target.skew.toFixed(2) }}&deg;</td>
+                <td class="text-center">{{ target.area.toFixed(2) }}&deg;</td>
               </template>
               <template v-else>
-                <td>{{ target.pose?.x.toFixed(2) }}&nbsp;m</td>
-                <td>{{ target.pose?.y.toFixed(2) }}&nbsp;m</td>
-                <td>{{ (((target.pose?.angle_z || 0) * 180.0) / Math.PI).toFixed(2) }}&deg;</td>
+                <td class="text-center">{{ target.pose?.x.toFixed(2) }}&nbsp;m</td>
+                <td class="text-center">{{ target.pose?.y.toFixed(2) }}&nbsp;m</td>
+                <td class="text-center">{{ toDeg(target.pose?.angle_z || 0).toFixed(2) }}&deg;</td>
               </template>
               <template
                 v-if="
-                  (useCameraSettingsStore().currentPipelineType === PipelineType.AprilTag ||
-                    useCameraSettingsStore().currentPipelineType === PipelineType.Aruco) &&
+                  (currentPipelineSettings.pipelineType === PipelineType.AprilTag ||
+                    currentPipelineSettings.pipelineType === PipelineType.Aruco) &&
                   useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled
                 "
               >
-                <td>{{ target.ambiguity >= 0 ? target.ambiguity.toFixed(2) : "(In Multi-Target)" }}</td>
+                <td class="text-center">
+                  {{ target.ambiguity >= 0 ? target.ambiguity.toFixed(2) : "(In Multi-Target)" }}
+                </td>
               </template>
             </tr>
           </tbody>
@@ -111,9 +114,9 @@ const resetCurrentBuffer = () => {
     </v-row>
     <v-container
       v-if="
-        (useCameraSettingsStore().currentPipelineType === PipelineType.AprilTag ||
-          useCameraSettingsStore().currentPipelineType === PipelineType.Aruco) &&
-        useCameraSettingsStore().currentPipelineSettings.doMultiTarget &&
+        (currentPipelineSettings.pipelineType === PipelineType.AprilTag ||
+          currentPipelineSettings.pipelineType === PipelineType.Aruco) &&
+        currentPipelineSettings.doMultiTarget &&
         useCameraSettingsStore().isCurrentVideoFormatCalibrated &&
         useCameraSettingsStore().currentPipelineSettings.solvePNPEnabled
       "
@@ -122,46 +125,57 @@ const resetCurrentBuffer = () => {
         <v-card-subtitle class="ma-0 pa-0 pb-4" style="font-size: 16px"
           >Multi-tag pose, field-to-camera</v-card-subtitle
         >
-        <v-simple-table fixed-header height="100%" dense dark>
-          <thead style="font-size: 1.25rem">
-            <th class="text-center">X meters</th>
-            <th class="text-center">Y meters</th>
-            <th class="text-center">Z meters</th>
-            <th class="text-center">X Angle &theta;&deg;</th>
-            <th class="text-center">Y Angle &theta;&deg;</th>
-            <th class="text-center">Z Angle &theta;&deg;</th>
-            <th class="text-center">Tags</th>
-          </thead>
-          <tbody v-show="useStateStore().currentPipelineResults?.multitagResult">
-            <td>{{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.x.toFixed(2) }}&nbsp;m</td>
-            <td>{{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.y.toFixed(2) }}&nbsp;m</td>
-            <td>{{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.z.toFixed(2) }}&nbsp;m</td>
-            <td>
-              {{
-                (
-                  (useStateStore().currentPipelineResults?.multitagResult?.bestTransform.angle_x || 0) *
-                  (180.0 / Math.PI)
-                ).toFixed(2)
-              }}&deg;
-            </td>
-            <td>
-              {{
-                (
-                  (useStateStore().currentPipelineResults?.multitagResult?.bestTransform.angle_y || 0) *
-                  (180.0 / Math.PI)
-                ).toFixed(2)
-              }}&deg;
-            </td>
-            <td>
-              {{
-                (
-                  (useStateStore().currentPipelineResults?.multitagResult?.bestTransform.angle_z || 0) *
-                  (180.0 / Math.PI)
-                ).toFixed(2)
-              }}&deg;
-            </td>
-            <td>{{ useStateStore().currentPipelineResults?.multitagResult?.fiducialIDsUsed }}</td>
-          </tbody>
+        <v-simple-table dense>
+          <template #default>
+            <thead>
+              <tr class="white--text">
+                <th class="text-center white--text">X meters</th>
+                <th class="text-center white--text">Y meters</th>
+                <th class="text-center white--text">Z meters</th>
+                <th class="text-center white--text">X Angle &theta;&deg;</th>
+                <th class="text-center white--text">Y Angle &theta;&deg;</th>
+                <th class="text-center white--text">Z Angle &theta;&deg;</th>
+                <th class="text-center white--text">Tags</th>
+              </tr>
+            </thead>
+            <tbody v-show="useStateStore().currentPipelineResults?.multitagResult">
+              <tr>
+                <td class="text-center white--text">
+                  {{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.x.toFixed(2) }}&nbsp;m
+                </td>
+                <td class="text-center white--text">
+                  {{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.y.toFixed(2) }}&nbsp;m
+                </td>
+                <td class="text-center white--text">
+                  {{ useStateStore().currentPipelineResults?.multitagResult?.bestTransform.z.toFixed(2) }}&nbsp;m
+                </td>
+                <td class="text-center white--text">
+                  {{
+                    toDeg(useStateStore().currentPipelineResults?.multitagResult?.bestTransform.angle_x || 0).toFixed(
+                      2
+                    )
+                  }}&deg;
+                </td>
+                <td class="text-center white--text">
+                  {{
+                    toDeg(useStateStore().currentPipelineResults?.multitagResult?.bestTransform.angle_y || 0).toFixed(
+                      2
+                    )
+                  }}&deg;
+                </td>
+                <td class="text-center white--text">
+                  {{
+                    toDeg(useStateStore().currentPipelineResults?.multitagResult?.bestTransform.angle_z || 0).toFixed(
+                      2
+                    )
+                  }}&deg;
+                </td>
+                <td class="text-center white--text">
+                  {{ useStateStore().currentPipelineResults?.multitagResult?.fiducialIDsUsed }}
+                </td>
+              </tr>
+            </tbody>
+          </template>
         </v-simple-table>
       </v-row>
       <v-row class="pb-4 white--text" style="display: flex; flex-direction: column">
@@ -172,53 +186,65 @@ const resetCurrentBuffer = () => {
         <v-btn color="secondary" class="mb-4 mt-1" style="width: min-content" depressed @click="resetCurrentBuffer"
           >Reset Samples</v-btn
         >
-        <v-simple-table fixed-header height="100%" dense dark>
-          <thead style="font-size: 1.25rem">
-            <th class="text-center">X meters</th>
-            <th class="text-center">Y meters</th>
-            <th class="text-center">Z meters</th>
-            <th class="text-center">X Angle &theta;&deg;</th>
-            <th class="text-center">Y Angle &theta;&deg;</th>
-            <th class="text-center">Z Angle &theta;&deg;</th>
-          </thead>
-          <tbody v-show="useStateStore().currentPipelineResults?.multitagResult">
-            <td>
-              {{
-                calculateStdDev(useStateStore().currentMultitagBuffer?.map((v) => v.bestTransform.x) || []).toFixed(5)
-              }}&nbsp;m
-            </td>
-            <td>
-              {{
-                calculateStdDev(useStateStore().currentMultitagBuffer?.map((v) => v.bestTransform.y) || []).toFixed(5)
-              }}&nbsp;m
-            </td>
-            <td>
-              {{
-                calculateStdDev(useStateStore().currentMultitagBuffer?.map((v) => v.bestTransform.z) || []).toFixed(5)
-              }}&nbsp;m
-            </td>
-            <td>
-              {{
-                calculateStdDev(
-                  useStateStore().currentMultitagBuffer?.map((v) => v.bestTransform.angle_x * (180.0 / Math.PI)) || []
-                ).toFixed(5)
-              }}&deg;
-            </td>
-            <td>
-              {{
-                calculateStdDev(
-                  useStateStore().currentMultitagBuffer?.map((v) => v.bestTransform.angle_y * (180.0 / Math.PI)) || []
-                ).toFixed(5)
-              }}&deg;
-            </td>
-            <td>
-              {{
-                calculateStdDev(
-                  useStateStore().currentMultitagBuffer?.map((v) => v.bestTransform.angle_z * (180.0 / Math.PI)) || []
-                ).toFixed(5)
-              }}&deg;
-            </td>
-          </tbody>
+        <v-simple-table dense>
+          <template #default>
+            <thead>
+              <tr>
+                <th class="text-center white--text">X meters</th>
+                <th class="text-center white--text">Y meters</th>
+                <th class="text-center white--text">Z meters</th>
+                <th class="text-center white--text">X Angle &theta;&deg;</th>
+                <th class="text-center white--text">Y Angle &theta;&deg;</th>
+                <th class="text-center white--text">Z Angle &theta;&deg;</th>
+              </tr>
+            </thead>
+            <tbody v-show="useStateStore().currentPipelineResults?.multitagResult">
+              <tr>
+                <td class="text-center white--text">
+                  {{
+                    calculateStdDev(useStateStore().currentMultitagBuffer?.map((v) => v.bestTransform.x) || []).toFixed(
+                      5
+                    )
+                  }}&nbsp;m
+                </td>
+                <td class="text-center white--text">
+                  {{
+                    calculateStdDev(useStateStore().currentMultitagBuffer?.map((v) => v.bestTransform.y) || []).toFixed(
+                      5
+                    )
+                  }}&nbsp;m
+                </td>
+                <td class="text-center white--text">
+                  {{
+                    calculateStdDev(useStateStore().currentMultitagBuffer?.map((v) => v.bestTransform.z) || []).toFixed(
+                      5
+                    )
+                  }}&nbsp;m
+                </td>
+                <td class="text-center white--text">
+                  {{
+                    calculateStdDev(
+                      useStateStore().currentMultitagBuffer?.map((v) => toDeg(v.bestTransform.angle_x)) || []
+                    ).toFixed(5)
+                  }}&deg;
+                </td>
+                <td class="text-center white--text">
+                  {{
+                    calculateStdDev(
+                      useStateStore().currentMultitagBuffer?.map((v) => toDeg(v.bestTransform.angle_y)) || []
+                    ).toFixed(5)
+                  }}&deg;
+                </td>
+                <td class="text-center white--text">
+                  {{
+                    calculateStdDev(
+                      useStateStore().currentMultitagBuffer?.map((v) => toDeg(v.bestTransform.angle_z)) || []
+                    ).toFixed(5)
+                  }}&deg;
+                </td>
+              </tr>
+            </tbody>
+          </template>
         </v-simple-table>
       </v-row>
     </v-container>
@@ -227,23 +253,30 @@ const resetCurrentBuffer = () => {
 
 <style scoped lang="scss">
 .v-data-table {
-  width: 100%;
-  height: 100%;
-  text-align: center;
   background-color: #006492 !important;
+  width: 100%;
+  font-size: 1rem !important;
 
-  th,
-  td {
-    background-color: #006492 !important;
-    font-size: 1rem !important;
-  }
-
-  td {
-    font-family: monospace !important;
+  thead {
+    tr {
+      th {
+        font-size: 1rem !important;
+        color: white !important;
+      }
+    }
   }
-
-  tbody :hover td {
-    background-color: #005281 !important;
+  tbody {
+    :hover {
+      td {
+        background-color: #005281 !important;
+      }
+    }
+    tr {
+      td {
+        font-size: 1rem !important;
+        color: white !important;
+      }
+    }
   }
 
   ::-webkit-scrollbar {
diff --git a/photon-client/src/components/settings/ApriltagControlCard.vue b/photon-client/src/components/settings/ApriltagControlCard.vue
index b0c64ff7cc..65e1a581e5 100644
--- a/photon-client/src/components/settings/ApriltagControlCard.vue
+++ b/photon-client/src/components/settings/ApriltagControlCard.vue
@@ -2,15 +2,16 @@
 import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
 import { Euler, Quaternion as ThreeQuat } from "three";
 import type { Quaternion } from "@/types/PhotonTrackingTypes";
+import { toDeg } from "@/lib/MathUtils";
 
 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");
 
   return {
-    x: euler.x * (180.0 / Math.PI),
-    y: euler.y * (180.0 / Math.PI),
-    z: euler.z * (180.0 / Math.PI)
+    x: toDeg(euler.x),
+    y: toDeg(euler.y),
+    z: toDeg(euler.z)
   };
 };
 </script>
@@ -62,6 +63,7 @@ const quaternionToEuler = (rot_quat: Quaternion): { x: number; y: number; z: num
   td {
     background-color: #006492 !important;
     font-size: 1rem !important;
+    color: white !important;
   }
 
   td {
diff --git a/photon-client/src/components/settings/DeviceControlCard.vue b/photon-client/src/components/settings/DeviceControlCard.vue
index 492c3a4fc2..2d276383bd 100644
--- a/photon-client/src/components/settings/DeviceControlCard.vue
+++ b/photon-client/src/components/settings/DeviceControlCard.vue
@@ -63,11 +63,12 @@ const offlineUpdate = ref();
 const openOfflineUpdatePrompt = () => {
   offlineUpdate.value.click();
 };
-const handleOfflineUpdate = (payload: Event & { target: (EventTarget & HTMLInputElement) | null }) => {
-  if (payload.target === null || !payload.target.files) return;
+const handleOfflineUpdate = () => {
+  const files = offlineUpdate.value.files;
+  if (files.length === 0) return;
 
   const formData = new FormData();
-  formData.append("jarData", payload.target.files[0]);
+  formData.append("jarData", files[0]);
 
   useStateStore().showSnackbarMessage({
     message: "New Software Upload in Progress...",
@@ -209,20 +210,20 @@ const handleSettingsImport = () => {
       <v-row>
         <v-col cols="12" lg="4" md="6">
           <v-btn color="red" @click="restartProgram">
-            <v-icon left> mdi-restart </v-icon>
-            Restart PhotonVision
+            <v-icon left class="open-icon"> mdi-restart </v-icon>
+            <span class="open-label">Restart PhotonVision</span>
           </v-btn>
         </v-col>
         <v-col cols="12" lg="4" md="6">
           <v-btn color="red" @click="restartDevice">
-            <v-icon left> mdi-restart-alert </v-icon>
-            Restart Device
+            <v-icon left class="open-icon"> mdi-restart-alert </v-icon>
+            <span class="open-label">Restart Device</span>
           </v-btn>
         </v-col>
         <v-col cols="12" lg="4">
           <v-btn color="secondary" @click="openOfflineUpdatePrompt">
-            <v-icon left> mdi-upload </v-icon>
-            Offline Update
+            <v-icon left class="open-icon"> mdi-upload </v-icon>
+            <span class="open-label">Offline Update</span>
           </v-btn>
           <input ref="offlineUpdate" type="file" accept=".jar" style="display: none" @change="handleOfflineUpdate" />
         </v-col>
@@ -231,8 +232,8 @@ const handleSettingsImport = () => {
       <v-row>
         <v-col cols="12" sm="6">
           <v-btn color="secondary" @click="() => (showImportDialog = true)">
-            <v-icon left> mdi-import </v-icon>
-            Import Settings
+            <v-icon left class="open-icon"> mdi-import </v-icon>
+            <span class="open-label">Import Settings</span>
           </v-btn>
           <v-dialog
             v-model="showImportDialog"
@@ -278,8 +279,8 @@ const handleSettingsImport = () => {
                   align="center"
                 >
                   <v-btn color="secondary" :disabled="importFile === null" @click="handleSettingsImport">
-                    <v-icon left> mdi-import </v-icon>
-                    Import Settings
+                    <v-icon left class="open-icon"> mdi-import </v-icon>
+                    <span class="open-label">Import Settings</span>
                   </v-btn>
                 </v-row>
               </v-card-text>
@@ -288,8 +289,8 @@ const handleSettingsImport = () => {
         </v-col>
         <v-col cols="12" sm="6">
           <v-btn color="secondary" @click="openExportSettingsPrompt">
-            <v-icon left> mdi-export </v-icon>
-            Export Settings
+            <v-icon left class="open-icon"> mdi-export </v-icon>
+            <span class="open-label">Export Settings</span>
           </v-btn>
           <a
             ref="exportSettings"
@@ -301,8 +302,8 @@ const handleSettingsImport = () => {
         </v-col>
         <v-col cols="12" sm="6">
           <v-btn color="secondary" @click="openExportLogsPrompt">
-            <v-icon left> mdi-download </v-icon>
-            Download Current Log
+            <v-icon left class="open-icon"> mdi-download </v-icon>
+            <span class="open-label">Download Current Log</span>
 
             <!-- Special hidden link that gets 'clicked' when the user exports journalctl logs -->
             <a
@@ -316,8 +317,8 @@ const handleSettingsImport = () => {
         </v-col>
         <v-col cols="12" sm="6">
           <v-btn color="secondary" @click="useStateStore().showLogModal = true">
-            <v-icon left> mdi-eye </v-icon>
-            Show log viewer
+            <v-icon left class="open-icon"> mdi-eye </v-icon>
+            <span class="open-label">Show log viewer</span>
           </v-btn>
         </v-col>
       </v-row>
@@ -332,4 +333,12 @@ const handleSettingsImport = () => {
 .v-btn {
   width: 100%;
 }
+@media only screen and (max-width: 351px) {
+  .open-icon {
+    margin: 0 !important;
+  }
+  .open-label {
+    display: none;
+  }
+}
 </style>
diff --git a/photon-client/src/lib/MathUtils.ts b/photon-client/src/lib/MathUtils.ts
new file mode 100644
index 0000000000..7252faad51
--- /dev/null
+++ b/photon-client/src/lib/MathUtils.ts
@@ -0,0 +1,13 @@
+export const mean = (values: number[]): number | undefined => {
+  if (values.length === 0) return undefined;
+  return values.reduce((acc, num) => acc + num, 0) / values.length;
+};
+
+export const angleModulus = (valueRad: number): number => {
+  while (valueRad < -Math.PI) valueRad += Math.PI * 2;
+  while (valueRad > Math.PI) valueRad -= Math.PI * 2;
+  return valueRad;
+};
+
+export const toDeg = (val: number) => val * (180.0 / Math.PI);
+export const toRad = (val: number) => val * (Math.PI / 180.0);
diff --git a/photon-client/src/lib/PhotonUtils.ts b/photon-client/src/lib/PhotonUtils.ts
new file mode 100644
index 0000000000..9b31aa08b2
--- /dev/null
+++ b/photon-client/src/lib/PhotonUtils.ts
@@ -0,0 +1,20 @@
+import type { Resolution } from "@/types/SettingTypes";
+
+export const resolutionsAreEqual = (a: Resolution, b: Resolution) => {
+  return a.height === b.height && a.width === b.width;
+};
+
+export const getResolutionString = (resolution: Resolution): string => `${resolution.width}x${resolution.height}`;
+
+export const parseJsonFile = async <T extends Record<string, any>>(file: File): Promise<T> => {
+  return new Promise((resolve, reject) => {
+    const fileReader = new FileReader();
+    fileReader.onload = (event) => {
+      const target: FileReader | null = event.target;
+      if (target === null) reject();
+      else resolve(JSON.parse(target.result as string) as T);
+    };
+    fileReader.onerror = (error) => reject(error);
+    fileReader.readAsText(file);
+  });
+};
diff --git a/photon-client/src/stores/settings/CameraSettingsStore.ts b/photon-client/src/stores/settings/CameraSettingsStore.ts
index 861b192ec3..4a703c64f5 100644
--- a/photon-client/src/stores/settings/CameraSettingsStore.ts
+++ b/photon-client/src/stores/settings/CameraSettingsStore.ts
@@ -58,6 +58,9 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
     },
     isCalibrationMode(): boolean {
       return this.currentCameraSettings.currentPipelineIndex == WebsocketPipelineType.Calib3d;
+    },
+    isCSICamera(): boolean {
+      return this.currentCameraSettings.isCSICamera;
     }
   },
   actions: {
@@ -99,6 +102,7 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
           perViewErrors: calib.perViewErrors,
           intrinsics: calib.intrinsics
         })),
+        isCSICamera: d.isCSICamera,
         pipelineNicknames: d.pipelineNicknames,
         currentPipelineIndex: d.currentPipelineIndex,
         pipelineSettings: d.currentPipelineSettings
diff --git a/photon-client/src/types/PipelineTypes.ts b/photon-client/src/types/PipelineTypes.ts
index 860c87e757..5c8dd47cbc 100644
--- a/photon-client/src/types/PipelineTypes.ts
+++ b/photon-client/src/types/PipelineTypes.ts
@@ -93,7 +93,11 @@ export type ConfigurablePipelineSettings = Partial<
     | "cornerDetectionStrategy"
   >
 >;
-export const DefaultPipelineSettings: PipelineSettings = {
+// Omitted settings are changed for all pipeline types
+export const DefaultPipelineSettings: Omit<
+  PipelineSettings,
+  "cameraGain" | "targetModel" | "ledMode" | "outputShowMultipleTargets" | "cameraExposure" | "pipelineType"
+> = {
   offsetRobotOffsetMode: RobotOffsetPointMode.None,
   streamingFrameDivisor: 0,
   offsetDualPointBArea: 0,
@@ -130,15 +134,7 @@ export const DefaultPipelineSettings: PipelineSettings = {
   cornerDetectionStrategy: 0,
   cornerDetectionAccuracyPercentage: 10,
   hsvSaturation: { first: 50, second: 255 },
-  contourIntersection: 1,
-
-  // These settings will be overridden by different pipeline types
-  cameraGain: -1,
-  targetModel: -1,
-  ledMode: false,
-  outputShowMultipleTargets: false,
-  cameraExposure: -1,
-  pipelineType: -1
+  contourIntersection: 1
 };
 
 export interface ReflectivePipelineSettings extends PipelineSettings {
@@ -264,6 +260,7 @@ export type ConfigurableArucoPipelineSettings = Partial<Omit<ArucoPipelineSettin
   ConfigurablePipelineSettings;
 export const DefaultArucoPipelineSettings: ArucoPipelineSettings = {
   ...DefaultPipelineSettings,
+  cameraGain: 75,
   outputShowMultipleTargets: true,
   targetModel: TargetModel.AprilTag6in_16h5,
   cameraExposure: -1,
diff --git a/photon-client/src/types/SettingTypes.ts b/photon-client/src/types/SettingTypes.ts
index 83bff3cd09..7a56f1853a 100644
--- a/photon-client/src/types/SettingTypes.ts
+++ b/photon-client/src/types/SettingTypes.ts
@@ -85,7 +85,7 @@ export interface CameraCalibrationResult {
   resolution: Resolution;
   distCoeffs: number[];
   standardDeviation: number;
-  perViewErrors: number[];
+  perViewErrors: number[] | null;
   intrinsics: number[];
 }
 
@@ -112,6 +112,7 @@ export interface CameraSettings {
   currentPipelineIndex: number;
   pipelineNicknames: string[];
   pipelineSettings: ActivePipelineSettings;
+  isCSICamera: boolean;
 }
 
 export const PlaceholderCameraSettings: CameraSettings = {
@@ -145,7 +146,8 @@ export const PlaceholderCameraSettings: CameraSettings = {
   pipelineNicknames: ["Placeholder Pipeline"],
   lastPipelineIndex: 0,
   currentPipelineIndex: 0,
-  pipelineSettings: DefaultAprilTagPipelineSettings
+  pipelineSettings: DefaultAprilTagPipelineSettings,
+  isCSICamera: false
 };
 
 export enum CalibrationBoardTypes {
diff --git a/photon-client/src/types/WebsocketDataTypes.ts b/photon-client/src/types/WebsocketDataTypes.ts
index 0114e19e79..aa23dedcca 100644
--- a/photon-client/src/types/WebsocketDataTypes.ts
+++ b/photon-client/src/types/WebsocketDataTypes.ts
@@ -25,7 +25,8 @@ export interface WebsocketCompleteCalib {
   height: number;
   width: number;
   standardDeviation: number;
-  perViewErrors: number[];
+  // perViewErrors not set in test mode
+  perViewErrors: number[] | null;
   intrinsics: number[];
 }
 
@@ -52,6 +53,7 @@ export interface WebsocketCameraSettingsUpdate {
   fov: number;
   inputStreamPort: number;
   isFovConfigurable: boolean;
+  isCSICamera: boolean;
   nickname: string;
   outputStreamPort: number;
   pipelineNicknames: string[];
diff --git a/photon-client/tsconfig.config.json b/photon-client/tsconfig.config.json
index c2d3a309ef..3a6fd70208 100644
--- a/photon-client/tsconfig.config.json
+++ b/photon-client/tsconfig.config.json
@@ -1,6 +1,6 @@
 {
-  "extends": "@vue/tsconfig/tsconfig.node.json",
-  "include": ["vite.config.*", "vitest.config.*", "cypress.config.*"],
+  "extends": "@vue/tsconfig/tsconfig.json",
+  "include": ["vite.config.*"],
   "compilerOptions": {
     "composite": true,
     "types": ["node"]
diff --git a/photon-client/tsconfig.json b/photon-client/tsconfig.json
index 32d7acd1db..9b14ae6243 100644
--- a/photon-client/tsconfig.json
+++ b/photon-client/tsconfig.json
@@ -1,5 +1,5 @@
 {
-  "extends": "@vue/tsconfig/tsconfig.web.json",
+  "extends": "@vue/tsconfig/tsconfig.dom.json",
   "include": ["env.d.ts", "src/**/*", "src/**/*.vue"],
   "compilerOptions": {
     "moduleResolution": "node",
@@ -7,6 +7,7 @@
     "strict": true,
     "removeComments": true,
     "sourceMap": true,
+    "module": "ESNext",
     "types": ["node"],
     "baseUrl": ".",
     "paths": {
diff --git a/photon-core/build.gradle b/photon-core/build.gradle
index d5de014915..1a98414527 100644
--- a/photon-core/build.gradle
+++ b/photon-core/build.gradle
@@ -13,6 +13,9 @@ dependencies {
     implementation 'org.zeroturnaround:zt-zip:1.14'
 
     implementation "org.xerial:sqlite-jdbc:3.41.0.0"
+
+    implementation "org.photonvision:photon-libcamera-gl-driver-jni:$photonGlDriverLibVersion:linuxarm64"
+    implementation "org.photonvision:photon-libcamera-gl-driver-java:$photonGlDriverLibVersion"
 }
 
 task writeCurrentVersion {
diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java b/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
index cfd3b677a8..601a33f08d 100644
--- a/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
@@ -27,7 +27,7 @@
 import org.photonvision.common.hardware.Platform;
 import org.photonvision.common.networking.NetworkUtils;
 import org.photonvision.common.util.SerializationUtils;
-import org.photonvision.raspi.LibCameraJNI;
+import org.photonvision.raspi.LibCameraJNILoader;
 import org.photonvision.vision.processes.VisionModule;
 import org.photonvision.vision.processes.VisionModuleManager;
 import org.photonvision.vision.processes.VisionSource;
@@ -136,7 +136,7 @@ public Map<String, Object> toHashMap() {
         generalSubmap.put("version", PhotonVersion.versionString);
         generalSubmap.put(
                 "gpuAcceleration",
-                LibCameraJNI.isSupported()
+                LibCameraJNILoader.isSupported()
                         ? "Zerocopy Libcamera Working"
                         : ""); // TODO add support for other types of GPU accel
         generalSubmap.put("hardwareModel", hardwareConfig.deviceName);
@@ -174,5 +174,6 @@ public static class UICameraConfiguration {
         public int inputStreamPort;
         public List<HashMap<String, Object>> calibrations;
         public boolean isFovConfigurable = true;
+        public boolean isCSICamera;
     }
 }
diff --git a/photon-core/src/main/java/org/photonvision/raspi/LibCameraJNI.java b/photon-core/src/main/java/org/photonvision/raspi/LibCameraJNI.java
deleted file mode 100644
index d97d102681..0000000000
--- a/photon-core/src/main/java/org/photonvision/raspi/LibCameraJNI.java
+++ /dev/null
@@ -1,210 +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.raspi;
-
-import java.io.File;
-import java.io.IOException;
-import java.io.InputStream;
-import java.net.URL;
-import java.nio.file.Files;
-import java.nio.file.Path;
-import org.photonvision.common.logging.LogGroup;
-import org.photonvision.common.logging.Logger;
-
-public class LibCameraJNI {
-    private static boolean libraryLoaded = false;
-    private static final Logger logger = new Logger(LibCameraJNI.class, LogGroup.Camera);
-
-    public static synchronized void forceLoad() throws IOException {
-        if (libraryLoaded) return;
-
-        try {
-            File libDirectory = Path.of("lib/").toFile();
-            if (!libDirectory.exists()) {
-                Files.createDirectory(libDirectory.toPath()).toFile();
-            }
-
-            // We always extract the shared object (we could hash each so, but that's a lot of work)
-            URL resourceURL = LibCameraJNI.class.getResource("/nativelibraries/libphotonlibcamera.so");
-            File libFile = Path.of("lib/libphotonlibcamera.so").toFile();
-            try (InputStream in = resourceURL.openStream()) {
-                if (libFile.exists()) Files.delete(libFile.toPath());
-                Files.copy(in, libFile.toPath());
-            } catch (Exception e) {
-                logger.error("Could not extract the native library!");
-            }
-            System.load(libFile.getAbsolutePath());
-
-            libraryLoaded = true;
-            logger.info("Successfully loaded libpicam shared object");
-        } catch (UnsatisfiedLinkError e) {
-            logger.error("Couldn't load libpicam shared object");
-            e.printStackTrace();
-        }
-    }
-
-    public enum SensorModel {
-        Disconnected,
-        OV5647, // Picam v1
-        IMX219, // Picam v2
-        IMX708, // Picam v3
-        IMX477, // Picam HQ
-        OV9281,
-        OV7251,
-        Unknown;
-
-        public String getFriendlyName() {
-            switch (this) {
-                case Disconnected:
-                    return "Disconnected Camera";
-                case OV5647:
-                    return "Camera Module v1";
-                case IMX219:
-                    return "Camera Module v2";
-                case IMX708:
-                    return "Camera Module v3";
-                case IMX477:
-                    return "HQ Camera";
-                case OV9281:
-                    return "OV9281";
-                case OV7251:
-                    return "OV7251";
-                case Unknown:
-                default:
-                    return "Unknown Camera";
-            }
-        }
-    }
-
-    public static SensorModel getSensorModel(long r_ptr) {
-        int model = getSensorModelRaw(r_ptr);
-        return SensorModel.values()[model];
-    }
-
-    public static SensorModel getSensorModel(String name) {
-        int model = getSensorModelRaw(name);
-        return SensorModel.values()[model];
-    }
-
-    public static boolean isSupported() {
-        return libraryLoaded
-                // && getSensorModel() != PicamJNI.SensorModel.Disconnected
-                // && Platform.isRaspberryPi()
-                && isLibraryWorking();
-    }
-
-    private static native boolean isLibraryWorking();
-
-    public static native int getSensorModelRaw(long r_ptr);
-
-    public static native int getSensorModelRaw(String name);
-
-    // ======================================================== //
-
-    /**
-     * Creates a new runner with a given width/height/fps
-     *
-     * @param the path / name of the camera as given from libcamera.
-     * @param width Camera video mode width in pixels
-     * @param height Camera video mode height in pixels
-     * @param fps Camera video mode FPS
-     * @return the runner pointer for the camera.
-     */
-    public static native long createCamera(String name, int width, int height, int rotation);
-
-    /**
-     * Starts the camera thresholder and display threads running. Make sure that this function is
-     * called synchronously with stopCamera and returnFrame!
-     */
-    public static native boolean startCamera(long r_ptr);
-
-    /** Stops the camera runner. Make sure to call prior to destroying the camera! */
-    public static native boolean stopCamera(long r_ptr);
-
-    // Destroy all native resources associated with a camera. Ensure stop is called prior!
-    public static native boolean destroyCamera(long r_ptr);
-
-    // ======================================================== //
-
-    // Set thresholds on [0..1]
-    public static native boolean setThresholds(
-            long r_ptr,
-            double hl,
-            double sl,
-            double vl,
-            double hu,
-            double su,
-            double vu,
-            boolean hueInverted);
-
-    public static native boolean setAutoExposure(long r_ptr, boolean doAutoExposure);
-
-    // Exposure time, in microseconds
-    public static native boolean setExposure(long r_ptr, int exposureUs);
-
-    // Set brightness on [-1, 1]
-    public static native boolean setBrightness(long r_ptr, double brightness);
-
-    // Unknown ranges for red and blue AWB gain
-    public static native boolean setAwbGain(long r_ptr, double red, double blue);
-
-    /**
-     * Get the time when the first pixel exposure was started, in the same timebase as libcamera gives
-     * the frame capture time. Units are nanoseconds.
-     */
-    public static native long getFrameCaptureTime(long p_ptr);
-
-    /**
-     * Get the current time, in the same timebase as libcamera gives the frame capture time. Units are
-     * nanoseconds.
-     */
-    public static native long getLibcameraTimestamp();
-
-    public static native long setFramesToCopy(long r_ptr, boolean copyIn, boolean copyOut);
-
-    // Analog gain multiplier to apply to all color channels, on [1, Big Number]
-    public static native boolean setAnalogGain(long r_ptr, double analog);
-
-    /** Block until a new frame is available from native code. */
-    public static native long awaitNewFrame(long r_ptr);
-
-    /**
-     * Get a pointer to the most recent color mat generated. Call this immediately after
-     * awaitNewFrame, and call only once per new frame!
-     */
-    public static native long takeColorFrame(long pair_ptr);
-
-    /**
-     * Get a pointer to the most recent processed mat generated. Call this immediately after
-     * awaitNewFrame, and call only once per new frame!
-     */
-    public static native long takeProcessedFrame(long pair_ptr);
-
-    /**
-     * Set the GPU processing type we should do. Enum of [none, HSV, greyscale, adaptive threshold].
-     */
-    public static native boolean setGpuProcessType(long r_ptr, int type);
-
-    public static native int getGpuProcessType(long p_ptr);
-
-    /** Release a pair pointer back to the libcamera driver code to be filled again */
-    public static native boolean releasePair(long p_ptr);
-
-    /** Get an array containing the names/ids/paths of all connected CSI cameras from libcamera. */
-    public static native String[] getCameraNames();
-}
diff --git a/photon-core/src/main/java/org/photonvision/raspi/LibCameraJNILoader.java b/photon-core/src/main/java/org/photonvision/raspi/LibCameraJNILoader.java
new file mode 100644
index 0000000000..f4d0b31926
--- /dev/null
+++ b/photon-core/src/main/java/org/photonvision/raspi/LibCameraJNILoader.java
@@ -0,0 +1,75 @@
+/*
+ * 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.raspi;
+
+import java.io.File;
+import java.io.FileOutputStream;
+import java.io.IOException;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
+
+public class LibCameraJNILoader {
+    private static boolean libraryLoaded = false;
+    private static final Logger logger = new Logger(LibCameraJNILoader.class, LogGroup.Camera);
+
+    public static synchronized void forceLoad() throws IOException {
+        if (libraryLoaded) return;
+
+        var libraryName = "photonlibcamera";
+
+        try {
+            // We always extract the shared object (we could hash each so, but that's a lot of work)
+            var arch_name = "linuxarm64";
+            var nativeLibName = System.mapLibraryName(libraryName);
+            var resourcePath = "/nativelibraries/" + arch_name + "/" + nativeLibName;
+            var in = LibCameraJNILoader.class.getResourceAsStream(resourcePath);
+
+            if (in == null) {
+                logger.error("Failed to find internal native library at path " + resourcePath);
+                libraryLoaded = false;
+                return;
+            }
+
+            // It's important that we don't mangle the names of these files on Windows at least
+            File temp = new File(System.getProperty("java.io.tmpdir"), nativeLibName);
+            FileOutputStream fos = new FileOutputStream(temp);
+
+            int read = -1;
+            byte[] buffer = new byte[1024];
+            while ((read = in.read(buffer)) != -1) {
+                fos.write(buffer, 0, read);
+            }
+            fos.close();
+            in.close();
+
+            System.load(temp.getAbsolutePath());
+
+            logger.info("Successfully loaded shared object " + temp.getName());
+
+        } catch (UnsatisfiedLinkError e) {
+            logger.error("Couldn't load shared object " + libraryName, e);
+            e.printStackTrace();
+            // logger.error(System.getProperty("java.library.path"));
+        }
+        libraryLoaded = true;
+    }
+
+    public static boolean isSupported() {
+        return libraryLoaded && LibCameraJNI.isSupported();
+    }
+}
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
index 951135fcf4..b50be3dd94 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
@@ -18,7 +18,7 @@
 package org.photonvision.vision.camera;
 
 import edu.wpi.first.cscore.VideoMode;
-import edu.wpi.first.cscore.VideoMode.PixelFormat;
+import edu.wpi.first.util.PixelFormat;
 import java.nio.file.Path;
 import java.util.HashMap;
 import org.photonvision.common.configuration.CameraConfiguration;
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java
index 09504cca08..81cfd75823 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSettables.java
@@ -20,6 +20,7 @@
 import edu.wpi.first.cscore.VideoMode;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.Pair;
+import edu.wpi.first.util.PixelFormat;
 import java.util.HashMap;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.util.math.MathUtils;
@@ -60,30 +61,19 @@ public LibcameraGpuSettables(CameraConfiguration configuration) {
 
         if (sensorModel == LibCameraJNI.SensorModel.IMX219) {
             // Settings for the IMX219 sensor, which is used on the Pi Camera Module v2
-            videoModes.put(
-                    0, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 320, 240, 120, 120, .39));
-            videoModes.put(
-                    1, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 320, 240, 30, 30, .39));
-            videoModes.put(
-                    2, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 640, 480, 65, 90, .39));
-            videoModes.put(
-                    3, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 640, 480, 30, 30, .39));
+            videoModes.put(0, new FPSRatedVideoMode(PixelFormat.kUnknown, 320, 240, 120, 120, .39));
+            videoModes.put(1, new FPSRatedVideoMode(PixelFormat.kUnknown, 320, 240, 30, 30, .39));
+            videoModes.put(2, new FPSRatedVideoMode(PixelFormat.kUnknown, 640, 480, 65, 90, .39));
+            videoModes.put(3, new FPSRatedVideoMode(PixelFormat.kUnknown, 640, 480, 30, 30, .39));
             // TODO: fix 1280x720 in the native code and re-add it
-            videoModes.put(
-                    4, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1920, 1080, 15, 20, .53));
-            videoModes.put(
-                    5, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 3280 / 2, 2464 / 2, 15, 20, 1));
-            videoModes.put(
-                    6, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 3280 / 4, 2464 / 4, 15, 20, 1));
+            videoModes.put(4, new FPSRatedVideoMode(PixelFormat.kUnknown, 1920, 1080, 15, 20, .53));
+            videoModes.put(5, new FPSRatedVideoMode(PixelFormat.kUnknown, 3280 / 2, 2464 / 2, 15, 20, 1));
+            videoModes.put(6, new FPSRatedVideoMode(PixelFormat.kUnknown, 3280 / 4, 2464 / 4, 15, 20, 1));
         } else if (sensorModel == LibCameraJNI.SensorModel.OV9281) {
-            videoModes.put(
-                    0, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 320, 240, 30, 30, .39));
-            videoModes.put(
-                    1, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1280 / 2, 800 / 2, 60, 60, 1));
-            videoModes.put(
-                    2, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 640, 480, 65, 90, .39));
-            videoModes.put(
-                    3, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1280, 800, 60, 60, 1));
+            videoModes.put(0, new FPSRatedVideoMode(PixelFormat.kUnknown, 320, 240, 30, 30, .39));
+            videoModes.put(1, new FPSRatedVideoMode(PixelFormat.kUnknown, 1280 / 2, 800 / 2, 60, 60, 1));
+            videoModes.put(2, new FPSRatedVideoMode(PixelFormat.kUnknown, 640, 480, 65, 90, .39));
+            videoModes.put(3, new FPSRatedVideoMode(PixelFormat.kUnknown, 1280, 800, 60, 60, 1));
 
         } else {
             if (sensorModel == LibCameraJNI.SensorModel.IMX477) {
@@ -98,17 +88,13 @@ public LibcameraGpuSettables(CameraConfiguration configuration) {
             }
 
             // Settings for the OV5647 sensor, which is used by the Pi Camera Module v1
-            videoModes.put(0, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 320, 240, 90, 90, 1));
-            videoModes.put(1, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 640, 480, 85, 90, 1));
-            videoModes.put(
-                    2, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 960, 720, 45, 49, 0.74));
+            videoModes.put(0, new FPSRatedVideoMode(PixelFormat.kUnknown, 320, 240, 90, 90, 1));
+            videoModes.put(1, new FPSRatedVideoMode(PixelFormat.kUnknown, 640, 480, 85, 90, 1));
+            videoModes.put(2, new FPSRatedVideoMode(PixelFormat.kUnknown, 960, 720, 45, 49, 0.74));
             // Half the size of the active areas on the OV5647
-            videoModes.put(
-                    3, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 2592 / 2, 1944 / 2, 20, 20, 1));
-            videoModes.put(
-                    4, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1280, 720, 30, 45, 0.91));
-            videoModes.put(
-                    5, new FPSRatedVideoMode(VideoMode.PixelFormat.kUnknown, 1920, 1080, 15, 20, 0.72));
+            videoModes.put(3, new FPSRatedVideoMode(PixelFormat.kUnknown, 2592 / 2, 1944 / 2, 20, 20, 1));
+            videoModes.put(4, new FPSRatedVideoMode(PixelFormat.kUnknown, 1280, 720, 30, 45, 0.91));
+            videoModes.put(5, new FPSRatedVideoMode(PixelFormat.kUnknown, 1920, 1080, 15, 20, 0.72));
         }
 
         // TODO need to add more video modes for new sensors here
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSource.java
index 7e4330e4d7..f8dc87d82c 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/LibcameraGpuSource.java
@@ -18,6 +18,7 @@
 package org.photonvision.vision.camera;
 
 import edu.wpi.first.cscore.VideoMode;
+import edu.wpi.first.util.PixelFormat;
 import org.photonvision.common.configuration.CameraConfiguration;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.logging.LogGroup;
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
index 66b0a4fff7..ec2501049a 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
@@ -23,6 +23,7 @@
 import edu.wpi.first.cscore.VideoException;
 import edu.wpi.first.cscore.VideoMode;
 import edu.wpi.first.cscore.VideoProperty.Kind;
+import edu.wpi.first.util.PixelFormat;
 import java.util.*;
 import java.util.stream.Collectors;
 import org.photonvision.common.configuration.CameraConfiguration;
@@ -280,33 +281,33 @@ public HashMap<Integer, VideoMode> getAllVideoModes() {
                     if (cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
                         modes =
                                 new VideoMode[] {
-                                    new VideoMode(VideoMode.PixelFormat.kBGR, 320, 240, 90),
-                                    new VideoMode(VideoMode.PixelFormat.kBGR, 320, 240, 30),
-                                    new VideoMode(VideoMode.PixelFormat.kBGR, 320, 240, 15),
-                                    new VideoMode(VideoMode.PixelFormat.kBGR, 320, 240, 10),
-                                    new VideoMode(VideoMode.PixelFormat.kBGR, 640, 480, 90),
-                                    new VideoMode(VideoMode.PixelFormat.kBGR, 640, 480, 45),
-                                    new VideoMode(VideoMode.PixelFormat.kBGR, 640, 480, 30),
-                                    new VideoMode(VideoMode.PixelFormat.kBGR, 640, 480, 15),
-                                    new VideoMode(VideoMode.PixelFormat.kBGR, 640, 480, 10),
-                                    new VideoMode(VideoMode.PixelFormat.kBGR, 960, 720, 60),
-                                    new VideoMode(VideoMode.PixelFormat.kBGR, 960, 720, 10),
-                                    new VideoMode(VideoMode.PixelFormat.kBGR, 1280, 720, 45),
-                                    new VideoMode(VideoMode.PixelFormat.kBGR, 1920, 1080, 20),
+                                    new VideoMode(PixelFormat.kBGR, 320, 240, 90),
+                                    new VideoMode(PixelFormat.kBGR, 320, 240, 30),
+                                    new VideoMode(PixelFormat.kBGR, 320, 240, 15),
+                                    new VideoMode(PixelFormat.kBGR, 320, 240, 10),
+                                    new VideoMode(PixelFormat.kBGR, 640, 480, 90),
+                                    new VideoMode(PixelFormat.kBGR, 640, 480, 45),
+                                    new VideoMode(PixelFormat.kBGR, 640, 480, 30),
+                                    new VideoMode(PixelFormat.kBGR, 640, 480, 15),
+                                    new VideoMode(PixelFormat.kBGR, 640, 480, 10),
+                                    new VideoMode(PixelFormat.kBGR, 960, 720, 60),
+                                    new VideoMode(PixelFormat.kBGR, 960, 720, 10),
+                                    new VideoMode(PixelFormat.kBGR, 1280, 720, 45),
+                                    new VideoMode(PixelFormat.kBGR, 1920, 1080, 20),
                                 };
                     } else {
                         modes = camera.enumerateVideoModes();
                     }
                     for (VideoMode videoMode : modes) {
                         // Filter grey modes
-                        if (videoMode.pixelFormat == VideoMode.PixelFormat.kGray
-                                || videoMode.pixelFormat == VideoMode.PixelFormat.kUnknown) {
+                        if (videoMode.pixelFormat == PixelFormat.kGray
+                                || videoMode.pixelFormat == PixelFormat.kUnknown) {
                             continue;
                         }
 
                         // On picam, filter non-bgr modes for performance
                         if (cameraQuirks.hasQuirk(CameraQuirk.PiCam)) {
-                            if (videoMode.pixelFormat != VideoMode.PixelFormat.kBGR) {
+                            if (videoMode.pixelFormat != PixelFormat.kBGR) {
                                 continue;
                             }
                         }
diff --git a/photon-core/src/main/java/org/photonvision/vision/frame/consumer/MJPGFrameConsumer.java b/photon-core/src/main/java/org/photonvision/vision/frame/consumer/MJPGFrameConsumer.java
index aa6727e4e4..3f3a2962d9 100644
--- a/photon-core/src/main/java/org/photonvision/vision/frame/consumer/MJPGFrameConsumer.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/consumer/MJPGFrameConsumer.java
@@ -20,6 +20,7 @@
 import edu.wpi.first.cscore.*;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.util.PixelFormat;
 import java.awt.*;
 import java.util.ArrayList;
 import org.opencv.core.CvType;
@@ -118,7 +119,7 @@ public class MJPGFrameConsumer implements AutoCloseable {
     boolean isDisabled = false;
 
     public MJPGFrameConsumer(String sourceName, int width, int height, int port) {
-        this.cvSource = new CvSource(sourceName, VideoMode.PixelFormat.kMJPEG, width, height, 30);
+        this.cvSource = new CvSource(sourceName, PixelFormat.kMJPEG, width, height, 30);
         this.table =
                 NetworkTableInstance.getDefault().getTable("/CameraPublisher").getSubTable(sourceName);
 
@@ -188,7 +189,7 @@ public void accept(CVMat image) {
 
     public void disabledTick() {
         if (!isDisabled) {
-            cvSource.setVideoMode(VideoMode.PixelFormat.kMJPEG, EMPTY_MAT.width(), EMPTY_MAT.height(), 0);
+            cvSource.setVideoMode(PixelFormat.kMJPEG, EMPTY_MAT.width(), EMPTY_MAT.height(), 0);
             isDisabled = true;
         }
 
@@ -227,7 +228,7 @@ private static String videoModeToString(VideoMode mode) {
                 + " fps";
     }
 
-    private static String pixelFormatToString(VideoMode.PixelFormat pixelFormat) {
+    private static String pixelFormatToString(PixelFormat pixelFormat) {
         switch (pixelFormat) {
             case kMJPEG:
                 return "MJPEG";
diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
index 38becf9227..a69f3af8de 100644
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
@@ -41,6 +41,7 @@
 import org.photonvision.common.util.SerializationUtils;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.camera.CameraQuirk;
+import org.photonvision.vision.camera.CameraType;
 import org.photonvision.vision.camera.LibcameraGpuSource;
 import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.camera.USBCameraSource;
@@ -498,6 +499,7 @@ public PhotonConfiguration.UICameraConfiguration toUICameraConfig() {
         var ret = new PhotonConfiguration.UICameraConfiguration();
 
         ret.fov = visionSource.getSettables().getFOV();
+        ret.isCSICamera = visionSource.getCameraConfiguration().cameraType == CameraType.ZeroCopyPicam;
         ret.nickname = visionSource.getSettables().getConfiguration().nickname;
         ret.currentPipelineSettings =
                 SerializationUtils.objectToHashMap(pipelineManager.getCurrentPipelineSettings());
diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java
index a84e6aba4e..9837fd5468 100644
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceManager.java
@@ -33,6 +33,7 @@
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.TimedTaskManager;
 import org.photonvision.raspi.LibCameraJNI;
+import org.photonvision.raspi.LibCameraJNILoader;
 import org.photonvision.vision.camera.CameraInfo;
 import org.photonvision.vision.camera.CameraQuirk;
 import org.photonvision.vision.camera.CameraType;
@@ -98,7 +99,7 @@ protected List<CameraInfo> getConnectedUSBCameras() {
      */
     protected List<CameraInfo> getConnectedCSICameras() {
         List<CameraInfo> cameraInfos = new ArrayList<CameraInfo>();
-        if (LibCameraJNI.isSupported())
+        if (LibCameraJNILoader.isSupported())
             for (String path : LibCameraJNI.getCameraNames()) {
                 String name = LibCameraJNI.getSensorModel(path).getFriendlyName();
                 cameraInfos.add(
diff --git a/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java b/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
index e3efe971ca..a7b3d44ef0 100644
--- a/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
+++ b/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
@@ -28,11 +28,11 @@
 import edu.wpi.first.apriltag.AprilTagFields;
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.cscore.CvSource;
-import edu.wpi.first.cscore.VideoMode.PixelFormat;
 import edu.wpi.first.cscore.VideoSource.ConnectionStrategy;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.Pair;
 import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.util.PixelFormat;
 import edu.wpi.first.util.WPIUtilJNI;
 import java.util.ArrayList;
 import java.util.List;
@@ -464,7 +464,7 @@ public PhotonPipelineResult process(
                 var corn = pair.getSecond();
 
                 if (tgt.fiducialID >= 0) { // apriltags
-                    VideoSimUtil.warp16h5TagImage(tgt.fiducialID, corn, true, videoSimFrameRaw);
+                    VideoSimUtil.warp36h11TagImage(tgt.fiducialID, corn, true, videoSimFrameRaw);
                 } else if (!tgt.getModel().isSpherical) { // non-spherical targets
                     var contour = corn;
                     if (!tgt.getModel()
@@ -529,7 +529,7 @@ public PhotonPipelineResult process(
                             prop.getDistCoeffs(),
                             detectableTgts,
                             tagLayout,
-                            TargetModel.kAprilTag16h5);
+                            TargetModel.kAprilTag36h11);
             multitagResult = new MultiTargetPNPResult(pnpResult, usedIDs);
         }
 
diff --git a/photon-lib/src/main/java/org/photonvision/simulation/VideoSimUtil.java b/photon-lib/src/main/java/org/photonvision/simulation/VideoSimUtil.java
index 8b5c787b78..92bcf4c1ce 100644
--- a/photon-lib/src/main/java/org/photonvision/simulation/VideoSimUtil.java
+++ b/photon-lib/src/main/java/org/photonvision/simulation/VideoSimUtil.java
@@ -24,18 +24,17 @@
 
 package org.photonvision.simulation;
 
+import edu.wpi.first.apriltag.AprilTag;
 import edu.wpi.first.cscore.CvSource;
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.math.util.Units;
-import java.awt.image.BufferedImage;
-import java.io.IOException;
+import edu.wpi.first.util.RawFrame;
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
-import javax.imageio.ImageIO;
 import org.opencv.core.Core;
 import org.opencv.core.CvType;
 import org.opencv.core.Mat;
@@ -45,21 +44,17 @@
 import org.opencv.core.Rect;
 import org.opencv.core.Scalar;
 import org.opencv.core.Size;
-import org.opencv.imgcodecs.Imgcodecs;
 import org.opencv.imgproc.Imgproc;
 import org.photonvision.estimation.OpenCVHelp;
 import org.photonvision.estimation.RotTrlTransform3d;
 
 public class VideoSimUtil {
-    public static final String kLocalTagImagesPath = "./src/main/resources/images/apriltags/";
-    public static final String kResourceTagImagesPath = "/images/apriltags/";
-    public static final String kTag16h5ImageName = "tag16_05_00000";
-    public static final int kNumTags16h5 = 30;
+    public static final int kNumTags36h11 = 30;
 
-    // All 16h5 tag images
-    private static final Map<Integer, Mat> kTag16h5Images = new HashMap<>();
-    // Points corresponding to marker(black square) corners of 8x8 16h5 tag images
-    public static final Point[] kTag16h5MarkerPts;
+    // All 36h11 tag images
+    private static final Map<Integer, Mat> kTag36h11Images = new HashMap<>();
+    // Points corresponding to marker(black square) corners of 10x10 36h11 tag images
+    public static final Point[] kTag36h11MarkerPts;
 
     // field dimensions for wireframe
     private static double fieldLength = 16.54175;
@@ -68,13 +63,13 @@ public class VideoSimUtil {
     static {
         OpenCVHelp.forceLoadOpenCV();
 
-        // create Mats of 8x8 apriltag images
-        for (int i = 0; i < VideoSimUtil.kNumTags16h5; i++) {
-            Mat tagImage = VideoSimUtil.get16h5TagImage(i);
-            kTag16h5Images.put(i, tagImage);
+        // create Mats of 10x10 apriltag images
+        for (int i = 0; i < VideoSimUtil.kNumTags36h11; i++) {
+            Mat tagImage = VideoSimUtil.get36h11TagImage(i);
+            kTag36h11Images.put(i, tagImage);
         }
 
-        kTag16h5MarkerPts = get16h5MarkerPts();
+        kTag36h11MarkerPts = get36h11MarkerPts();
     }
 
     /** Updates the properties of this CvSource video stream with the given camera properties. */
@@ -100,69 +95,43 @@ public static Point[] getImageCorners(Size size) {
     }
 
     /**
-     * Gets the 8x8 (grayscale) image of a specific 16h5 AprilTag.
+     * Gets the 10x10 (grayscale) image of a specific 36h11 AprilTag.
      *
      * @param id The fiducial id of the desired tag
      */
-    public static Mat get16h5TagImage(int id) {
-        String name = kTag16h5ImageName;
-        String idString = String.valueOf(id);
-        name = name.substring(0, name.length() - idString.length()) + idString;
-
-        var resource = VideoSimUtil.class.getResource(kResourceTagImagesPath + name + ".png");
-
-        Mat result = new Mat();
-        // reading jar file
-        if (resource != null && resource.getPath().startsWith("file")) {
-            BufferedImage buf;
-            try {
-                buf = ImageIO.read(resource);
-            } catch (IOException e) {
-                System.err.println("Couldn't read tag image!");
-                return result;
-            }
-
-            result = new Mat(buf.getHeight(), buf.getWidth(), CvType.CV_8UC1);
-
-            byte[] px = new byte[1];
-            for (int y = 0; y < result.height(); y++) {
-                for (int x = 0; x < result.width(); x++) {
-                    px[0] = (byte) (buf.getRGB(x, y) & 0xFF);
-                    result.put(y, x, px);
-                }
-            }
-        }
-        // local IDE tests
-        else result = Imgcodecs.imread(kLocalTagImagesPath + name + ".png", Imgcodecs.IMREAD_GRAYSCALE);
+    public static Mat get36h11TagImage(int id) {
+        RawFrame frame = AprilTag.generate36h11AprilTagImage(id);
+        Mat result = new Mat(10, 10, CvType.CV_8UC1, frame.getData(), frame.getStride()).clone();
+        frame.close();
         return result;
     }
 
     /** Gets the points representing the marker(black square) corners. */
-    public static Point[] get16h5MarkerPts() {
-        return get16h5MarkerPts(1);
+    public static Point[] get36h11MarkerPts() {
+        return get36h11MarkerPts(1);
     }
 
     /**
      * Gets the points representing the marker(black square) corners.
      *
-     * @param scale The scale of the tag image (8*scale x 8*scale image)
+     * @param scale The scale of the tag image (10*scale x 10*scale image)
      */
-    public static Point[] get16h5MarkerPts(int scale) {
-        var roi16h5 = new Rect(new Point(1, 1), new Size(6, 6));
-        roi16h5.x *= scale;
-        roi16h5.y *= scale;
-        roi16h5.width *= scale;
-        roi16h5.height *= scale;
-        var pts = getImageCorners(roi16h5.size());
+    public static Point[] get36h11MarkerPts(int scale) {
+        var roi36h11 = new Rect(new Point(1, 1), new Size(8, 8));
+        roi36h11.x *= scale;
+        roi36h11.y *= scale;
+        roi36h11.width *= scale;
+        roi36h11.height *= scale;
+        var pts = getImageCorners(roi36h11.size());
         for (int i = 0; i < pts.length; i++) {
             var pt = pts[i];
-            pts[i] = new Point(roi16h5.tl().x + pt.x, roi16h5.tl().y + pt.y);
+            pts[i] = new Point(roi36h11.tl().x + pt.x, roi36h11.tl().y + pt.y);
         }
         return pts;
     }
 
     /**
-     * Warps the image of a specific 16h5 AprilTag onto the destination image at the given points.
+     * Warps the image of a specific 36h11 AprilTag onto the destination image at the given points.
      *
      * @param tagId The id of the specific tag to warp onto the destination image
      * @param dstPoints Points(4) in destination image where the tag marker(black square) corners
@@ -172,11 +141,11 @@ public static Point[] get16h5MarkerPts(int scale) {
      *     is desired or target detection is being done on the stream, but can hurt performance.
      * @param destination The destination image to place the warped tag image onto.
      */
-    public static void warp16h5TagImage(
+    public static void warp36h11TagImage(
             int tagId, Point[] dstPoints, boolean antialiasing, Mat destination) {
-        Mat tagImage = kTag16h5Images.get(tagId);
+        Mat tagImage = kTag36h11Images.get(tagId);
         if (tagImage == null || tagImage.empty()) return;
-        var tagPoints = new MatOfPoint2f(kTag16h5MarkerPts);
+        var tagPoints = new MatOfPoint2f(kTag36h11MarkerPts);
         // points of tag image corners
         var tagImageCorners = new MatOfPoint2f(getImageCorners(tagImage.size()));
         var dstPointMat = new MatOfPoint2f(dstPoints);
@@ -206,7 +175,7 @@ public static void warp16h5TagImage(
         */
         int supersampling = 6;
         supersampling = (int) Math.ceil(supersampling / warpedTagUpscale);
-        supersampling = Math.max(Math.min(supersampling, 8), 1);
+        supersampling = Math.max(Math.min(supersampling, 10), 1);
 
         Mat scaledTagImage = new Mat();
         if (warpedTagUpscale > 2.0) {
@@ -216,7 +185,7 @@ public static void warp16h5TagImage(
             scaleFactor *= supersampling;
             Imgproc.resize(
                     tagImage, scaledTagImage, new Size(), scaleFactor, scaleFactor, Imgproc.INTER_NEAREST);
-            tagPoints.fromArray(get16h5MarkerPts(scaleFactor));
+            tagPoints.fromArray(get36h11MarkerPts(scaleFactor));
         } else tagImage.assignTo(scaledTagImage);
 
         // constrain the bounding rect inside of the destination image
diff --git a/photon-lib/src/main/java/org/photonvision/simulation/VisionSystemSim.java b/photon-lib/src/main/java/org/photonvision/simulation/VisionSystemSim.java
index eb4720a21a..b61b939465 100644
--- a/photon-lib/src/main/java/org/photonvision/simulation/VisionSystemSim.java
+++ b/photon-lib/src/main/java/org/photonvision/simulation/VisionSystemSim.java
@@ -256,7 +256,7 @@ public void addAprilTags(AprilTagFieldLayout tagLayout) {
                     "apriltag",
                     new VisionTargetSim(
                             tagLayout.getTagPose(tag.ID).get(), // preserve alliance rotation
-                            TargetModel.kAprilTag16h5,
+                            TargetModel.kAprilTag36h11,
                             tag.ID));
         }
     }
diff --git a/photon-lib/src/main/native/include/photon/simulation/VideoSimUtil.h b/photon-lib/src/main/native/include/photon/simulation/VideoSimUtil.h
index bb2c453a88..9f86e1ca7a 100644
--- a/photon-lib/src/main/native/include/photon/simulation/VideoSimUtil.h
+++ b/photon-lib/src/main/native/include/photon/simulation/VideoSimUtil.h
@@ -51,22 +51,24 @@ int sgn(T val) {
 
 namespace photon {
 namespace VideoSimUtil {
-static constexpr int kNumTags16h5 = 30;
+static constexpr int kNumTags36h11 = 30;
 
 static constexpr units::meter_t fieldLength{16.54175_m};
 static constexpr units::meter_t fieldWidth{8.0137_m};
 
-static cv::Mat Get16h5TagImage(int id) {
-  wpi::RawFrame frame = frc::AprilTag::Generate16h5AprilTagImage(id);
-  cv::Mat markerImage{frame.height, frame.width, CV_8UC1, frame.data};
-  cv::Mat markerClone = markerImage.colRange(0, frame.dataLength).clone();
+static cv::Mat Get36h11TagImage(int id) {
+  wpi::RawFrame frame;
+  frc::AprilTag::Generate36h11AprilTagImage(&frame, id);
+  cv::Mat markerImage{frame.height, frame.width, CV_8UC1, frame.data,
+                      static_cast<size_t>(frame.stride)};
+  cv::Mat markerClone = markerImage.clone();
   return markerClone;
 }
 
 static std::unordered_map<int, cv::Mat> LoadAprilTagImages() {
   std::unordered_map<int, cv::Mat> retVal{};
-  for (int i = 0; i < kNumTags16h5; i++) {
-    cv::Mat tagImage = Get16h5TagImage(i);
+  for (int i = 0; i < kNumTags36h11; i++) {
+    cv::Mat tagImage = Get36h11TagImage(i);
     retVal[i] = tagImage;
   }
   return retVal;
@@ -81,27 +83,27 @@ static std::vector<cv::Point2f> GetImageCorners(const cv::Size& size) {
   return retVal;
 }
 
-static std::vector<cv::Point2f> Get16h5MarkerPts(int scale) {
-  cv::Rect2f roi16h5{cv::Point2f{1, 1}, cv::Point2f{6, 6}};
-  roi16h5.x *= scale;
-  roi16h5.y *= scale;
-  roi16h5.width *= scale;
-  roi16h5.height *= scale;
-  std::vector<cv::Point2f> pts = GetImageCorners(roi16h5.size());
+static std::vector<cv::Point2f> Get36h11MarkerPts(int scale) {
+  cv::Rect2f roi36h11{cv::Point2f{1, 1}, cv::Point2f{8, 8}};
+  roi36h11.x *= scale;
+  roi36h11.y *= scale;
+  roi36h11.width *= scale;
+  roi36h11.height *= scale;
+  std::vector<cv::Point2f> pts = GetImageCorners(roi36h11.size());
   for (size_t i = 0; i < pts.size(); i++) {
     cv::Point2f pt = pts[i];
-    pts[i] = cv::Point2f{roi16h5.tl().x + pt.x, roi16h5.tl().y + pt.y};
+    pts[i] = cv::Point2f{roi36h11.tl().x + pt.x, roi36h11.tl().y + pt.y};
   }
   return pts;
 }
 
-static std::vector<cv::Point2f> Get16h5MarkerPts() {
-  return Get16h5MarkerPts(1);
+static std::vector<cv::Point2f> Get36h11MarkerPts() {
+  return Get36h11MarkerPts(1);
 }
 
-static const std::unordered_map<int, cv::Mat> kTag16h5Images =
+static const std::unordered_map<int, cv::Mat> kTag36h11Images =
     LoadAprilTagImages();
-static const std::vector<cv::Point2f> kTag16h5MarkPts = Get16h5MarkerPts();
+static const std::vector<cv::Point2f> kTag36h11MarkPts = Get36h11MarkerPts();
 
 [[maybe_unused]] static void UpdateVideoProp(cs::CvSource& video,
                                              const SimCameraProperties& prop) {
@@ -112,11 +114,11 @@ static const std::vector<cv::Point2f> kTag16h5MarkPts = Get16h5MarkerPts();
 [[maybe_unused]] static void Warp165h5TagImage(
     int tagId, const std::vector<cv::Point2f>& dstPoints, bool antialiasing,
     cv::Mat& destination) {
-  if (!kTag16h5Images.contains(tagId)) {
+  if (!kTag36h11Images.contains(tagId)) {
     return;
   }
-  cv::Mat tagImage = kTag16h5Images.at(tagId);
-  std::vector<cv::Point2f> tagPoints{kTag16h5MarkPts};
+  cv::Mat tagImage = kTag36h11Images.at(tagId);
+  std::vector<cv::Point2f> tagPoints{kTag36h11MarkPts};
   std::vector<cv::Point2f> tagImageCorners{GetImageCorners(tagImage.size())};
   std::vector<cv::Point2f> dstPointMat = dstPoints;
   cv::Rect boundingRect = cv::boundingRect(dstPointMat);
@@ -132,7 +134,7 @@ static const std::vector<cv::Point2f> kTag16h5MarkPts = Get16h5MarkerPts();
 
   int supersampling = 6;
   supersampling = static_cast<int>(std::ceil(supersampling / warpedTagUpscale));
-  supersampling = std::max(std::min(supersampling, 8), 1);
+  supersampling = std::max(std::min(supersampling, 10), 1);
 
   cv::Mat scaledTagImage{};
   if (warpedTagUpscale > 2.0) {
@@ -142,7 +144,7 @@ static const std::vector<cv::Point2f> kTag16h5MarkPts = Get16h5MarkerPts();
     scaleFactor *= supersampling;
     cv::resize(tagImage, scaledTagImage, cv::Size{}, scaleFactor, scaleFactor,
                cv::INTER_NEAREST);
-    tagPoints = Get16h5MarkerPts(scaleFactor);
+    tagPoints = Get36h11MarkerPts(scaleFactor);
   } else {
     scaledTagImage = tagImage;
   }
diff --git a/photon-lib/src/main/native/include/photon/simulation/VisionSystemSim.h b/photon-lib/src/main/native/include/photon/simulation/VisionSystemSim.h
index 55988bc32f..aca9e3d91b 100644
--- a/photon-lib/src/main/native/include/photon/simulation/VisionSystemSim.h
+++ b/photon-lib/src/main/native/include/photon/simulation/VisionSystemSim.h
@@ -173,7 +173,7 @@ class VisionSystemSim {
     std::vector<VisionTargetSim> targets;
     for (const frc::AprilTag& tag : layout.GetTags()) {
       targets.emplace_back(VisionTargetSim{layout.GetTagPose(tag.ID).value(),
-                                           photon::kAprilTag16h5, tag.ID});
+                                           photon::kAprilTag36h11, tag.ID});
     }
     AddVisionTargets("apriltag", targets);
   }
diff --git a/photon-lib/src/main/resources/images/apriltags/tag16_05_00000.png b/photon-lib/src/main/resources/images/apriltags/tag16_05_00000.png
deleted file mode 100644
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deleted file mode 100644
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deleted file mode 100644
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diff --git a/photon-lib/src/main/resources/images/apriltags/tag16_05_00029.png b/photon-lib/src/main/resources/images/apriltags/tag16_05_00029.png
deleted file mode 100644
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diff --git a/photon-server/src/main/java/org/photonvision/Main.java b/photon-server/src/main/java/org/photonvision/Main.java
index daf8c243ca..f4e67d8706 100644
--- a/photon-server/src/main/java/org/photonvision/Main.java
+++ b/photon-server/src/main/java/org/photonvision/Main.java
@@ -37,7 +37,7 @@
 import org.photonvision.common.networking.NetworkManager;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.common.util.numbers.IntegerCouple;
-import org.photonvision.raspi.LibCameraJNI;
+import org.photonvision.raspi.LibCameraJNILoader;
 import org.photonvision.server.Server;
 import org.photonvision.vision.camera.FileVisionSource;
 import org.photonvision.vision.opencv.CVMat;
@@ -311,7 +311,7 @@ public static void main(String[] args) {
 
         try {
             if (Platform.isRaspberryPi()) {
-                LibCameraJNI.forceLoad();
+                LibCameraJNILoader.forceLoad();
             }
         } catch (IOException e) {
             logger.error("Failed to load libcamera-JNI!", e);
diff --git a/photonlib-cpp-examples/swervedriveposeestsim/build.gradle b/photonlib-cpp-examples/swervedriveposeestsim/build.gradle
index 8eeef20126..8e35dcc6fa 100644
--- a/photonlib-cpp-examples/swervedriveposeestsim/build.gradle
+++ b/photonlib-cpp-examples/swervedriveposeestsim/build.gradle
@@ -6,16 +6,15 @@ plugins {
     id "com.dorongold.task-tree" version "2.1.0"
 }
 
-wpi.maven.useLocal = false
-wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = '2024.1.1-beta-3-53-g31cd015'
-wpi.versions.wpimathVersion = '2024.1.1-beta-3-53-g31cd015'
-
 repositories {
     mavenLocal()
     jcenter()
 }
 
+wpi.maven.useDevelopment = true
+wpi.versions.wpilibVersion = "2024.1.1-beta-4-35-g141241d"
+wpi.versions.wpimathVersion = "2024.1.1-beta-4-35-g141241d"
+
 apply from: "${rootDir}/../shared/examples_common.gradle"
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
diff --git a/photonlib-java-examples/swervedriveposeestsim/build.gradle b/photonlib-java-examples/swervedriveposeestsim/build.gradle
index a4d1b60579..a352156f63 100644
--- a/photonlib-java-examples/swervedriveposeestsim/build.gradle
+++ b/photonlib-java-examples/swervedriveposeestsim/build.gradle
@@ -10,6 +10,11 @@ apply from: "${rootDir}/../shared/examples_common.gradle"
 
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
+wpi.maven.useDevelopment = true
+wpi.versions.wpilibVersion = "2024.1.1-beta-4-35-g141241d"
+wpi.versions.wpimathVersion = "2024.1.1-beta-4-35-g141241d"
+
+
 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.
 deploy {