From 12774591a4ac31caff2a8bf193ee3750d6463640 Mon Sep 17 00:00:00 2001
From: Matt <matthew.morley.ca@gmail.com>
Date: Wed, 1 Nov 2023 19:16:41 -0400
Subject: [PATCH 1/6] Bump opencv to fix cross-compile rpath (#992)

---
 build.gradle | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/build.gradle b/build.gradle
index 8f4fe228ba..a869efc46e 100644
--- a/build.gradle
+++ b/build.gradle
@@ -21,7 +21,7 @@ apply from: "versioningHelper.gradle"
 
 ext {
     wpilibVersion = "2024.1.1-beta-2"
-    openCVversion = "4.8.0-1"
+    openCVversion = "4.8.0-2"
     joglVersion = "2.4.0-rc-20200307"
     javalinVersion = "5.6.2"
     frcYear = "2024"
@@ -41,6 +41,11 @@ ext {
 
 wpilibTools.deps.wpilibVersion = wpilibVersion
 
+// Tell gradlerio what version of things to use (that we care about)
+// See: https://github.com/wpilibsuite/GradleRIO/blob/main/src/main/java/edu/wpi/first/gradlerio/wpi/WPIVersionsExtension.java
+wpi.getVersions().getOpencvVersion().convention(openCVversion);
+wpi.getVersions().getWpilibVersion().convention(wpilibVersion);
+
 spotless {
     java {
         target fileTree('.') {

From 5a4eb54693fb54668f29354454e640e217fda193 Mon Sep 17 00:00:00 2001
From: Matt <matthew.morley.ca@gmail.com>
Date: Thu, 2 Nov 2023 19:34:31 -0400
Subject: [PATCH 2/6] Check if WS is closing before sending message (#993)

---
 .../org/photonvision/server/DataSocketHandler.java     | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/photon-server/src/main/java/org/photonvision/server/DataSocketHandler.java b/photon-server/src/main/java/org/photonvision/server/DataSocketHandler.java
index f7f0345723..9fe6189f45 100644
--- a/photon-server/src/main/java/org/photonvision/server/DataSocketHandler.java
+++ b/photon-server/src/main/java/org/photonvision/server/DataSocketHandler.java
@@ -53,8 +53,6 @@ public class DataSocketHandler {
     @SuppressWarnings("FieldCanBeLocal")
     private final UIOutboundSubscriber uiOutboundSubscriber = new UIOutboundSubscriber(this);
 
-    public static class UIMap extends HashMap<String, Object> {}
-
     private static class ThreadSafeSingleton {
         private static final DataSocketHandler INSTANCE = new DataSocketHandler();
     }
@@ -70,23 +68,23 @@ private DataSocketHandler() {
     }
 
     public void onConnect(WsConnectContext context) {
+        users.add(context);
         context.session.setIdleTimeout(
                 Duration.ofMillis(Long.MAX_VALUE)); // TODO: determine better value
         var remote = (InetSocketAddress) context.session.getRemoteAddress();
         var host = remote.getAddress().toString() + ":" + remote.getPort();
         logger.info("New websocket connection from " + host);
-        users.add(context);
         dcService.publishEvent(
                 new IncomingWebSocketEvent<>(
                         DataChangeDestination.DCD_GENSETTINGS, "userConnected", context));
     }
 
     protected void onClose(WsCloseContext context) {
+        users.remove(context);
         var remote = (InetSocketAddress) context.session.getRemoteAddress();
         var host = remote.getAddress().toString() + ":" + remote.getPort();
         var reason = context.reason() != null ? context.reason() : "Connection closed by client";
         logger.info("Closing websocket connection from " + host + " for reason: " + reason);
-        users.remove(context);
     }
 
     @SuppressWarnings({"unchecked"})
@@ -349,7 +347,9 @@ public void onBinaryMessage(WsBinaryMessageContext context) {
 
     private void sendMessage(Object message, WsContext user) throws JsonProcessingException {
         ByteBuffer b = ByteBuffer.wrap(objectMapper.writeValueAsBytes(message));
-        user.send(b);
+        if (user.session.isOpen()) {
+            user.send(b);
+        }
     }
 
     public void broadcastMessage(Object message, WsContext userToSkip)

From 5136dad535381f49b6cf2164b63503688a73eb8f Mon Sep 17 00:00:00 2001
From: superpenguin612 <74030080+superpenguin612@users.noreply.github.com>
Date: Thu, 2 Nov 2023 22:36:24 -0400
Subject: [PATCH 3/6] Add StickyFPS quirk for Arducam OV2311 (#994)

Disable setting first video mode on boot. Resolution is actually set immediately after
---
 .../main/java/org/photonvision/vision/camera/CameraQuirk.java  | 2 ++
 .../main/java/org/photonvision/vision/camera/QuirkyCamera.java | 3 ++-
 .../java/org/photonvision/vision/camera/USBCameraSource.java   | 3 ++-
 3 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java b/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java
index 69f9c564cb..928aa6f847 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java
@@ -30,4 +30,6 @@ public enum CameraQuirk {
     CompletelyBroken,
     /** Has adjustable focus and autofocus switch */
     AdjustableFocus,
+    /** Changing FPS repeatedly with small delay does not work correctly */
+    StickyFPS,
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java b/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
index da2dc835cb..53d89167ec 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
@@ -44,7 +44,8 @@ public class QuirkyCamera {
                     new QuirkyCamera(
                             -1, -1, "mmal service 16.1", CameraQuirk.PiCam), // PiCam (via V4L2, not zerocopy)
                     new QuirkyCamera(-1, -1, "unicam", CameraQuirk.PiCam), // PiCam (via V4L2, not zerocopy)
-                    new QuirkyCamera(0x85B, 0x46D, CameraQuirk.AdjustableFocus) // Logitech C925-e
+                    new QuirkyCamera(0x85B, 0x46D, CameraQuirk.AdjustableFocus), // Logitech C925-e
+                    new QuirkyCamera(0x6366, 0x0c45, CameraQuirk.StickyFPS) // Arducam OV2311
                     );
 
     public static final QuirkyCamera DefaultCamera = new QuirkyCamera(0, 0, "");
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 ad235da26a..6717f4edd8 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
@@ -102,7 +102,8 @@ public class USBCameraSettables extends VisionSourceSettables {
         protected USBCameraSettables(CameraConfiguration configuration) {
             super(configuration);
             getAllVideoModes();
-            setVideoMode(videoModes.get(0));
+            if (!cameraQuirks.hasQuirk(CameraQuirk.StickyFPS))
+                setVideoMode(videoModes.get(0)); // fixes double FPS set
         }
 
         public void setAutoExposure(boolean cameraAutoExposure) {

From 7eb4645ee2d2bf2e64951d27cd36ad17ce9e840b Mon Sep 17 00:00:00 2001
From: Matt <matthew.morley.ca@gmail.com>
Date: Sat, 4 Nov 2023 09:42:30 -0400
Subject: [PATCH 4/6] Bump wpilib to beta-3 (#998)

---
 build.gradle                         | 4 ++--
 photonlib-cpp-examples/build.gradle  | 2 +-
 photonlib-java-examples/build.gradle | 2 +-
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/build.gradle b/build.gradle
index a869efc46e..fdf2fa70cb 100644
--- a/build.gradle
+++ b/build.gradle
@@ -2,7 +2,7 @@ plugins {
     id "com.diffplug.spotless" version "6.22.0"
     id "edu.wpi.first.NativeUtils" version "2024.2.0" apply false
     id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-2"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
     id 'edu.wpi.first.WpilibTools' version '1.3.0'
 }
 
@@ -20,7 +20,7 @@ allprojects {
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2024.1.1-beta-2"
+    wpilibVersion = "2024.1.1-beta-3"
     openCVversion = "4.8.0-2"
     joglVersion = "2.4.0-rc-20200307"
     javalinVersion = "5.6.2"
diff --git a/photonlib-cpp-examples/build.gradle b/photonlib-cpp-examples/build.gradle
index f86d65a4ae..881e04a114 100644
--- a/photonlib-cpp-examples/build.gradle
+++ b/photonlib-cpp-examples/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "com.diffplug.spotless" version "6.1.2"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-2" apply false
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3" apply false
 }
 
 allprojects {
diff --git a/photonlib-java-examples/build.gradle b/photonlib-java-examples/build.gradle
index 68dd2983a2..1c92e043f9 100644
--- a/photonlib-java-examples/build.gradle
+++ b/photonlib-java-examples/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "com.diffplug.spotless" version "6.1.2"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-2" apply false
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3" apply false
 }
 
 apply from: "examples.gradle"

From 9370937280df465e6cbabeba99dd5fa465e3635c Mon Sep 17 00:00:00 2001
From: amquake <noleetarrr@gmail.com>
Date: Sat, 4 Nov 2023 09:25:49 -0700
Subject: [PATCH 5/6] [photon-lib] Make PhotonPoseEstimator coprocessor
 multitag result relative to tag layout origin (#997)

Fixes #991.
---
 .../main/java/org/photonvision/PhotonPoseEstimator.java   | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
index 1c73f2cab2..32b4c7ba1f 100644
--- a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
+++ b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
@@ -100,7 +100,8 @@ public enum PoseStrategy {
      * @param fieldTags A WPILib {@link AprilTagFieldLayout} linking AprilTag IDs to Pose3d objects
      *     with respect to the FIRST field using the <a href=
      *     "https://docs.wpilib.org/en/stable/docs/software/advanced-controls/geometry/coordinate-systems.html#field-coordinate-system">Field
-     *     Coordinate System</a>.
+     *     Coordinate System</a>. Note that setting the origin of this layout object will affect the
+     *     results from this class.
      * @param strategy The strategy it should use to determine the best pose.
      * @param camera PhotonCamera
      * @param robotToCamera Transform3d from the center of the robot to the camera mount position (ie,
@@ -141,6 +142,8 @@ private void checkUpdate(Object oldObj, Object newObj) {
     /**
      * Get the AprilTagFieldLayout being used by the PositionEstimator.
      *
+     * <p>Note: Setting the origin of this layout will affect the results from this class.
+     *
      * @return the AprilTagFieldLayout
      */
     public AprilTagFieldLayout getFieldTags() {
@@ -150,6 +153,8 @@ public AprilTagFieldLayout getFieldTags() {
     /**
      * Set the AprilTagFieldLayout being used by the PositionEstimator.
      *
+     * <p>Note: Setting the origin of this layout will affect the results from this class.
+     *
      * @param fieldTags the AprilTagFieldLayout
      */
     public void setFieldTags(AprilTagFieldLayout fieldTags) {
@@ -415,6 +420,7 @@ private Optional<EstimatedRobotPose> multiTagOnCoprocStrategy(
             var best =
                     new Pose3d()
                             .plus(best_tf) // field-to-camera
+                            .relativeTo(fieldTags.getOrigin())
                             .plus(robotToCamera.inverse()); // field-to-robot
             return Optional.of(
                     new EstimatedRobotPose(

From 623b4e5b8457979eda40cc6bb5c0df59cfb8e8f1 Mon Sep 17 00:00:00 2001
From: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
Date: Sun, 5 Nov 2023 11:33:45 -0500
Subject: [PATCH 6/6] Show Saved Snapshots in UI (#995)

Add Camera Control tab to Cameras for the button to live in
---
 .../src/assets/styles/variables.scss          |  11 +
 .../cameras/CameraCalibrationCard.vue         |   2 +-
 .../components/cameras/CameraControlCard.vue  | 202 ++++++++++++++++++
 .../src/views/CameraSettingsView.vue          |   2 +
 .../frame/consumer/FileSaveFrameConsumer.java |  14 +-
 .../vision/processes/VisionModule.java        |   9 +-
 .../photonvision/server/RequestHandler.java   |  46 +++-
 .../java/org/photonvision/server/Server.java  |   1 +
 8 files changed, 277 insertions(+), 10 deletions(-)
 create mode 100644 photon-client/src/components/cameras/CameraControlCard.vue

diff --git a/photon-client/src/assets/styles/variables.scss b/photon-client/src/assets/styles/variables.scss
index 2aab2068a6..89886135fa 100644
--- a/photon-client/src/assets/styles/variables.scss
+++ b/photon-client/src/assets/styles/variables.scss
@@ -7,3 +7,14 @@ $heading-font-family: $default-font;
 .v-application {
   font-family: $default-font !important;
 }
+
+.v-row-group__header {
+  background: #005281 !important;
+}
+.theme--dark.v-data-table
+  > .v-data-table__wrapper
+  > table
+  > tbody
+  > tr:hover:not(.v-data-table__expanded__content):not(.v-data-table__empty-wrapper) {
+  background: #005281 !important;
+}
diff --git a/photon-client/src/components/cameras/CameraCalibrationCard.vue b/photon-client/src/components/cameras/CameraCalibrationCard.vue
index 2c40c28b23..0bbfbe3df9 100644
--- a/photon-client/src/components/cameras/CameraCalibrationCard.vue
+++ b/photon-client/src/components/cameras/CameraCalibrationCard.vue
@@ -218,7 +218,7 @@ const endCalibration = () => {
 
 <template>
   <div>
-    <v-card class="pr-6 pb-3" color="primary" dark>
+    <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>
diff --git a/photon-client/src/components/cameras/CameraControlCard.vue b/photon-client/src/components/cameras/CameraControlCard.vue
new file mode 100644
index 0000000000..8f65b1eee8
--- /dev/null
+++ b/photon-client/src/components/cameras/CameraControlCard.vue
@@ -0,0 +1,202 @@
+<script setup lang="ts">
+import { ref } from "vue";
+import axios from "axios";
+import { useStateStore } from "@/stores/StateStore";
+
+interface SnapshotMetadata {
+  snapshotName: string;
+  cameraNickname: string;
+  streamType: "input" | "output";
+  timeCreated: Date;
+}
+const getSnapshotMetadataFromName = (snapshotName: string): SnapshotMetadata => {
+  snapshotName = snapshotName.replace(/\.[^/.]+$/, "");
+
+  const data = snapshotName.split("_");
+
+  const cameraName = data.slice(0, data.length - 2).join("_");
+  const streamType = data[data.length - 2] as "input" | "output";
+  const dateStr = data[data.length - 1];
+
+  const year = parseInt(dateStr.substring(0, 4), 10);
+  const month = parseInt(dateStr.substring(5, 7), 10) - 1; // Months are zero-based
+  const day = parseInt(dateStr.substring(8, 10), 10);
+  const hours = parseInt(dateStr.substring(11, 13), 10);
+  const minutes = parseInt(dateStr.substring(13, 15), 10);
+  const seconds = parseInt(dateStr.substring(15, 17), 10);
+  const milliseconds = parseInt(dateStr.substring(17), 10);
+
+  return {
+    snapshotName: snapshotName,
+    cameraNickname: cameraName,
+    streamType: streamType,
+    timeCreated: new Date(year, month, day, hours, minutes, seconds, milliseconds)
+  };
+};
+
+interface Snapshot {
+  index: number;
+  snapshotName: string;
+  snapshotShortName: string;
+  cameraUniqueName: string;
+  cameraNickname: string;
+  streamType: "input" | "output";
+  timeCreated: Date;
+  snapshotSrc: string;
+}
+const imgData = ref<Snapshot[]>([]);
+const fetchSnapshots = () => {
+  axios
+    .get("/utils/getImageSnapshots")
+    .then((response) => {
+      imgData.value = response.data.map(
+        (snapshotData: { snapshotName: string; cameraUniqueName: string; snapshotData: string }, index) => {
+          const metadata = getSnapshotMetadataFromName(snapshotData.snapshotName);
+
+          return {
+            index: index,
+            snapshotName: snapshotData.snapshotName,
+            snapshotShortName: metadata.snapshotName,
+            cameraUniqueName: snapshotData.cameraUniqueName,
+            cameraNickname: metadata.cameraNickname,
+            streamType: metadata.streamType,
+            timeCreated: metadata.timeCreated,
+            snapshotSrc: "data:image/jpg;base64," + snapshotData.snapshotData
+          };
+        }
+      );
+      showSnapshotViewerDialog.value = true;
+    })
+    .catch((error) => {
+      if (error.response) {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: error.response.data.text || error.response.data
+        });
+      } else if (error.request) {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: "Error while trying to process the request! The backend didn't respond."
+        });
+      } else {
+        useStateStore().showSnackbarMessage({
+          color: "error",
+          message: "An error occurred while trying to process the request."
+        });
+      }
+    });
+};
+const showSnapshotViewerDialog = ref(false);
+const expanded = ref([]);
+</script>
+
+<template>
+  <v-card dark class="pr-6 pb-3" style="background-color: #006492">
+    <v-card-title>Camera Control</v-card-title>
+    <v-row class="pl-6">
+      <v-col>
+        <v-btn color="secondary" @click="fetchSnapshots">
+          <v-icon left> mdi-folder </v-icon>
+          Show Saved Snapshots
+        </v-btn>
+      </v-col>
+    </v-row>
+    <v-dialog v-model="showSnapshotViewerDialog">
+      <v-card dark class="pt-3 pl-5 pr-5" color="primary" flat>
+        <v-card-title> View Saved Frame Snapshots </v-card-title>
+        <v-divider />
+        <v-card-text v-if="imgData.length === 0" style="font-size: 18px; font-weight: 600" class="pt-4">
+          There are no snapshots saved
+        </v-card-text>
+        <div v-else class="pb-2">
+          <v-data-table
+            v-model:expanded="expanded"
+            :headers="[
+              { text: 'Snapshot Name', value: 'snapshotShortName', sortable: false },
+              { text: 'Camera Unique Name', value: 'cameraUniqueName' },
+              { text: 'Camera Nickname', value: 'cameraNickname' },
+              { text: 'Stream Type', value: 'streamType' },
+              { text: 'Time Created', value: 'timeCreated' },
+              { text: 'Actions', value: 'actions', sortable: false }
+            ]"
+            :items="imgData"
+            group-by="cameraUniqueName"
+            class="elevation-0"
+            item-key="index"
+            show-expand
+            expand-icon="mdi-eye"
+          >
+            <template #expanded-item="{ headers, item }">
+              <td :colspan="headers.length">
+                <div style="display: flex; justify-content: center; width: 100%">
+                  <img :src="item.snapshotSrc" alt="snapshot-image" class="snapshot-preview pt-2 pb-2" />
+                </div>
+              </td>
+            </template>
+            <!-- eslint-disable-next-line vue/valid-v-slot-->
+            <template #item.actions="{ item }">
+              <div style="display: flex; justify-content: center">
+                <a :download="item.snapshotName" :href="item.snapshotSrc">
+                  <v-icon small> mdi-download </v-icon>
+                </a>
+              </div>
+            </template>
+          </v-data-table>
+          <span
+            >Snapshot Timestamps may be incorrect as they depend on when the coprocessor was last connected to the
+            internet</span
+          >
+        </div>
+      </v-card>
+    </v-dialog>
+  </v-card>
+</template>
+
+<style scoped lang="scss">
+.v-divider {
+  border-color: white !important;
+}
+.v-btn {
+  width: 100%;
+}
+.v-data-table {
+  text-align: center;
+  background-color: #006492 !important;
+
+  th,
+  td {
+    background-color: #005281 !important;
+    font-size: 1rem !important;
+  }
+
+  tbody :hover tr {
+    background-color: #005281 !important;
+  }
+
+  ::-webkit-scrollbar {
+    width: 0;
+    height: 0.55em;
+    border-radius: 5px;
+  }
+
+  ::-webkit-scrollbar-track {
+    -webkit-box-shadow: inset 0 0 6px rgba(0, 0, 0, 0.3);
+    border-radius: 10px;
+  }
+
+  ::-webkit-scrollbar-thumb {
+    background-color: #ffd843;
+    border-radius: 10px;
+  }
+}
+
+.snapshot-preview {
+  max-width: 55%;
+}
+
+@media only screen and (max-width: 512px) {
+  .snapshot-preview {
+    max-width: 100%;
+  }
+}
+</style>
diff --git a/photon-client/src/views/CameraSettingsView.vue b/photon-client/src/views/CameraSettingsView.vue
index 68951ad57d..818ad811b2 100644
--- a/photon-client/src/views/CameraSettingsView.vue
+++ b/photon-client/src/views/CameraSettingsView.vue
@@ -5,6 +5,7 @@ import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
 import { computed } from "vue";
 import CamerasView from "@/components/cameras/CamerasView.vue";
 import { useStateStore } from "@/stores/StateStore";
+import CameraControlCard from "@/components/cameras/CameraControlCard.vue";
 
 const cameraViewType = computed<number[]>({
   get: (): number[] => {
@@ -40,6 +41,7 @@ const cameraViewType = computed<number[]>({
       <v-col cols="12" md="7">
         <CamerasCard />
         <CalibrationCard />
+        <CameraControlCard />
       </v-col>
       <v-col class="pl-md-3 pt-3 pt-md-0" cols="12" md="5">
         <CamerasView v-model="cameraViewType" />
diff --git a/photon-core/src/main/java/org/photonvision/vision/frame/consumer/FileSaveFrameConsumer.java b/photon-core/src/main/java/org/photonvision/vision/frame/consumer/FileSaveFrameConsumer.java
index 57bc312b2f..a9f9151828 100644
--- a/photon-core/src/main/java/org/photonvision/vision/frame/consumer/FileSaveFrameConsumer.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/consumer/FileSaveFrameConsumer.java
@@ -47,14 +47,16 @@ public class FileSaveFrameConsumer implements Consumer<CVMat> {
     private final String ntEntryName;
     private IntegerEntry saveFrameEntry;
 
+    private final String cameraUniqueName;
     private String cameraNickname;
     private final String streamType;
 
     private long savedImagesCount = 0;
 
-    public FileSaveFrameConsumer(String camNickname, String streamPrefix) {
+    public FileSaveFrameConsumer(String camNickname, String cameraUniqueName, String streamPrefix) {
         this.ntEntryName = streamPrefix + NT_SUFFIX;
         this.cameraNickname = camNickname;
+        this.cameraUniqueName = cameraUniqueName;
         this.streamType = streamPrefix;
 
         this.rootTable = NetworkTablesManager.getInstance().kRootTable;
@@ -74,7 +76,15 @@ public void accept(CVMat image) {
 
                 String fileName =
                         cameraNickname + "_" + streamType + "_" + df.format(now) + "T" + tf.format(now);
-                String saveFilePath = FILE_PATH + File.separator + fileName + FILE_EXTENSION;
+
+                // Check if the Unique Camera directory exists and create it if it doesn't
+                String cameraPath = FILE_PATH + File.separator + this.cameraUniqueName;
+                var cameraDir = new File(cameraPath);
+                if (!cameraDir.exists()) {
+                    cameraDir.mkdir();
+                }
+
+                String saveFilePath = cameraPath + File.separator + fileName + FILE_EXTENSION;
 
                 Imgcodecs.imwrite(saveFilePath, image.getMat());
 
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 54daf5d3e5..976053396b 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
@@ -176,10 +176,15 @@ private void createStreams() {
         this.outputStreamPort = 1181 + (camStreamIdx * 2) + 1;
 
         inputFrameSaver =
-                new FileSaveFrameConsumer(visionSource.getSettables().getConfiguration().nickname, "input");
+                new FileSaveFrameConsumer(
+                        visionSource.getSettables().getConfiguration().nickname,
+                        visionSource.getSettables().getConfiguration().uniqueName,
+                        "input");
         outputFrameSaver =
                 new FileSaveFrameConsumer(
-                        visionSource.getSettables().getConfiguration().nickname, "output");
+                        visionSource.getSettables().getConfiguration().nickname,
+                        visionSource.getSettables().getConfiguration().uniqueName,
+                        "output");
 
         String camHostname = CameraServerJNI.getHostname();
         inputVideoStreamer =
diff --git a/photon-server/src/main/java/org/photonvision/server/RequestHandler.java b/photon-server/src/main/java/org/photonvision/server/RequestHandler.java
index 9547c2cdf0..81f669c4c2 100644
--- a/photon-server/src/main/java/org/photonvision/server/RequestHandler.java
+++ b/photon-server/src/main/java/org/photonvision/server/RequestHandler.java
@@ -21,15 +21,14 @@
 import com.fasterxml.jackson.databind.ObjectMapper;
 import io.javalin.http.Context;
 import io.javalin.http.UploadedFile;
-import java.io.File;
-import java.io.FileInputStream;
-import java.io.FileNotFoundException;
-import java.io.FileOutputStream;
-import java.io.IOException;
+import java.io.*;
 import java.nio.file.Files;
 import java.nio.file.Path;
 import java.nio.file.Paths;
+import java.util.ArrayList;
+import java.util.HashMap;
 import java.util.Optional;
+import javax.imageio.ImageIO;
 import org.apache.commons.io.FileUtils;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.configuration.NetworkConfig;
@@ -526,6 +525,43 @@ public static void onMetricsPublishRequest(Context ctx) {
         ctx.status(204);
     }
 
+    public static void onImageSnapshotsRequest(Context ctx) {
+        var snapshots = new ArrayList<HashMap<String, Object>>();
+        var cameraDirs = ConfigManager.getInstance().getImageSavePath().toFile().listFiles();
+
+        if (cameraDirs != null) {
+            try {
+                for (File cameraDir : cameraDirs) {
+                    var cameraSnapshots = cameraDir.listFiles();
+                    if (cameraSnapshots == null) continue;
+
+                    String cameraUniqueName = cameraDir.getName();
+
+                    for (File snapshot : cameraSnapshots) {
+                        var snapshotData = new HashMap<String, Object>();
+
+                        var bufferedImage = ImageIO.read(snapshot);
+                        var buffer = new ByteArrayOutputStream();
+                        ImageIO.write(bufferedImage, "jpg", buffer);
+                        byte[] data = buffer.toByteArray();
+
+                        snapshotData.put("snapshotName", snapshot.getName());
+                        snapshotData.put("cameraUniqueName", cameraUniqueName);
+                        snapshotData.put("snapshotData", data);
+
+                        snapshots.add(snapshotData);
+                    }
+                }
+            } catch (IOException e) {
+                ctx.status(500);
+                ctx.result("Unable to read saved images");
+            }
+        }
+
+        ctx.status(200);
+        ctx.json(snapshots);
+    }
+
     /**
      * Create a temporary file using the UploadedFile from Javalin.
      *
diff --git a/photon-server/src/main/java/org/photonvision/server/Server.java b/photon-server/src/main/java/org/photonvision/server/Server.java
index a5d2580ba2..c77d03fe7e 100644
--- a/photon-server/src/main/java/org/photonvision/server/Server.java
+++ b/photon-server/src/main/java/org/photonvision/server/Server.java
@@ -97,6 +97,7 @@ public static void start(int port) {
         app.post("/api/utils/restartProgram", RequestHandler::onProgramRestartRequest);
         app.post("/api/utils/restartDevice", RequestHandler::onDeviceRestartRequest);
         app.post("/api/utils/publishMetrics", RequestHandler::onMetricsPublishRequest);
+        app.get("/api/utils/getImageSnapshots", RequestHandler::onImageSnapshotsRequest);
 
         // Calibration
         app.post("/api/calibration/end", RequestHandler::onCalibrationEndRequest);