diff --git a/build.gradle b/build.gradle
index f772c89e32..b4e3f50576 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,9 +1,10 @@
 plugins {
     id "com.diffplug.spotless" version "6.22.0"
-    id "edu.wpi.first.NativeUtils" version "2024.3.2" apply false
+    id "edu.wpi.first.NativeUtils" version "2024.4.0" apply false
     id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
     id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
     id 'edu.wpi.first.WpilibTools' version '1.3.0'
+    id 'com.google.protobuf' version '0.9.4' apply false
 }
 
 allprojects {
@@ -20,7 +21,7 @@ allprojects {
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2024.1.1-beta-3"
+    wpilibVersion = "2024.1.1-beta-3-52-g9280054"
     wpimathVersion = wpilibVersion
     openCVversion = "4.8.0-2"
     joglVersion = "2.4.0-rc-20200307"
diff --git a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java
index d985c710f5..24f5d0ad8d 100644
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java
@@ -23,7 +23,6 @@
 import java.util.function.Consumer;
 import java.util.function.Supplier;
 import org.photonvision.common.dataflow.CVPipelineResultConsumer;
-import org.photonvision.common.dataflow.structures.Packet;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.networktables.NTTopicSet;
@@ -129,15 +128,13 @@ public void updateCameraNickname(String newCameraNickname) {
 
     @Override
     public void accept(CVPipelineResult result) {
-        var simplified =
+        var res =
                 new PhotonPipelineResult(
                         result.getLatencyMillis(),
                         TrackedTarget.simpleFromTrackedTargets(result.targets),
                         result.multiTagResult);
-        Packet packet = new Packet(simplified.getPacketSize());
-        simplified.populatePacket(packet);
 
-        ts.rawBytesEntry.set(packet.getData());
+        ts.pipelineResultsPublisher.set(res);
 
         ts.pipelineIndexPublisher.set(pipelineIndexSupplier.get());
         ts.driverModePublisher.set(driverModeSupplier.getAsBoolean());
diff --git a/photon-core/src/main/java/org/photonvision/vision/calibration/JsonMat.java b/photon-core/src/main/java/org/photonvision/vision/calibration/JsonMat.java
index 15a6d0b9e0..4dc788a0a7 100644
--- a/photon-core/src/main/java/org/photonvision/vision/calibration/JsonMat.java
+++ b/photon-core/src/main/java/org/photonvision/vision/calibration/JsonMat.java
@@ -26,7 +26,6 @@
 import org.opencv.core.CvType;
 import org.opencv.core.Mat;
 import org.opencv.core.MatOfDouble;
-import org.photonvision.common.dataflow.structures.Packet;
 import org.photonvision.vision.opencv.Releasable;
 
 public class JsonMat implements Releasable {
@@ -121,9 +120,4 @@ public <R extends Num, C extends Num> Matrix<R, C> getAsWpilibMat() {
     public void release() {
         getAsMat().release();
     }
-
-    public Packet populatePacket(Packet packet) {
-        packet.encode(this.data);
-        return packet;
-    }
 }
diff --git a/photon-lib/build.gradle b/photon-lib/build.gradle
index 099308f470..ec468c1f21 100644
--- a/photon-lib/build.gradle
+++ b/photon-lib/build.gradle
@@ -60,7 +60,35 @@ task writeCurrentVersion {
 }
 
 build.mustRunAfter writeCurrentVersion
+cppHeadersZip.dependsOn writeCurrentVersion
 
+// Building photon-lib requires photon-targeting to generate its proto files. This technically shouldn't be required but is needed for it to build.
+model {
+    components {
+        all {
+            it.sources.each {
+                it.exportedHeaders {
+                    srcDirs "src/main/native/include"
+                    srcDirs "src/generate/native/include"
+                }
+            }
+            it.binaries.all {
+                it.tasks.withType(CppCompile) {
+                    it.dependsOn ":photon-targeting:generateProto"
+                }
+            }
+        }
+    }
+    testSuites {
+        all {
+            it.binaries.all {
+                it.tasks.withType(CppCompile) {
+                    it.dependsOn ":photon-targeting:generateProto"
+                }
+            }
+        }
+    }
+}
 def vendorJson = artifacts.add('archives', file("$photonlibFileOutput"))
 
 model {
diff --git a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java
index 8b46a2c372..f7bf613fb9 100644
--- a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java
+++ b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java
@@ -39,14 +39,13 @@
 import edu.wpi.first.networktables.MultiSubscriber;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.networktables.ProtobufSubscriber;
 import edu.wpi.first.networktables.PubSubOption;
-import edu.wpi.first.networktables.RawSubscriber;
 import edu.wpi.first.networktables.StringSubscriber;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Timer;
 import java.util.Optional;
 import java.util.Set;
-import org.photonvision.common.dataflow.structures.Packet;
 import org.photonvision.common.hardware.VisionLEDMode;
 import org.photonvision.targeting.PhotonPipelineResult;
 
@@ -55,7 +54,7 @@ public class PhotonCamera implements AutoCloseable {
     public static final String kTableName = "photonvision";
 
     private final NetworkTable cameraTable;
-    RawSubscriber rawBytesEntry;
+    ProtobufSubscriber<PhotonPipelineResult> pipelineResultsSubscriber;
     BooleanPublisher driverModePublisher;
     BooleanSubscriber driverModeSubscriber;
     DoublePublisher latencyMillisEntry;
@@ -75,7 +74,7 @@ public class PhotonCamera implements AutoCloseable {
 
     @Override
     public void close() {
-        rawBytesEntry.close();
+        pipelineResultsSubscriber.close();
         driverModePublisher.close();
         driverModeSubscriber.close();
         latencyMillisEntry.close();
@@ -112,8 +111,6 @@ public static void setVersionCheckEnabled(boolean enabled) {
         VERSION_CHECK_ENABLED = enabled;
     }
 
-    Packet packet = new Packet(1);
-
     /**
      * Constructs a PhotonCamera from a root table.
      *
@@ -127,11 +124,14 @@ public PhotonCamera(NetworkTableInstance instance, String cameraName) {
         var photonvision_root_table = instance.getTable(kTableName);
         this.cameraTable = photonvision_root_table.getSubTable(cameraName);
         path = cameraTable.getPath();
-        rawBytesEntry =
+        pipelineResultsSubscriber =
                 cameraTable
-                        .getRawTopic("rawBytes")
+                        .getProtobufTopic("result_proto", PhotonPipelineResult.proto)
                         .subscribe(
-                                "rawBytes", new byte[] {}, PubSubOption.periodic(0.01), PubSubOption.sendAll(true));
+                                new PhotonPipelineResult(),
+                                PubSubOption.periodic(0.01),
+                                PubSubOption.sendAll(true));
+
         driverModePublisher = cameraTable.getBooleanTopic("driverModeRequest").publish();
         driverModeSubscriber = cameraTable.getBooleanTopic("driverMode").subscribe(false);
         inputSaveImgEntry = cameraTable.getIntegerTopic("inputSaveImgCmd").getEntry(0);
@@ -171,21 +171,12 @@ public PhotonCamera(String cameraName) {
     public PhotonPipelineResult getLatestResult() {
         verifyVersion();
 
-        // Clear the packet.
-        packet.clear();
-
-        // Create latest result.
-        var ret = new PhotonPipelineResult();
-
-        // Populate packet and create result.
-        packet.setData(rawBytesEntry.get(new byte[] {}));
-
-        if (packet.getSize() < 1) return ret;
-        ret.createFromPacket(packet);
+        var ret = pipelineResultsSubscriber.get();
 
         // Set the timestamp of the result.
         // getLatestChange returns in microseconds, so we divide by 1e6 to convert to seconds.
-        ret.setTimestampSeconds((rawBytesEntry.getLastChange() / 1e6) - ret.getLatencyMillis() / 1e3);
+        ret.setTimestampSeconds(
+                (pipelineResultsSubscriber.getLastChange() / 1e6) - ret.getLatencyMillis() / 1e3);
 
         // Return result.
         return ret;
@@ -321,14 +312,14 @@ public boolean isConnected() {
     public Optional<Matrix<N3, N3>> getCameraMatrix() {
         var cameraMatrix = cameraIntrinsicsSubscriber.get();
         if (cameraMatrix != null && cameraMatrix.length == 9) {
-            return Optional.of(new MatBuilder<>(Nat.N3(), Nat.N3()).fill(cameraMatrix));
+            return Optional.of(MatBuilder.fill(Nat.N3(), Nat.N3(), cameraMatrix));
         } else return Optional.empty();
     }
 
     public Optional<Matrix<N5, N1>> getDistCoeffs() {
         var distCoeffs = cameraDistortionSubscriber.get();
         if (distCoeffs != null && distCoeffs.length == 5) {
-            return Optional.of(new MatBuilder<>(Nat.N5(), Nat.N1()).fill(distCoeffs));
+            return Optional.of(MatBuilder.fill(Nat.N5(), Nat.N1(), distCoeffs));
         } else return Optional.empty();
     }
 
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 b602b0194d..90dc3e1211 100644
--- a/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
+++ b/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
@@ -47,7 +47,6 @@
 import org.opencv.imgproc.Imgproc;
 import org.photonvision.PhotonCamera;
 import org.photonvision.PhotonTargetSortMode;
-import org.photonvision.common.dataflow.structures.Packet;
 import org.photonvision.common.networktables.NTTopicSet;
 import org.photonvision.estimation.CameraTargetRelation;
 import org.photonvision.estimation.OpenCVHelp;
@@ -562,11 +561,9 @@ public void submitProcessedFrame(PhotonPipelineResult result) {
      * @param receiveTimestamp The (sim) timestamp when this result was read by NT in microseconds
      */
     public void submitProcessedFrame(PhotonPipelineResult result, long receiveTimestamp) {
-        ts.latencyMillisEntry.set(result.getLatencyMillis(), receiveTimestamp);
+        ts.pipelineResultsPublisher.set(result, receiveTimestamp);
 
-        var newPacket = new Packet(result.getPacketSize());
-        result.populatePacket(newPacket);
-        ts.rawBytesEntry.set(newPacket.getData(), receiveTimestamp);
+        ts.latencyMillisEntry.set(result.getLatencyMillis(), receiveTimestamp);
 
         boolean hasTargets = result.hasTargets();
         ts.hasTargetEntry.set(hasTargets, receiveTimestamp);
diff --git a/photon-lib/src/main/java/org/photonvision/simulation/SimCameraProperties.java b/photon-lib/src/main/java/org/photonvision/simulation/SimCameraProperties.java
index 6d157fb252..1e2183fac8 100644
--- a/photon-lib/src/main/java/org/photonvision/simulation/SimCameraProperties.java
+++ b/photon-lib/src/main/java/org/photonvision/simulation/SimCameraProperties.java
@@ -25,6 +25,7 @@
 package org.photonvision.simulation;
 
 import com.fasterxml.jackson.databind.ObjectMapper;
+import edu.wpi.first.math.MatBuilder;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.Nat;
@@ -146,8 +147,8 @@ public SimCameraProperties(Path path, int width, int height) throws IOException
                 setCalibration(
                         jsonWidth,
                         jsonHeight,
-                        Matrix.mat(Nat.N3(), Nat.N3()).fill(jsonIntrinsics),
-                        Matrix.mat(Nat.N5(), Nat.N1()).fill(jsonDistortion));
+                        MatBuilder.fill(Nat.N3(), Nat.N3(), jsonIntrinsics),
+                        MatBuilder.fill(Nat.N5(), Nat.N1(), jsonDistortion));
                 setCalibError(jsonAvgError, jsonErrorStdDev);
                 success = true;
             }
@@ -184,7 +185,7 @@ public void setCalibration(int resWidth, int resHeight, Rotation2d fovDiag) {
         double fy = cy / Math.tan(fovHeight.getRadians() / 2.0);
 
         // create camera intrinsics matrix
-        var camIntrinsics = Matrix.mat(Nat.N3(), Nat.N3()).fill(fx, 0, cx, 0, fy, cy, 0, 0, 1);
+        var camIntrinsics = MatBuilder.fill(Nat.N3(), Nat.N3(), fx, 0, cx, 0, fy, cy, 0, 0, 1);
         setCalibration(resWidth, resHeight, camIntrinsics, distCoeff);
     }
 
@@ -597,17 +598,19 @@ public static SimCameraProperties PI4_LIFECAM_320_240() {
         prop.setCalibration(
                 320,
                 240,
-                Matrix.mat(Nat.N3(), Nat.N3())
-                        .fill( // intrinsic
-                                328.2733242048587,
-                                0.0,
-                                164.8190261141906,
-                                0.0,
-                                318.0609794305216,
-                                123.8633838438093,
-                                0.0,
-                                0.0,
-                                1.0),
+                MatBuilder.fill(
+                        Nat.N3(),
+                        Nat.N3(),
+                        // intrinsic
+                        328.2733242048587,
+                        0.0,
+                        164.8190261141906,
+                        0.0,
+                        318.0609794305216,
+                        123.8633838438093,
+                        0.0,
+                        0.0,
+                        1.0),
                 VecBuilder.fill( // distort
                         0.09957946553445934,
                         -0.9166265114485799,
@@ -626,17 +629,19 @@ public static SimCameraProperties PI4_LIFECAM_640_480() {
         prop.setCalibration(
                 640,
                 480,
-                Matrix.mat(Nat.N3(), Nat.N3())
-                        .fill( // intrinsic
-                                669.1428078983059,
-                                0.0,
-                                322.53377249329213,
-                                0.0,
-                                646.9843137061716,
-                                241.26567383784163,
-                                0.0,
-                                0.0,
-                                1.0),
+                MatBuilder.fill(
+                        Nat.N3(),
+                        Nat.N3(),
+                        // intrinsic
+                        669.1428078983059,
+                        0.0,
+                        322.53377249329213,
+                        0.0,
+                        646.9843137061716,
+                        241.26567383784163,
+                        0.0,
+                        0.0,
+                        1.0),
                 VecBuilder.fill( // distort
                         0.12788470750464645,
                         -1.2350335805796528,
@@ -655,17 +660,19 @@ public static SimCameraProperties LL2_640_480() {
         prop.setCalibration(
                 640,
                 480,
-                Matrix.mat(Nat.N3(), Nat.N3())
-                        .fill( // intrinsic
-                                511.22843367007755,
-                                0.0,
-                                323.62049380211096,
-                                0.0,
-                                514.5452336723849,
-                                261.8827920543568,
-                                0.0,
-                                0.0,
-                                1.0),
+                MatBuilder.fill(
+                        Nat.N3(),
+                        Nat.N3(),
+                        // intrinsic
+                        511.22843367007755,
+                        0.0,
+                        323.62049380211096,
+                        0.0,
+                        514.5452336723849,
+                        261.8827920543568,
+                        0.0,
+                        0.0,
+                        1.0),
                 VecBuilder.fill( // distort
                         0.1917469998873756,
                         -0.5142936883324216,
@@ -684,17 +691,19 @@ public static SimCameraProperties LL2_960_720() {
         prop.setCalibration(
                 960,
                 720,
-                Matrix.mat(Nat.N3(), Nat.N3())
-                        .fill( // intrinsic
-                                769.6873145148892,
-                                0.0,
-                                486.1096609458122,
-                                0.0,
-                                773.8164483705323,
-                                384.66071662358354,
-                                0.0,
-                                0.0,
-                                1.0),
+                MatBuilder.fill(
+                        Nat.N3(),
+                        Nat.N3(),
+                        // intrinsic
+                        769.6873145148892,
+                        0.0,
+                        486.1096609458122,
+                        0.0,
+                        773.8164483705323,
+                        384.66071662358354,
+                        0.0,
+                        0.0,
+                        1.0),
                 VecBuilder.fill( // distort
                         0.189462064814501,
                         -0.49903003669627627,
@@ -713,17 +722,19 @@ public static SimCameraProperties LL2_1280_720() {
         prop.setCalibration(
                 1280,
                 720,
-                Matrix.mat(Nat.N3(), Nat.N3())
-                        .fill( // intrinsic
-                                1011.3749416937393,
-                                0.0,
-                                645.4955139388737,
-                                0.0,
-                                1008.5391755084075,
-                                508.32877656020196,
-                                0.0,
-                                0.0,
-                                1.0),
+                MatBuilder.fill(
+                        Nat.N3(),
+                        Nat.N3(),
+                        // intrinsic
+                        1011.3749416937393,
+                        0.0,
+                        645.4955139388737,
+                        0.0,
+                        1008.5391755084075,
+                        508.32877656020196,
+                        0.0,
+                        0.0,
+                        1.0),
                 VecBuilder.fill( // distort
                         0.13730101577061535,
                         -0.2904345656989261,
diff --git a/photon-lib/src/main/java/org/photonvision/simulation/SimPhotonCamera.java b/photon-lib/src/main/java/org/photonvision/simulation/SimPhotonCamera.java
index 5eb73b35eb..fc5d155de4 100644
--- a/photon-lib/src/main/java/org/photonvision/simulation/SimPhotonCamera.java
+++ b/photon-lib/src/main/java/org/photonvision/simulation/SimPhotonCamera.java
@@ -33,7 +33,6 @@
 import java.util.List;
 import org.photonvision.PhotonCamera;
 import org.photonvision.PhotonTargetSortMode;
-import org.photonvision.common.dataflow.structures.Packet;
 import org.photonvision.common.networktables.NTTopicSet;
 import org.photonvision.targeting.MultiTargetPNPResult;
 import org.photonvision.targeting.PhotonPipelineResult;
@@ -143,9 +142,7 @@ public void submitProcessedFrame(
 
         PhotonPipelineResult newResult =
                 new PhotonPipelineResult(latencyMillis, targetList, new MultiTargetPNPResult());
-        var newPacket = new Packet(newResult.getPacketSize());
-        newResult.populatePacket(newPacket);
-        ts.rawBytesEntry.set(newPacket.getData());
+        ts.pipelineResultsPublisher.set(newResult);
 
         boolean hasTargets = newResult.hasTargets();
         ts.hasTargetEntry.set(hasTargets);
diff --git a/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp b/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp
index 95eecb444c..981165c055 100644
--- a/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp
+++ b/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp
@@ -29,7 +29,6 @@
 #include <opencv2/core/mat.hpp>
 
 #include "PhotonVersion.h"
-#include "photon/dataflow/structures/Packet.h"
 
 namespace photon {
 
@@ -40,9 +39,10 @@ PhotonCamera::PhotonCamera(nt::NetworkTableInstance instance,
                            const std::string_view cameraName)
     : mainTable(instance.GetTable("photonvision")),
       rootTable(mainTable->GetSubTable(cameraName)),
-      rawBytesEntry(
-          rootTable->GetRawTopic("rawBytes")
-              .Subscribe("rawBytes", {}, {.periodic = 0.01, .sendAll = true})),
+      pipelineResultsSubscriber(
+          rootTable->GetProtobufTopic<PhotonPipelineResult>("result_proto")
+              .Subscribe(PhotonPipelineResult(),
+                         {.periodic = 0.01, .sendAll = true})),
       inputSaveImgEntry(
           rootTable->GetIntegerTopic("inputSaveImgCmd").Publish()),
       inputSaveImgSubscriber(
@@ -81,22 +81,12 @@ PhotonPipelineResult PhotonCamera::GetLatestResult() {
   // Prints warning if not connected
   VerifyVersion();
 
-  // Clear the current packet.
-  packet.Clear();
-
   // Create the new result;
-  PhotonPipelineResult result;
-
-  // Fill the packet with latest data and populate result.
-  const auto value = rawBytesEntry.Get();
-  if (!value.size()) return result;
-
-  photon::Packet packet{value};
-
-  packet >> result;
+  PhotonPipelineResult result = pipelineResultsSubscriber.Get();
 
-  result.SetTimestamp(units::microsecond_t(rawBytesEntry.GetLastChange()) -
-                      result.GetLatency());
+  result.SetTimestamp(
+      units::microsecond_t(pipelineResultsSubscriber.GetLastChange()) -
+      result.GetLatency());
 
   return result;
 }
diff --git a/photon-lib/src/test/native/cpp/PhotonUtilsTest.cpp b/photon-lib/src/main/native/include/geometry3d.pb.h
similarity index 83%
rename from photon-lib/src/test/native/cpp/PhotonUtilsTest.cpp
rename to photon-lib/src/main/native/include/geometry3d.pb.h
index 95a14e259e..2bfe3ddb1d 100644
--- a/photon-lib/src/test/native/cpp/PhotonUtilsTest.cpp
+++ b/photon-lib/src/main/native/include/geometry3d.pb.h
@@ -22,7 +22,8 @@
  * SOFTWARE.
  */
 
-#include "gtest/gtest.h"
-#include "photon/PhotonUtils.h"
-
-TEST(PhotonUtilsTest, Include) {}
+#pragma once
+// So wpilib publishes protbufs here at wpimath/protobuf. but generated code
+// assumes that the protobuf includes are on your include path. So we need this
+// stupid shim
+#include "wpimath/protobuf/geometry3d.pb.h"
diff --git a/photon-lib/src/main/native/include/photon/PhotonCamera.h b/photon-lib/src/main/native/include/photon/PhotonCamera.h
index 2a1418f1b5..12adb6ad54 100644
--- a/photon-lib/src/main/native/include/photon/PhotonCamera.h
+++ b/photon-lib/src/main/native/include/photon/PhotonCamera.h
@@ -34,12 +34,11 @@
 #include <networktables/MultiSubscriber.h>
 #include <networktables/NetworkTable.h>
 #include <networktables/NetworkTableInstance.h>
-#include <networktables/RawTopic.h>
+#include <networktables/ProtobufTopic.h>
 #include <networktables/StringTopic.h>
 #include <units/time.h>
 #include <wpi/deprecated.h>
 
-#include "photon/dataflow/structures/Packet.h"
 #include "photon/targeting/MultiTargetPNPResult.h"
 #include "photon/targeting/PNPResult.h"
 #include "photon/targeting/PhotonPipelineResult.h"
@@ -179,7 +178,7 @@ class PhotonCamera {
  protected:
   std::shared_ptr<nt::NetworkTable> mainTable;
   std::shared_ptr<nt::NetworkTable> rootTable;
-  nt::RawSubscriber rawBytesEntry;
+  nt::ProtobufSubscriber<PhotonPipelineResult> pipelineResultsSubscriber;
   nt::IntegerPublisher inputSaveImgEntry;
   nt::IntegerSubscriber inputSaveImgSubscriber;
   nt::IntegerPublisher outputSaveImgEntry;
@@ -202,8 +201,6 @@ class PhotonCamera {
   std::string path;
   std::string m_cameraName;
 
-  mutable Packet packet;
-
  private:
   units::second_t lastVersionCheckTime = 0_s;
   inline static bool VERSION_CHECK_ENABLED = true;
diff --git a/photon-lib/src/main/native/include/photon/PhotonPoseEstimator.h b/photon-lib/src/main/native/include/photon/PhotonPoseEstimator.h
index cdb60f6cee..b2d495be80 100644
--- a/photon-lib/src/main/native/include/photon/PhotonPoseEstimator.h
+++ b/photon-lib/src/main/native/include/photon/PhotonPoseEstimator.h
@@ -31,7 +31,6 @@
 #include <frc/geometry/Transform3d.h>
 
 #include "photon/PhotonCamera.h"
-#include "photon/dataflow/structures/Packet.h"
 #include "photon/targeting/MultiTargetPNPResult.h"
 #include "photon/targeting/PNPResult.h"
 #include "photon/targeting/PhotonPipelineResult.h"
diff --git a/photon-lib/src/main/native/include/photon/PhotonTargetSortMode.h b/photon-lib/src/main/native/include/photon/PhotonTargetSortMode.h
index c8ad53c39f..bbe70d960b 100644
--- a/photon-lib/src/main/native/include/photon/PhotonTargetSortMode.h
+++ b/photon-lib/src/main/native/include/photon/PhotonTargetSortMode.h
@@ -26,7 +26,6 @@
 
 #include <cmath>
 
-#include "photon/dataflow/structures/Packet.h"
 #include "photon/targeting/MultiTargetPNPResult.h"
 #include "photon/targeting/PNPResult.h"
 #include "photon/targeting/PhotonPipelineResult.h"
diff --git a/photon-lib/src/main/native/include/photon/PhotonUtils.h b/photon-lib/src/main/native/include/photon/PhotonUtils.h
index 14076a5cd3..de18ae8125 100644
--- a/photon-lib/src/main/native/include/photon/PhotonUtils.h
+++ b/photon-lib/src/main/native/include/photon/PhotonUtils.h
@@ -32,7 +32,6 @@
 #include <units/length.h>
 #include <units/math.h>
 
-#include "photon/dataflow/structures/Packet.h"
 #include "photon/targeting/MultiTargetPNPResult.h"
 #include "photon/targeting/PNPResult.h"
 #include "photon/targeting/PhotonPipelineResult.h"
diff --git a/photon-lib/src/main/native/include/photon/simulation/SimPhotonCamera.h b/photon-lib/src/main/native/include/photon/simulation/SimPhotonCamera.h
index 365efebd59..dbd3270dfa 100644
--- a/photon-lib/src/main/native/include/photon/simulation/SimPhotonCamera.h
+++ b/photon-lib/src/main/native/include/photon/simulation/SimPhotonCamera.h
@@ -34,7 +34,6 @@
 
 #include "photon/PhotonCamera.h"
 #include "photon/PhotonTargetSortMode.h"
-#include "photon/dataflow/structures/Packet.h"
 #include "photon/targeting/MultiTargetPNPResult.h"
 #include "photon/targeting/PNPResult.h"
 #include "photon/targeting/PhotonPipelineResult.h"
@@ -53,9 +52,10 @@ class SimPhotonCamera : public PhotonCamera {
     targetAreaEntry = rootTable->GetEntry("targetAreaEntry");
     targetSkewEntry = rootTable->GetEntry("targetSkewEntry");
     targetPoseEntry = rootTable->GetEntry("targetPoseEntry");
-    rawBytesPublisher = rootTable->GetRawTopic("rawBytes").Publish("rawBytes");
+    pipelineResultsPublisher =
+        rootTable->GetProtobufTopic<PhotonPipelineResult>("result_proto")
+            .Publish({.periodic = 0.01, .sendAll = true});
     versionEntry = instance.GetTable("photonvision")->GetEntry("version");
-    // versionEntry.SetString(PhotonVersion.versionString);
   }
 
   explicit SimPhotonCamera(const std::string& cameraName)
@@ -91,11 +91,8 @@ class SimPhotonCamera : public PhotonCamera {
     std::sort(targetList.begin(), targetList.end(),
               [&](auto lhs, auto rhs) { return sortMode(lhs, rhs); });
     PhotonPipelineResult newResult{latency, targetList};
-    Packet packet{};
-    packet << newResult;
 
-    rawBytesPublisher.Set(
-        std::span{packet.GetData().data(), packet.GetDataSize()});
+    pipelineResultsPublisher.Set(newResult);
 
     bool hasTargets = newResult.HasTargets();
     hasTargetEntry.SetBoolean(hasTargets);
@@ -132,6 +129,6 @@ class SimPhotonCamera : public PhotonCamera {
   nt::NetworkTableEntry targetSkewEntry;
   nt::NetworkTableEntry targetPoseEntry;
   nt::NetworkTableEntry versionEntry;
-  nt::RawPublisher rawBytesPublisher;
+  nt::ProtobufPublisher<PhotonPipelineResult> pipelineResultsPublisher;
 };
 }  // namespace photon
diff --git a/photon-lib/src/main/native/include/photon/simulation/SimVisionSystem.h b/photon-lib/src/main/native/include/photon/simulation/SimVisionSystem.h
index 759efb3adc..dd1b39f194 100644
--- a/photon-lib/src/main/native/include/photon/simulation/SimVisionSystem.h
+++ b/photon-lib/src/main/native/include/photon/simulation/SimVisionSystem.h
@@ -34,7 +34,6 @@
 
 #include "SimPhotonCamera.h"
 #include "SimVisionTarget.h"
-#include "photon/dataflow/structures/Packet.h"
 #include "photon/targeting/MultiTargetPNPResult.h"
 #include "photon/targeting/PNPResult.h"
 #include "photon/targeting/PhotonPipelineResult.h"
diff --git a/photon-lib/src/main/native/include/photon/simulation/SimVisionTarget.h b/photon-lib/src/main/native/include/photon/simulation/SimVisionTarget.h
index 33a9adfee4..5d1975cd1a 100644
--- a/photon-lib/src/main/native/include/photon/simulation/SimVisionTarget.h
+++ b/photon-lib/src/main/native/include/photon/simulation/SimVisionTarget.h
@@ -27,7 +27,6 @@
 #include <frc/geometry/Pose3d.h>
 #include <units/area.h>
 
-#include "photon/dataflow/structures/Packet.h"
 #include "photon/targeting/MultiTargetPNPResult.h"
 #include "photon/targeting/PNPResult.h"
 #include "photon/targeting/PhotonPipelineResult.h"
diff --git a/photon-lib/src/test/java/org/photonvision/PacketTest.java b/photon-lib/src/test/java/org/photonvision/PacketTest.java
deleted file mode 100644
index a2f98a27c2..0000000000
--- a/photon-lib/src/test/java/org/photonvision/PacketTest.java
+++ /dev/null
@@ -1,190 +0,0 @@
-/*
- * MIT License
- *
- * Copyright (c) PhotonVision
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
- * SOFTWARE.
- */
-
-package org.photonvision;
-
-import edu.wpi.first.math.geometry.*;
-import java.util.ArrayList;
-import java.util.List;
-import org.junit.jupiter.api.Assertions;
-import org.junit.jupiter.api.Test;
-import org.photonvision.common.dataflow.structures.Packet;
-import org.photonvision.targeting.MultiTargetPNPResult;
-import org.photonvision.targeting.PNPResult;
-import org.photonvision.targeting.PhotonPipelineResult;
-import org.photonvision.targeting.PhotonTrackedTarget;
-import org.photonvision.targeting.TargetCorner;
-
-class PacketTest {
-    @Test
-    void testSimpleTrackedTarget() {
-        var target =
-                new PhotonTrackedTarget(
-                        3.0,
-                        4.0,
-                        9.0,
-                        -5.0,
-                        -1,
-                        new Transform3d(new Translation3d(), new Rotation3d()),
-                        new Transform3d(new Translation3d(), new Rotation3d()),
-                        0.25,
-                        List.of(
-                                new TargetCorner(1, 2),
-                                new TargetCorner(3, 4),
-                                new TargetCorner(5, 6),
-                                new TargetCorner(7, 8)),
-                        List.of(
-                                new TargetCorner(1, 2),
-                                new TargetCorner(3, 4),
-                                new TargetCorner(5, 6),
-                                new TargetCorner(7, 8)));
-        var p = new Packet(PhotonTrackedTarget.PACK_SIZE_BYTES);
-        target.populatePacket(p);
-
-        var b = new PhotonTrackedTarget();
-        b.createFromPacket(p);
-
-        Assertions.assertEquals(target, b);
-    }
-
-    @Test
-    void testSimplePipelineResult() {
-        var result = new PhotonPipelineResult(1, new ArrayList<>());
-        var p = new Packet(result.getPacketSize());
-        result.populatePacket(p);
-
-        var b = new PhotonPipelineResult();
-        b.createFromPacket(p);
-
-        Assertions.assertEquals(result, b);
-
-        var result2 =
-                new PhotonPipelineResult(
-                        2,
-                        List.of(
-                                new PhotonTrackedTarget(
-                                        3.0,
-                                        -4.0,
-                                        9.0,
-                                        4.0,
-                                        2,
-                                        new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
-                                        new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
-                                        0.25,
-                                        List.of(
-                                                new TargetCorner(1, 2),
-                                                new TargetCorner(3, 4),
-                                                new TargetCorner(5, 6),
-                                                new TargetCorner(7, 8)),
-                                        List.of(
-                                                new TargetCorner(1, 2),
-                                                new TargetCorner(3, 4),
-                                                new TargetCorner(5, 6),
-                                                new TargetCorner(7, 8))),
-                                new PhotonTrackedTarget(
-                                        3.0,
-                                        -4.0,
-                                        9.1,
-                                        6.7,
-                                        3,
-                                        new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
-                                        new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
-                                        0.25,
-                                        List.of(
-                                                new TargetCorner(1, 2),
-                                                new TargetCorner(3, 4),
-                                                new TargetCorner(5, 6),
-                                                new TargetCorner(7, 8)),
-                                        List.of(
-                                                new TargetCorner(1, 2),
-                                                new TargetCorner(3, 4),
-                                                new TargetCorner(5, 6),
-                                                new TargetCorner(7, 8)))));
-        var p2 = new Packet(result2.getPacketSize());
-        result2.populatePacket(p2);
-
-        var b2 = new PhotonPipelineResult();
-        b2.createFromPacket(p2);
-
-        Assertions.assertEquals(result2, b2);
-    }
-
-    @Test
-    public void testMultiTargetSerde() {
-        var result =
-                new PhotonPipelineResult(
-                        2,
-                        List.of(
-                                new PhotonTrackedTarget(
-                                        3.0,
-                                        -4.0,
-                                        9.0,
-                                        4.0,
-                                        2,
-                                        new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
-                                        new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
-                                        0.25,
-                                        List.of(
-                                                new TargetCorner(1, 2),
-                                                new TargetCorner(3, 4),
-                                                new TargetCorner(5, 6),
-                                                new TargetCorner(7, 8)),
-                                        List.of(
-                                                new TargetCorner(1, 2),
-                                                new TargetCorner(3, 4),
-                                                new TargetCorner(5, 6),
-                                                new TargetCorner(7, 8))),
-                                new PhotonTrackedTarget(
-                                        3.0,
-                                        -4.0,
-                                        9.1,
-                                        6.7,
-                                        3,
-                                        new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
-                                        new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
-                                        0.25,
-                                        List.of(
-                                                new TargetCorner(1, 2),
-                                                new TargetCorner(3, 4),
-                                                new TargetCorner(5, 6),
-                                                new TargetCorner(7, 8)),
-                                        List.of(
-                                                new TargetCorner(1, 2),
-                                                new TargetCorner(3, 4),
-                                                new TargetCorner(5, 6),
-                                                new TargetCorner(7, 8)))),
-                        new MultiTargetPNPResult(
-                                new PNPResult(
-                                        new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)), 0.1),
-                                List.of(1, 2, 3)));
-
-        Packet packet = new Packet(result.getPacketSize());
-        result.populatePacket(packet);
-
-        var result_deserialized = new PhotonPipelineResult();
-        result_deserialized.createFromPacket(packet);
-
-        Assertions.assertEquals(result, result_deserialized);
-    }
-}
diff --git a/photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java b/photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java
deleted file mode 100644
index 8a3fb5fad8..0000000000
--- a/photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java
+++ /dev/null
@@ -1,46 +0,0 @@
-/*
- * MIT License
- *
- * Copyright (c) PhotonVision
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
- * SOFTWARE.
- */
-
-package org.photonvision;
-
-import org.junit.jupiter.api.Assertions;
-import org.junit.jupiter.api.Test;
-import org.photonvision.common.dataflow.structures.Packet;
-import org.photonvision.targeting.PhotonPipelineResult;
-
-class PhotonCameraTest {
-    @Test
-    public void testEmpty() {
-        Assertions.assertDoesNotThrow(
-                () -> {
-                    var packet = new Packet(1);
-                    var ret = new PhotonPipelineResult();
-                    packet.setData(new byte[0]);
-                    if (packet.getSize() < 1) {
-                        return;
-                    }
-                    ret.createFromPacket(packet);
-                });
-    }
-}
diff --git a/photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp b/photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp
index aed60ff2fc..6c78f9c0fc 100644
--- a/photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp
+++ b/photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp
@@ -37,7 +37,6 @@
 #include "gtest/gtest.h"
 #include "photon/PhotonCamera.h"
 #include "photon/PhotonPoseEstimator.h"
-#include "photon/dataflow/structures/Packet.h"
 #include "photon/targeting/MultiTargetPNPResult.h"
 #include "photon/targeting/PNPResult.h"
 #include "photon/targeting/PhotonPipelineResult.h"
diff --git a/photon-targeting/build.gradle b/photon-targeting/build.gradle
index 4238e951e6..5eb2d058a8 100644
--- a/photon-targeting/build.gradle
+++ b/photon-targeting/build.gradle
@@ -1,4 +1,5 @@
 plugins {
+    id 'java'
     id 'edu.wpi.first.WpilibTools' version '1.3.0'
 }
 
diff --git a/photon-targeting/src/main/java/org/photonvision/common/dataflow/structures/Packet.java b/photon-targeting/src/main/java/org/photonvision/common/dataflow/structures/Packet.java
deleted file mode 100644
index e97e3f1658..0000000000
--- a/photon-targeting/src/main/java/org/photonvision/common/dataflow/structures/Packet.java
+++ /dev/null
@@ -1,216 +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.common.dataflow.structures;
-
-/** A packet that holds byte-packed data to be sent over NetworkTables. */
-public class Packet {
-    // Size of the packet.
-    int size;
-    // Data stored in the packet.
-    byte[] packetData;
-    // Read and write positions.
-    int readPos, writePos;
-
-    /**
-     * Constructs an empty packet.
-     *
-     * @param size The size of the packet buffer.
-     */
-    public Packet(int size) {
-        this.size = size;
-        packetData = new byte[size];
-    }
-
-    /**
-     * Constructs a packet with the given data.
-     *
-     * @param data The packet data.
-     */
-    public Packet(byte[] data) {
-        packetData = data;
-        size = packetData.length;
-    }
-
-    /** Clears the packet and resets the read and write positions. */
-    public void clear() {
-        packetData = new byte[size];
-        readPos = 0;
-        writePos = 0;
-    }
-
-    public int getSize() {
-        return size;
-    }
-
-    /**
-     * Returns the packet data.
-     *
-     * @return The packet data.
-     */
-    public byte[] getData() {
-        return packetData;
-    }
-
-    /**
-     * Sets the packet data.
-     *
-     * @param data The packet data.
-     */
-    public void setData(byte[] data) {
-        packetData = data;
-        size = data.length;
-    }
-
-    /**
-     * Encodes the byte into the packet.
-     *
-     * @param src The byte to encode.
-     */
-    public void encode(byte src) {
-        packetData[writePos++] = src;
-    }
-
-    /**
-     * Encodes the short into the packet.
-     *
-     * @param src The short to encode.
-     */
-    public void encode(short src) {
-        packetData[writePos++] = (byte) (src >>> 8);
-        packetData[writePos++] = (byte) src;
-    }
-
-    /**
-     * Encodes the integer into the packet.
-     *
-     * @param src The integer to encode.
-     */
-    public void encode(int src) {
-        packetData[writePos++] = (byte) (src >>> 24);
-        packetData[writePos++] = (byte) (src >>> 16);
-        packetData[writePos++] = (byte) (src >>> 8);
-        packetData[writePos++] = (byte) src;
-    }
-
-    /**
-     * Encodes the double into the packet.
-     *
-     * @param src The double to encode.
-     */
-    public void encode(double src) {
-        long data = Double.doubleToRawLongBits(src);
-        packetData[writePos++] = (byte) ((data >> 56) & 0xff);
-        packetData[writePos++] = (byte) ((data >> 48) & 0xff);
-        packetData[writePos++] = (byte) ((data >> 40) & 0xff);
-        packetData[writePos++] = (byte) ((data >> 32) & 0xff);
-        packetData[writePos++] = (byte) ((data >> 24) & 0xff);
-        packetData[writePos++] = (byte) ((data >> 16) & 0xff);
-        packetData[writePos++] = (byte) ((data >> 8) & 0xff);
-        packetData[writePos++] = (byte) (data & 0xff);
-    }
-
-    /**
-     * Encodes the boolean into the packet.
-     *
-     * @param src The boolean to encode.
-     */
-    public void encode(boolean src) {
-        packetData[writePos++] = src ? (byte) 1 : (byte) 0;
-    }
-
-    /**
-     * Returns a decoded byte from the packet.
-     *
-     * @return A decoded byte from the packet.
-     */
-    public byte decodeByte() {
-        if (packetData.length < readPos) {
-            return '\0';
-        }
-        return packetData[readPos++];
-    }
-
-    /**
-     * Returns a decoded int from the packet.
-     *
-     * @return A decoded int from the packet.
-     */
-    public int decodeInt() {
-        if (packetData.length < readPos + 3) {
-            return 0;
-        }
-        return (0xff & packetData[readPos++]) << 24
-                | (0xff & packetData[readPos++]) << 16
-                | (0xff & packetData[readPos++]) << 8
-                | (0xff & packetData[readPos++]);
-    }
-
-    /**
-     * Returns a decoded double from the packet.
-     *
-     * @return A decoded double from the packet.
-     */
-    public double decodeDouble() {
-        if (packetData.length < (readPos + 7)) {
-            return 0;
-        }
-        long data =
-                (long) (0xff & packetData[readPos++]) << 56
-                        | (long) (0xff & packetData[readPos++]) << 48
-                        | (long) (0xff & packetData[readPos++]) << 40
-                        | (long) (0xff & packetData[readPos++]) << 32
-                        | (long) (0xff & packetData[readPos++]) << 24
-                        | (long) (0xff & packetData[readPos++]) << 16
-                        | (long) (0xff & packetData[readPos++]) << 8
-                        | (long) (0xff & packetData[readPos++]);
-        return Double.longBitsToDouble(data);
-    }
-
-    /**
-     * Returns a decoded boolean from the packet.
-     *
-     * @return A decoded boolean from the packet.
-     */
-    public boolean decodeBoolean() {
-        if (packetData.length < readPos) {
-            return false;
-        }
-        return packetData[readPos++] == 1;
-    }
-
-    public void encode(double[] data) {
-        for (double d : data) {
-            encode(d);
-        }
-    }
-
-    public double[] decodeDoubleArray(int len) {
-        double[] ret = new double[len];
-        for (int i = 0; i < len; i++) {
-            ret[i] = decodeDouble();
-        }
-        return ret;
-    }
-
-    public short decodeShort() {
-        if (packetData.length < readPos + 1) {
-            return 0;
-        }
-        return (short) ((0xff & packetData[readPos++]) << 8 | (0xff & packetData[readPos++]));
-    }
-}
diff --git a/photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java b/photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java
index 5a0d31eaed..5e995f2c32 100644
--- a/photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java
+++ b/photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java
@@ -26,8 +26,9 @@
 import edu.wpi.first.networktables.IntegerSubscriber;
 import edu.wpi.first.networktables.IntegerTopic;
 import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.ProtobufPublisher;
 import edu.wpi.first.networktables.PubSubOption;
-import edu.wpi.first.networktables.RawPublisher;
+import org.photonvision.targeting.PhotonPipelineResult;
 
 /**
  * This class is a wrapper around all per-pipeline NT topics that PhotonVision should be publishing
@@ -39,7 +40,7 @@
  */
 public class NTTopicSet {
     public NetworkTable subTable;
-    public RawPublisher rawBytesEntry;
+    public ProtobufPublisher<PhotonPipelineResult> pipelineResultsPublisher;
 
     public IntegerPublisher pipelineIndexPublisher;
     public IntegerSubscriber pipelineIndexRequestSub;
@@ -69,10 +70,10 @@ public class NTTopicSet {
     public DoubleArrayPublisher cameraDistortionPublisher;
 
     public void updateEntries() {
-        rawBytesEntry =
+        pipelineResultsPublisher =
                 subTable
-                        .getRawTopic("rawBytes")
-                        .publish("rawBytes", PubSubOption.periodic(0.01), PubSubOption.sendAll(true));
+                        .getProtobufTopic("result_proto", PhotonPipelineResult.proto)
+                        .publish(PubSubOption.periodic(0.01), PubSubOption.sendAll(true));
 
         pipelineIndexPublisher = subTable.getIntegerTopic("pipelineIndexState").publish();
         pipelineIndexRequestSub = subTable.getIntegerTopic("pipelineIndexRequest").subscribe(0);
@@ -104,7 +105,7 @@ public void updateEntries() {
 
     @SuppressWarnings("DuplicatedCode")
     public void removeEntries() {
-        if (rawBytesEntry != null) rawBytesEntry.close();
+        if (pipelineResultsPublisher != null) pipelineResultsPublisher.close();
         if (pipelineIndexPublisher != null) pipelineIndexPublisher.close();
         if (pipelineIndexRequestSub != null) pipelineIndexRequestSub.close();
 
diff --git a/photon-targeting/src/main/java/org/photonvision/estimation/OpenCVHelp.java b/photon-targeting/src/main/java/org/photonvision/estimation/OpenCVHelp.java
index ed53a17b80..e2413a4d22 100644
--- a/photon-targeting/src/main/java/org/photonvision/estimation/OpenCVHelp.java
+++ b/photon-targeting/src/main/java/org/photonvision/estimation/OpenCVHelp.java
@@ -18,6 +18,7 @@
 package org.photonvision.estimation;
 
 import edu.wpi.first.cscore.CvSink;
+import edu.wpi.first.math.MatBuilder;
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.Nat;
 import edu.wpi.first.math.Num;
@@ -63,8 +64,8 @@ public static void forceLoadOpenCV() {
     }
 
     static {
-        NWU_TO_EDN = new Rotation3d(Matrix.mat(Nat.N3(), Nat.N3()).fill(0, -1, 0, 0, 0, -1, 1, 0, 0));
-        EDN_TO_NWU = new Rotation3d(Matrix.mat(Nat.N3(), Nat.N3()).fill(0, 0, 1, -1, 0, 0, 0, -1, 0));
+        NWU_TO_EDN = new Rotation3d(MatBuilder.fill(Nat.N3(), Nat.N3(), 0, -1, 0, 0, 0, -1, 1, 0, 0));
+        EDN_TO_NWU = new Rotation3d(MatBuilder.fill(Nat.N3(), Nat.N3(), 0, 0, 1, -1, 0, 0, 0, -1, 0));
     }
 
     public static Mat matrixToMat(SimpleMatrix matrix) {
diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/MultiTargetPNPResult.java b/photon-targeting/src/main/java/org/photonvision/targeting/MultiTargetPNPResult.java
index a3ddaaa6f0..144a514fd4 100644
--- a/photon-targeting/src/main/java/org/photonvision/targeting/MultiTargetPNPResult.java
+++ b/photon-targeting/src/main/java/org/photonvision/targeting/MultiTargetPNPResult.java
@@ -17,16 +17,15 @@
 
 package org.photonvision.targeting;
 
-import java.util.ArrayList;
+import edu.wpi.first.util.protobuf.Protobuf;
+import java.util.Arrays;
 import java.util.List;
-import org.photonvision.common.dataflow.structures.Packet;
+import java.util.stream.Collectors;
+import org.photonvision.proto.Photon.ProtobufMultiTargetPNPResult;
+import us.hebi.quickbuf.Descriptors.Descriptor;
+import us.hebi.quickbuf.RepeatedInt;
 
 public class MultiTargetPNPResult {
-    // Seeing 32 apriltags at once seems like a sane limit
-    private static final int MAX_IDS = 32;
-    // pnpresult + MAX_IDS possible targets (arbitrary upper limit that should never be hit, ideally)
-    public static final int PACK_SIZE_BYTES = PNPResult.PACK_SIZE_BYTES + (Short.BYTES * MAX_IDS);
-
     public PNPResult estimatedPose = new PNPResult();
     public List<Integer> fiducialIDsUsed = List.of();
 
@@ -37,27 +36,6 @@ public MultiTargetPNPResult(PNPResult results, List<Integer> ids) {
         fiducialIDsUsed = ids;
     }
 
-    public static MultiTargetPNPResult createFromPacket(Packet packet) {
-        var results = PNPResult.createFromPacket(packet);
-        var ids = new ArrayList<Integer>(MAX_IDS);
-        for (int i = 0; i < MAX_IDS; i++) {
-            int targetId = packet.decodeShort();
-            if (targetId > -1) ids.add(targetId);
-        }
-        return new MultiTargetPNPResult(results, ids);
-    }
-
-    public void populatePacket(Packet packet) {
-        estimatedPose.populatePacket(packet);
-        for (int i = 0; i < MAX_IDS; i++) {
-            if (i < fiducialIDsUsed.size()) {
-                packet.encode((short) fiducialIDsUsed.get(i).byteValue());
-            } else {
-                packet.encode((short) -1);
-            }
-        }
-    }
-
     @Override
     public int hashCode() {
         final int prime = 31;
@@ -90,4 +68,47 @@ public String toString() {
                 + fiducialIDsUsed
                 + "]";
     }
+
+    public static final class AProto
+            implements Protobuf<MultiTargetPNPResult, ProtobufMultiTargetPNPResult> {
+        @Override
+        public Class<MultiTargetPNPResult> getTypeClass() {
+            return MultiTargetPNPResult.class;
+        }
+
+        @Override
+        public Descriptor getDescriptor() {
+            return ProtobufMultiTargetPNPResult.getDescriptor();
+        }
+
+        @Override
+        public Protobuf<?, ?>[] getNested() {
+            return new Protobuf<?, ?>[] {PNPResult.proto};
+        }
+
+        @Override
+        public ProtobufMultiTargetPNPResult createMessage() {
+            return ProtobufMultiTargetPNPResult.newInstance();
+        }
+
+        @Override
+        public MultiTargetPNPResult unpack(ProtobufMultiTargetPNPResult msg) {
+            return new MultiTargetPNPResult(
+                    PNPResult.proto.unpack(msg.getEstimatedPose()),
+                    // TODO better way of doing this
+                    Arrays.stream(msg.getFiducialIdsUsed().array()).boxed().collect(Collectors.toList()));
+        }
+
+        @Override
+        public void pack(ProtobufMultiTargetPNPResult msg, MultiTargetPNPResult value) {
+            PNPResult.proto.pack(msg.getMutableEstimatedPose(), value.estimatedPose);
+
+            RepeatedInt idsUsed = msg.getMutableFiducialIdsUsed().reserve(value.fiducialIDsUsed.size());
+            for (int i = 0; i < value.fiducialIDsUsed.size(); i++) {
+                idsUsed.add(value.fiducialIDsUsed.get(i));
+            }
+        }
+    }
+
+    public static final AProto proto = new AProto();
 }
diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PNPResult.java b/photon-targeting/src/main/java/org/photonvision/targeting/PNPResult.java
index ab7aa5f46f..09be52941f 100644
--- a/photon-targeting/src/main/java/org/photonvision/targeting/PNPResult.java
+++ b/photon-targeting/src/main/java/org/photonvision/targeting/PNPResult.java
@@ -18,8 +18,9 @@
 package org.photonvision.targeting;
 
 import edu.wpi.first.math.geometry.Transform3d;
-import org.photonvision.common.dataflow.structures.Packet;
-import org.photonvision.utils.PacketUtils;
+import edu.wpi.first.util.protobuf.Protobuf;
+import org.photonvision.proto.Photon.ProtobufPNPResult;
+import us.hebi.quickbuf.Descriptors.Descriptor;
 
 /**
  * The best estimated transformation from solvePnP, and possibly an alternate transformation
@@ -86,31 +87,6 @@ public PNPResult(
         this.altReprojErr = altReprojErr;
     }
 
-    public static final int PACK_SIZE_BYTES = 1 + (Double.BYTES * 7 * 2) + (Double.BYTES * 3);
-
-    public static PNPResult createFromPacket(Packet packet) {
-        var present = packet.decodeBoolean();
-        var best = PacketUtils.decodeTransform(packet);
-        var alt = PacketUtils.decodeTransform(packet);
-        var bestEr = packet.decodeDouble();
-        var altEr = packet.decodeDouble();
-        var ambiguity = packet.decodeDouble();
-        if (present) {
-            return new PNPResult(best, alt, ambiguity, bestEr, altEr);
-        } else {
-            return new PNPResult();
-        }
-    }
-
-    public void populatePacket(Packet packet) {
-        packet.encode(isPresent);
-        PacketUtils.encodeTransform(packet, best);
-        PacketUtils.encodeTransform(packet, alt);
-        packet.encode(bestReprojErr);
-        packet.encode(altReprojErr);
-        packet.encode(ambiguity);
-    }
-
     @Override
     public int hashCode() {
         final int prime = 31;
@@ -166,4 +142,52 @@ public String toString() {
                 + ambiguity
                 + "]";
     }
+
+    public static final class AProto implements Protobuf<PNPResult, ProtobufPNPResult> {
+        @Override
+        public Class<PNPResult> getTypeClass() {
+            return PNPResult.class;
+        }
+
+        @Override
+        public Descriptor getDescriptor() {
+            return ProtobufPNPResult.getDescriptor();
+        }
+
+        @Override
+        public Protobuf<?, ?>[] getNested() {
+            return new Protobuf<?, ?>[] {Transform3d.proto};
+        }
+
+        @Override
+        public ProtobufPNPResult createMessage() {
+            return ProtobufPNPResult.newInstance();
+        }
+
+        @Override
+        public PNPResult unpack(ProtobufPNPResult msg) {
+            if (!msg.getIsPresent()) {
+                return new PNPResult();
+            }
+
+            return new PNPResult(
+                    Transform3d.proto.unpack(msg.getBest()),
+                    Transform3d.proto.unpack(msg.getAlt()),
+                    msg.getAmbiguity(),
+                    msg.getBestReprojErr(),
+                    msg.getAltReprojErr());
+        }
+
+        @Override
+        public void pack(ProtobufPNPResult msg, PNPResult value) {
+            Transform3d.proto.pack(msg.getMutableBest(), value.best);
+            Transform3d.proto.pack(msg.getMutableAlt(), value.alt);
+            msg.setAmbiguity(value.ambiguity)
+                    .setBestReprojErr(value.bestReprojErr)
+                    .setAltReprojErr(value.altReprojErr)
+                    .setIsPresent(value.isPresent);
+        }
+    }
+
+    public static final AProto proto = new AProto();
 }
diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java
index 9a8ce65db9..6759237a73 100644
--- a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java
+++ b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java
@@ -17,9 +17,11 @@
 
 package org.photonvision.targeting;
 
+import edu.wpi.first.util.protobuf.Protobuf;
 import java.util.ArrayList;
 import java.util.List;
-import org.photonvision.common.dataflow.structures.Packet;
+import org.photonvision.proto.Photon.ProtobufPhotonPipelineResult;
+import us.hebi.quickbuf.Descriptors.Descriptor;
 
 /** Represents a pipeline result from a PhotonCamera. */
 public class PhotonPipelineResult {
@@ -65,18 +67,6 @@ public PhotonPipelineResult(
         this.multiTagResult = result;
     }
 
-    /**
-     * Returns the size of the packet needed to store this pipeline result.
-     *
-     * @return The size of the packet needed to store this pipeline result.
-     */
-    public int getPacketSize() {
-        return targets.size() * PhotonTrackedTarget.PACK_SIZE_BYTES
-                + 8 // latency
-                + MultiTargetPNPResult.PACK_SIZE_BYTES
-                + 1; // target count
-    }
-
     /**
      * Returns the best target in this pipeline result. If there are no targets, this method will
      * return null. The best target is determined by the target sort mode in the PhotonVision UI.
@@ -150,49 +140,6 @@ public MultiTargetPNPResult getMultiTagResult() {
         return multiTagResult;
     }
 
-    /**
-     * Populates the fields of the pipeline result from the packet.
-     *
-     * @param packet The incoming packet.
-     * @return The incoming packet.
-     */
-    public Packet createFromPacket(Packet packet) {
-        // Decode latency, existence of targets, and number of targets.
-        latencyMillis = packet.decodeDouble();
-        this.multiTagResult = MultiTargetPNPResult.createFromPacket(packet);
-        byte targetCount = packet.decodeByte();
-
-        targets.clear();
-
-        // Decode the information of each target.
-        for (int i = 0; i < (int) targetCount; ++i) {
-            var target = new PhotonTrackedTarget();
-            target.createFromPacket(packet);
-            targets.add(target);
-        }
-
-        return packet;
-    }
-
-    /**
-     * Populates the outgoing packet with information from this pipeline result.
-     *
-     * @param packet The outgoing packet.
-     * @return The outgoing packet.
-     */
-    public Packet populatePacket(Packet packet) {
-        // Encode latency, existence of targets, and number of targets.
-        packet.encode(latencyMillis);
-        multiTagResult.populatePacket(packet);
-        packet.encode((byte) targets.size());
-
-        // Encode the information of each target.
-        for (var target : targets) target.populatePacket(packet);
-
-        // Return the packet.
-        return packet;
-    }
-
     @Override
     public int hashCode() {
         final int prime = 31;
@@ -236,4 +183,45 @@ public String toString() {
                 + multiTagResult
                 + "]";
     }
+
+    public static final class AProto
+            implements Protobuf<PhotonPipelineResult, ProtobufPhotonPipelineResult> {
+        @Override
+        public Class<PhotonPipelineResult> getTypeClass() {
+            return PhotonPipelineResult.class;
+        }
+
+        @Override
+        public Descriptor getDescriptor() {
+            return ProtobufPhotonPipelineResult.getDescriptor();
+        }
+
+        @Override
+        public Protobuf<?, ?>[] getNested() {
+            return new Protobuf<?, ?>[] {PhotonTrackedTarget.proto, MultiTargetPNPResult.proto};
+        }
+
+        @Override
+        public ProtobufPhotonPipelineResult createMessage() {
+            return ProtobufPhotonPipelineResult.newInstance();
+        }
+
+        @Override
+        public PhotonPipelineResult unpack(ProtobufPhotonPipelineResult msg) {
+            return new PhotonPipelineResult(
+                    msg.getLatencyMs(),
+                    PhotonTrackedTarget.proto.unpack(msg.getTargets()),
+                    MultiTargetPNPResult.proto.unpack(msg.getMultiTargetResult()));
+        }
+
+        @Override
+        public void pack(ProtobufPhotonPipelineResult msg, PhotonPipelineResult value) {
+            PhotonTrackedTarget.proto.pack(msg.getMutableTargets(), value.targets);
+            MultiTargetPNPResult.proto.pack(msg.getMutableMultiTargetResult(), value.multiTagResult);
+
+            msg.setLatencyMs(value.getLatencyMillis());
+        }
+    }
+
+    public static final AProto proto = new AProto();
 }
diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java
index 392a429006..631ded96c3 100644
--- a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java
+++ b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java
@@ -18,32 +18,29 @@
 package org.photonvision.targeting;
 
 import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.util.protobuf.Protobuf;
 import java.util.ArrayList;
 import java.util.List;
-import org.photonvision.common.dataflow.structures.Packet;
-import org.photonvision.utils.PacketUtils;
+import org.photonvision.proto.Photon.ProtobufPhotonTrackedTarget;
+import us.hebi.quickbuf.Descriptors.Descriptor;
+import us.hebi.quickbuf.RepeatedMessage;
 
 public class PhotonTrackedTarget {
     private static final int MAX_CORNERS = 8;
-    public static final int PACK_SIZE_BYTES =
-            Double.BYTES * (5 + 7 + 2 * 4 + 1 + 7 + 2 * MAX_CORNERS);
-
-    private double yaw;
-    private double pitch;
-    private double area;
-    private double skew;
-    private int fiducialId;
-    private Transform3d bestCameraToTarget = new Transform3d();
-    private Transform3d altCameraToTarget = new Transform3d();
-    private double poseAmbiguity;
 
-    // Corners from the min-area rectangle bounding the target
-    private List<TargetCorner> minAreaRectCorners;
+    private final double yaw;
+    private final double pitch;
+    private final double area;
+    private final double skew;
+    private final int fiducialId;
+    private final Transform3d bestCameraToTarget;
+    private final Transform3d altCameraToTarget;
+    private final double poseAmbiguity;
 
+    // Corners from the min-area rectangle bounding the target
+    private final List<TargetCorner> minAreaRectCorners;
     // Corners from whatever corner detection method was used
-    private List<TargetCorner> detectedCorners;
-
-    public PhotonTrackedTarget() {}
+    private final List<TargetCorner> detectedCorners;
 
     /** Construct a tracked target, given exactly 4 corners */
     public PhotonTrackedTarget(
@@ -197,81 +194,6 @@ public boolean equals(Object obj) {
         return true;
     }
 
-    private static void encodeList(Packet packet, List<TargetCorner> list) {
-        packet.encode((byte) Math.min(list.size(), Byte.MAX_VALUE));
-        for (TargetCorner targetCorner : list) {
-            packet.encode(targetCorner.x);
-            packet.encode(targetCorner.y);
-        }
-    }
-
-    private static List<TargetCorner> decodeList(Packet p) {
-        byte len = p.decodeByte();
-        var ret = new ArrayList<TargetCorner>();
-        for (int i = 0; i < len; i++) {
-            double cx = p.decodeDouble();
-            double cy = p.decodeDouble();
-            ret.add(new TargetCorner(cx, cy));
-        }
-        return ret;
-    }
-
-    /**
-     * Populates the fields of this class with information from the incoming packet.
-     *
-     * @param packet The incoming packet.
-     * @return The incoming packet.
-     */
-    public Packet createFromPacket(Packet packet) {
-        this.yaw = packet.decodeDouble();
-        this.pitch = packet.decodeDouble();
-        this.area = packet.decodeDouble();
-        this.skew = packet.decodeDouble();
-        this.fiducialId = packet.decodeInt();
-
-        this.bestCameraToTarget = PacketUtils.decodeTransform(packet);
-        this.altCameraToTarget = PacketUtils.decodeTransform(packet);
-
-        this.poseAmbiguity = packet.decodeDouble();
-
-        this.minAreaRectCorners = new ArrayList<>(4);
-        for (int i = 0; i < 4; i++) {
-            double cx = packet.decodeDouble();
-            double cy = packet.decodeDouble();
-            minAreaRectCorners.add(new TargetCorner(cx, cy));
-        }
-
-        detectedCorners = decodeList(packet);
-
-        return packet;
-    }
-
-    /**
-     * Populates the outgoing packet with information from the current target.
-     *
-     * @param packet The outgoing packet.
-     * @return The outgoing packet.
-     */
-    public Packet populatePacket(Packet packet) {
-        packet.encode(yaw);
-        packet.encode(pitch);
-        packet.encode(area);
-        packet.encode(skew);
-        packet.encode(fiducialId);
-        PacketUtils.encodeTransform(packet, bestCameraToTarget);
-        PacketUtils.encodeTransform(packet, altCameraToTarget);
-        packet.encode(poseAmbiguity);
-
-        for (int i = 0; i < 4; i++) {
-            packet.encode(minAreaRectCorners.get(i).x);
-            packet.encode(minAreaRectCorners.get(i).y);
-        }
-
-        encodeList(packet, detectedCorners);
-
-        return packet;
-    }
-
     @Override
     public String toString() {
         return "PhotonTrackedTarget{"
@@ -291,4 +213,77 @@ public String toString() {
                 + minAreaRectCorners
                 + '}';
     }
+
+    public static final class AProto
+            implements Protobuf<PhotonTrackedTarget, ProtobufPhotonTrackedTarget> {
+        @Override
+        public Class<PhotonTrackedTarget> getTypeClass() {
+            return PhotonTrackedTarget.class;
+        }
+
+        @Override
+        public Descriptor getDescriptor() {
+            return ProtobufPhotonTrackedTarget.getDescriptor();
+        }
+
+        @Override
+        public Protobuf<?, ?>[] getNested() {
+            return new Protobuf<?, ?>[] {Transform3d.proto, TargetCorner.proto};
+        }
+
+        @Override
+        public ProtobufPhotonTrackedTarget createMessage() {
+            return ProtobufPhotonTrackedTarget.newInstance();
+        }
+
+        @Override
+        public PhotonTrackedTarget unpack(ProtobufPhotonTrackedTarget msg) {
+            return new PhotonTrackedTarget(
+                    msg.getYaw(),
+                    msg.getPitch(),
+                    msg.getArea(),
+                    msg.getSkew(),
+                    msg.getFiducialId(),
+                    Transform3d.proto.unpack(msg.getBestCameraToTarget()),
+                    Transform3d.proto.unpack(msg.getAltCameraToTarget()),
+                    msg.getPoseAmbiguity(),
+                    TargetCorner.proto.unpack(msg.getMinAreaRectCorners()),
+                    TargetCorner.proto.unpack(msg.getDetectedCorners()));
+        }
+
+        public List<PhotonTrackedTarget> unpack(RepeatedMessage<ProtobufPhotonTrackedTarget> msg) {
+            ArrayList<PhotonTrackedTarget> targets = new ArrayList<>(msg.length());
+            for (ProtobufPhotonTrackedTarget target : msg) {
+                targets.add(unpack(target));
+            }
+            return targets;
+        }
+
+        @Override
+        public void pack(ProtobufPhotonTrackedTarget msg, PhotonTrackedTarget value) {
+            msg.setYaw(value.getYaw())
+                    .setPitch(value.getPitch())
+                    .setSkew(value.getSkew())
+                    .setArea(value.getArea())
+                    .setFiducialId(value.getFiducialId())
+                    .setPoseAmbiguity(value.getPoseAmbiguity());
+
+            Transform3d.proto.pack(msg.getMutableBestCameraToTarget(), value.bestCameraToTarget);
+            Transform3d.proto.pack(msg.getMutableAltCameraToTarget(), value.altCameraToTarget);
+
+            TargetCorner.proto.pack(msg.getMutableMinAreaRectCorners(), value.getMinAreaRectCorners());
+            TargetCorner.proto.pack(msg.getMutableDetectedCorners(), value.getDetectedCorners());
+        }
+
+        public void pack(
+                RepeatedMessage<ProtobufPhotonTrackedTarget> msg, List<PhotonTrackedTarget> value) {
+            var targets = msg.reserve(value.size());
+            for (PhotonTrackedTarget trackedTarget : value) {
+                var target = targets.next();
+                pack(target, trackedTarget);
+            }
+        }
+    }
+
+    public static final AProto proto = new AProto();
 }
diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/TargetCorner.java b/photon-targeting/src/main/java/org/photonvision/targeting/TargetCorner.java
index 9808079a5d..ccfa41713a 100644
--- a/photon-targeting/src/main/java/org/photonvision/targeting/TargetCorner.java
+++ b/photon-targeting/src/main/java/org/photonvision/targeting/TargetCorner.java
@@ -17,7 +17,13 @@
 
 package org.photonvision.targeting;
 
+import edu.wpi.first.util.protobuf.Protobuf;
+import java.util.ArrayList;
+import java.util.List;
 import java.util.Objects;
+import org.photonvision.proto.Photon.ProtobufTargetCorner;
+import us.hebi.quickbuf.Descriptors.Descriptor;
+import us.hebi.quickbuf.RepeatedMessage;
 
 /**
  * Represents a point in an image at the corner of the minimum-area bounding rectangle, in pixels.
@@ -49,4 +55,49 @@ public int hashCode() {
     public String toString() {
         return "(" + x + "," + y + ')';
     }
+
+    public static final class AProto implements Protobuf<TargetCorner, ProtobufTargetCorner> {
+        @Override
+        public Class<TargetCorner> getTypeClass() {
+            return TargetCorner.class;
+        }
+
+        @Override
+        public Descriptor getDescriptor() {
+            return ProtobufTargetCorner.getDescriptor();
+        }
+
+        @Override
+        public ProtobufTargetCorner createMessage() {
+            return ProtobufTargetCorner.newInstance();
+        }
+
+        @Override
+        public TargetCorner unpack(ProtobufTargetCorner msg) {
+            return new TargetCorner(msg.getX(), msg.getY());
+        }
+
+        public List<TargetCorner> unpack(RepeatedMessage<ProtobufTargetCorner> msg) {
+            ArrayList<TargetCorner> corners = new ArrayList<>(msg.length());
+            for (ProtobufTargetCorner corner : msg) {
+                corners.add(unpack(corner));
+            }
+            return corners;
+        }
+
+        @Override
+        public void pack(ProtobufTargetCorner msg, TargetCorner value) {
+            msg.setX(value.x).setY(value.y);
+        }
+
+        public void pack(RepeatedMessage<ProtobufTargetCorner> msg, List<TargetCorner> value) {
+            var corners = msg.reserve(value.size());
+            for (TargetCorner targetCorner : value) {
+                var corner = corners.next();
+                pack(corner, targetCorner);
+            }
+        }
+    }
+
+    public static final AProto proto = new AProto();
 }
diff --git a/photon-targeting/src/main/java/org/photonvision/utils/PacketUtils.java b/photon-targeting/src/main/java/org/photonvision/utils/PacketUtils.java
deleted file mode 100644
index 43a0dd4cf6..0000000000
--- a/photon-targeting/src/main/java/org/photonvision/utils/PacketUtils.java
+++ /dev/null
@@ -1,49 +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.utils;
-
-import edu.wpi.first.math.geometry.Quaternion;
-import edu.wpi.first.math.geometry.Rotation3d;
-import edu.wpi.first.math.geometry.Transform3d;
-import edu.wpi.first.math.geometry.Translation3d;
-import org.photonvision.common.dataflow.structures.Packet;
-
-public class PacketUtils {
-    public static Transform3d decodeTransform(Packet packet) {
-        double x = packet.decodeDouble();
-        double y = packet.decodeDouble();
-        double z = packet.decodeDouble();
-        var translation = new Translation3d(x, y, z);
-        double w = packet.decodeDouble();
-        x = packet.decodeDouble();
-        y = packet.decodeDouble();
-        z = packet.decodeDouble();
-        var rotation = new Rotation3d(new Quaternion(w, x, y, z));
-        return new Transform3d(translation, rotation);
-    }
-
-    public static void encodeTransform(Packet packet, Transform3d transform) {
-        packet.encode(transform.getTranslation().getX());
-        packet.encode(transform.getTranslation().getY());
-        packet.encode(transform.getTranslation().getZ());
-        packet.encode(transform.getRotation().getQuaternion().getW());
-        packet.encode(transform.getRotation().getQuaternion().getX());
-        packet.encode(transform.getRotation().getQuaternion().getY());
-        packet.encode(transform.getRotation().getQuaternion().getZ());
-    }
-}
diff --git a/photon-targeting/src/main/native/cpp/photon/targeting/MultiTargetPNPResult.cpp b/photon-targeting/src/main/native/cpp/photon/targeting/MultiTargetPNPResult.cpp
index 3cfdbfe510..dee7cc2b9d 100644
--- a/photon-targeting/src/main/native/cpp/photon/targeting/MultiTargetPNPResult.cpp
+++ b/photon-targeting/src/main/native/cpp/photon/targeting/MultiTargetPNPResult.cpp
@@ -17,40 +17,46 @@
 
 #include "photon/targeting/MultiTargetPNPResult.h"
 
+#include "photon.pb.h"
+
 namespace photon {
 
 bool MultiTargetPNPResult::operator==(const MultiTargetPNPResult& other) const {
   return other.result == result && other.fiducialIdsUsed == fiducialIdsUsed;
 }
+}  // namespace photon
+
+google::protobuf::Message* wpi::Protobuf<photon::MultiTargetPNPResult>::New(
+    google::protobuf::Arena* arena) {
+  return google::protobuf::Arena::CreateMessage<
+      photonvision::proto::ProtobufMultiTargetPNPResult>(arena);
+}
 
-Packet& operator<<(Packet& packet, const MultiTargetPNPResult& result) {
-  packet << result.result;
+photon::MultiTargetPNPResult
+wpi::Protobuf<photon::MultiTargetPNPResult>::Unpack(
+    const google::protobuf::Message& msg) {
+  auto m =
+      static_cast<const photonvision::proto::ProtobufMultiTargetPNPResult*>(
+          &msg);
 
-  size_t i;
-  for (i = 0; i < result.fiducialIdsUsed.capacity(); i++) {
-    if (i < result.fiducialIdsUsed.size()) {
-      packet << static_cast<int16_t>(result.fiducialIdsUsed[i]);
-    } else {
-      packet << static_cast<int16_t>(-1);
-    }
+  wpi::SmallVector<int16_t, 32> fiducialIdsUsed;
+  for (int i = 0; i < m->fiducial_ids_used_size(); i++) {
+    fiducialIdsUsed.push_back(m->fiducial_ids_used(i));
   }
 
-  return packet;
+  return photon::MultiTargetPNPResult{
+      wpi::UnpackProtobuf<photon::PNPResult>(m->estimated_pose()),
+      fiducialIdsUsed};
 }
 
-Packet& operator>>(Packet& packet, MultiTargetPNPResult& result) {
-  packet >> result.result;
+void wpi::Protobuf<photon::MultiTargetPNPResult>::Pack(
+    google::protobuf::Message* msg, const photon::MultiTargetPNPResult& value) {
+  auto m = static_cast<photonvision::proto::ProtobufMultiTargetPNPResult*>(msg);
 
-  result.fiducialIdsUsed.clear();
-  for (size_t i = 0; i < result.fiducialIdsUsed.capacity(); i++) {
-    int16_t id = 0;
-    packet >> id;
+  wpi::PackProtobuf(m->mutable_estimated_pose(), value.result);
 
-    if (id > -1) {
-      result.fiducialIdsUsed.push_back(id);
-    }
+  m->clear_fiducial_ids_used();
+  for (const auto& t : value.fiducialIdsUsed) {
+    m->add_fiducial_ids_used(t);
   }
-
-  return packet;
 }
-}  // namespace photon
diff --git a/photon-targeting/src/main/native/cpp/photon/targeting/PNPResult.cpp b/photon-targeting/src/main/native/cpp/photon/targeting/PNPResult.cpp
index b43e43481d..96d3b3d23b 100644
--- a/photon-targeting/src/main/native/cpp/photon/targeting/PNPResult.cpp
+++ b/photon-targeting/src/main/native/cpp/photon/targeting/PNPResult.cpp
@@ -17,61 +17,44 @@
 
 #include "photon/targeting/PNPResult.h"
 
+#include "photon.pb.h"
+
 namespace photon {
 bool PNPResult::operator==(const PNPResult& other) const {
   return other.isPresent == isPresent && other.best == best &&
          other.bestReprojErr == bestReprojErr && other.alt == alt &&
          other.altReprojErr == altReprojErr && other.ambiguity == ambiguity;
 }
+}  // namespace photon
 
-// Encode a transform3d
-Packet& operator<<(Packet& packet, const frc::Transform3d& transform) {
-  packet << transform.Translation().X().value()
-         << transform.Translation().Y().value()
-         << transform.Translation().Z().value()
-         << transform.Rotation().GetQuaternion().W()
-         << transform.Rotation().GetQuaternion().X()
-         << transform.Rotation().GetQuaternion().Y()
-         << transform.Rotation().GetQuaternion().Z();
-
-  return packet;
+google::protobuf::Message* wpi::Protobuf<photon::PNPResult>::New(
+    google::protobuf::Arena* arena) {
+  return google::protobuf::Arena::CreateMessage<
+      photonvision::proto::ProtobufPNPResult>(arena);
 }
 
-// Decode a transform3d
-Packet& operator>>(Packet& packet, frc::Transform3d& transform) {
-  frc::Transform3d ret;
-
-  // We use these for best and alt transforms below
-  double x = 0;
-  double y = 0;
-  double z = 0;
-  double w = 0;
-
-  // decode and unitify translation
-  packet >> x >> y >> z;
-  const auto translation = frc::Translation3d(
-      units::meter_t(x), units::meter_t(y), units::meter_t(z));
+photon::PNPResult wpi::Protobuf<photon::PNPResult>::Unpack(
+    const google::protobuf::Message& msg) {
+  auto m = static_cast<const photonvision::proto::ProtobufPNPResult*>(&msg);
 
-  // decode and add units to rotation
-  packet >> w >> x >> y >> z;
-  const auto rotation = frc::Rotation3d(frc::Quaternion(w, x, y, z));
+  if (!m->is_present()) {
+    return photon::PNPResult();
+  }
 
-  transform = frc::Transform3d(translation, rotation);
-
-  return packet;
+  return photon::PNPResult{wpi::UnpackProtobuf<frc::Transform3d>(m->best()),
+                           m->best_reproj_err(),
+                           wpi::UnpackProtobuf<frc::Transform3d>(m->alt()),
+                           m->alt_reproj_err(), m->ambiguity()};
 }
 
-Packet& operator<<(Packet& packet, PNPResult const& result) {
-  packet << result.isPresent << result.best << result.alt
-         << result.bestReprojErr << result.altReprojErr << result.ambiguity;
+void wpi::Protobuf<photon::PNPResult>::Pack(google::protobuf::Message* msg,
+                                            const photon::PNPResult& value) {
+  auto m = static_cast<photonvision::proto::ProtobufPNPResult*>(msg);
 
-  return packet;
+  m->set_is_present(value.isPresent);
+  wpi::PackProtobuf(m->mutable_best(), value.best);
+  m->set_best_reproj_err(value.bestReprojErr);
+  wpi::PackProtobuf(m->mutable_alt(), value.alt);
+  m->set_alt_reproj_err(value.altReprojErr);
+  m->set_ambiguity(value.ambiguity);
 }
-
-Packet& operator>>(Packet& packet, PNPResult& result) {
-  packet >> result.isPresent >> result.best >> result.alt >>
-      result.bestReprojErr >> result.altReprojErr >> result.ambiguity;
-
-  return packet;
-}
-}  // namespace photon
diff --git a/photon-targeting/src/main/native/cpp/photon/targeting/PhotonPipelineResult.cpp b/photon-targeting/src/main/native/cpp/photon/targeting/PhotonPipelineResult.cpp
index c901ad65b4..64378dd3e7 100644
--- a/photon-targeting/src/main/native/cpp/photon/targeting/PhotonPipelineResult.cpp
+++ b/photon-targeting/src/main/native/cpp/photon/targeting/PhotonPipelineResult.cpp
@@ -17,51 +17,50 @@
 
 #include "photon/targeting/PhotonPipelineResult.h"
 
-namespace photon {
-PhotonPipelineResult::PhotonPipelineResult(
-    units::second_t latency, std::span<const PhotonTrackedTarget> targets)
-    : latency(latency),
-      targets(targets.data(), targets.data() + targets.size()) {}
-
-PhotonPipelineResult::PhotonPipelineResult(
-    units::second_t latency, std::span<const PhotonTrackedTarget> targets,
-    MultiTargetPNPResult multitagResult)
-    : latency(latency),
-      targets(targets.data(), targets.data() + targets.size()),
-      multitagResult(multitagResult) {}
+#include "photon.pb.h"
 
+namespace photon {
 bool PhotonPipelineResult::operator==(const PhotonPipelineResult& other) const {
   return latency == other.latency && targets == other.targets &&
          multitagResult == other.multitagResult;
 }
+}  // namespace photon
 
-Packet& operator<<(Packet& packet, const PhotonPipelineResult& result) {
-  // Encode latency and number of targets.
-  packet << result.latency.value() * 1000 << result.multitagResult
-         << static_cast<int8_t>(result.targets.size());
+google::protobuf::Message* wpi::Protobuf<photon::PhotonPipelineResult>::New(
+    google::protobuf::Arena* arena) {
+  return google::protobuf::Arena::CreateMessage<
+      photonvision::proto::ProtobufPhotonPipelineResult>(arena);
+}
 
-  // Encode the information of each target.
-  for (auto& target : result.targets) packet << target;
+photon::PhotonPipelineResult
+wpi::Protobuf<photon::PhotonPipelineResult>::Unpack(
+    const google::protobuf::Message& msg) {
+  auto m =
+      static_cast<const photonvision::proto::ProtobufPhotonPipelineResult*>(
+          &msg);
 
-  // Return the packet
-  return packet;
+  std::vector<photon::PhotonTrackedTarget> targets;
+  targets.reserve(m->targets_size());
+  for (const auto& t : m->targets()) {
+    targets.emplace_back(wpi::UnpackProtobuf<photon::PhotonTrackedTarget>(t));
+  }
+
+  return photon::PhotonPipelineResult{
+      units::millisecond_t{m->latency_ms()}, targets,
+      wpi::UnpackProtobuf<photon::MultiTargetPNPResult>(
+          m->multi_target_result())};
 }
 
-Packet& operator>>(Packet& packet, PhotonPipelineResult& result) {
-  // Decode latency, existence of targets, and number of targets.
-  double latencyMillis = 0;
-  int8_t targetCount = 0;
-  packet >> latencyMillis >> result.multitagResult >> targetCount;
-  result.latency = units::second_t(latencyMillis / 1000.0);
+void wpi::Protobuf<photon::PhotonPipelineResult>::Pack(
+    google::protobuf::Message* msg, const photon::PhotonPipelineResult& value) {
+  auto m = static_cast<photonvision::proto::ProtobufPhotonPipelineResult*>(msg);
 
-  result.targets.clear();
+  m->set_latency_ms(value.latency.value());
 
-  // Decode the information of each target.
-  for (int i = 0; i < targetCount; ++i) {
-    PhotonTrackedTarget target;
-    packet >> target;
-    result.targets.push_back(target);
+  m->clear_targets();
+  for (const auto& t : value.GetTargets()) {
+    wpi::PackProtobuf(m->add_targets(), t);
   }
-  return packet;
+
+  wpi::PackProtobuf(m->mutable_multi_target_result(), value.multitagResult);
 }
-}  // namespace photon
diff --git a/photon-targeting/src/main/native/cpp/photon/targeting/PhotonTrackedTarget.cpp b/photon-targeting/src/main/native/cpp/photon/targeting/PhotonTrackedTarget.cpp
index 3252528efd..7b4909ca9c 100644
--- a/photon-targeting/src/main/native/cpp/photon/targeting/PhotonTrackedTarget.cpp
+++ b/photon-targeting/src/main/native/cpp/photon/targeting/PhotonTrackedTarget.cpp
@@ -23,113 +23,78 @@
 #include <frc/geometry/Translation2d.h>
 #include <wpi/SmallVector.h>
 
+#include "photon.pb.h"
+
 static constexpr const uint8_t MAX_CORNERS = 8;
 
 namespace photon {
-
-PhotonTrackedTarget::PhotonTrackedTarget(
-    double yaw, double pitch, double area, double skew, int id,
-    const frc::Transform3d& pose, const frc::Transform3d& alternatePose,
-    double ambiguity,
-    const wpi::SmallVector<std::pair<double, double>, 4> minAreaRectCorners,
-    const std::vector<std::pair<double, double>> detectedCorners)
-    : yaw(yaw),
-      pitch(pitch),
-      area(area),
-      skew(skew),
-      fiducialId(id),
-      bestCameraToTarget(pose),
-      altCameraToTarget(alternatePose),
-      poseAmbiguity(ambiguity),
-      minAreaRectCorners(minAreaRectCorners),
-      detectedCorners(detectedCorners) {}
-
 bool PhotonTrackedTarget::operator==(const PhotonTrackedTarget& other) const {
   return other.yaw == yaw && other.pitch == pitch && other.area == area &&
          other.skew == skew && other.bestCameraToTarget == bestCameraToTarget &&
          other.minAreaRectCorners == minAreaRectCorners;
 }
+}  // namespace photon
 
-Packet& operator<<(Packet& packet, const PhotonTrackedTarget& target) {
-  packet << target.yaw << target.pitch << target.area << target.skew
-         << target.fiducialId
-         << target.bestCameraToTarget.Translation().X().value()
-         << target.bestCameraToTarget.Translation().Y().value()
-         << target.bestCameraToTarget.Translation().Z().value()
-         << target.bestCameraToTarget.Rotation().GetQuaternion().W()
-         << target.bestCameraToTarget.Rotation().GetQuaternion().X()
-         << target.bestCameraToTarget.Rotation().GetQuaternion().Y()
-         << target.bestCameraToTarget.Rotation().GetQuaternion().Z()
-         << target.altCameraToTarget.Translation().X().value()
-         << target.altCameraToTarget.Translation().Y().value()
-         << target.altCameraToTarget.Translation().Z().value()
-         << target.altCameraToTarget.Rotation().GetQuaternion().W()
-         << target.altCameraToTarget.Rotation().GetQuaternion().X()
-         << target.altCameraToTarget.Rotation().GetQuaternion().Y()
-         << target.altCameraToTarget.Rotation().GetQuaternion().Z()
-         << target.poseAmbiguity;
+google::protobuf::Message* wpi::Protobuf<photon::PhotonTrackedTarget>::New(
+    google::protobuf::Arena* arena) {
+  return google::protobuf::Arena::CreateMessage<
+      photonvision::proto::ProtobufPhotonTrackedTarget>(arena);
+}
+
+photon::PhotonTrackedTarget wpi::Protobuf<photon::PhotonTrackedTarget>::Unpack(
+    const google::protobuf::Message& msg) {
+  auto m = static_cast<const photonvision::proto::ProtobufPhotonTrackedTarget*>(
+      &msg);
 
-  for (int i = 0; i < 4; i++) {
-    packet << target.minAreaRectCorners[i].first
-           << target.minAreaRectCorners[i].second;
+  wpi::SmallVector<std::pair<double, double>, 4> minAreaRectCorners;
+  for (const auto& t : m->min_area_rect_corners()) {
+    minAreaRectCorners.emplace_back(t.x(), t.y());
   }
 
-  uint8_t num_corners =
-      std::min<uint8_t>(target.detectedCorners.size(), MAX_CORNERS);
-  packet << num_corners;
-  for (size_t i = 0; i < target.detectedCorners.size(); i++) {
-    packet << target.detectedCorners[i].first
-           << target.detectedCorners[i].second;
+  std::vector<std::pair<double, double>> detectedCorners;
+  detectedCorners.reserve(m->detected_corners_size());
+  for (const auto& t : m->detected_corners()) {
+    detectedCorners.emplace_back(t.x(), t.y());
   }
 
-  return packet;
+  return photon::PhotonTrackedTarget{
+      m->yaw(),
+      m->pitch(),
+      m->area(),
+      m->skew(),
+      m->fiducial_id(),
+      wpi::UnpackProtobuf<frc::Transform3d>(m->best_camera_to_target()),
+      wpi::UnpackProtobuf<frc::Transform3d>(m->alt_camera_to_target()),
+      m->pose_ambiguity(),
+      minAreaRectCorners,
+      detectedCorners};
 }
 
-Packet& operator>>(Packet& packet, PhotonTrackedTarget& target) {
-  packet >> target.yaw >> target.pitch >> target.area >> target.skew >>
-      target.fiducialId;
-
-  // We use these for best and alt transforms below
-  double x = 0;
-  double y = 0;
-  double z = 0;
-  double w = 0;
-
-  // First transform is the "best" pose
-  packet >> x >> y >> z;
-  const auto bestTranslation = frc::Translation3d(
-      units::meter_t(x), units::meter_t(y), units::meter_t(z));
-  packet >> w >> x >> y >> z;
-  const auto bestRotation = frc::Rotation3d(frc::Quaternion(w, x, y, z));
-  target.bestCameraToTarget = frc::Transform3d(bestTranslation, bestRotation);
-
-  // Second transform is the "alternate" pose
-  packet >> x >> y >> z;
-  const auto altTranslation = frc::Translation3d(
-      units::meter_t(x), units::meter_t(y), units::meter_t(z));
-  packet >> w >> x >> y >> z;
-  const auto altRotation = frc::Rotation3d(frc::Quaternion(w, x, y, z));
-  target.altCameraToTarget = frc::Transform3d(altTranslation, altRotation);
-
-  packet >> target.poseAmbiguity;
-
-  target.minAreaRectCorners.clear();
-  double first = 0;
-  double second = 0;
-  for (int i = 0; i < 4; i++) {
-    packet >> first >> second;
-    target.minAreaRectCorners.emplace_back(first, second);
+void wpi::Protobuf<photon::PhotonTrackedTarget>::Pack(
+    google::protobuf::Message* msg, const photon::PhotonTrackedTarget& value) {
+  auto m = static_cast<photonvision::proto::ProtobufPhotonTrackedTarget*>(msg);
+
+  m->set_yaw(value.yaw);
+  m->set_pitch(value.pitch);
+  m->set_area(value.area);
+  m->set_skew(value.skew);
+  m->set_fiducial_id(value.fiducialId);
+  wpi::PackProtobuf(m->mutable_best_camera_to_target(),
+                    value.bestCameraToTarget);
+  wpi::PackProtobuf(m->mutable_alt_camera_to_target(), value.altCameraToTarget);
+  m->set_pose_ambiguity(value.poseAmbiguity);
+
+  m->clear_min_area_rect_corners();
+  for (const auto& t : value.GetMinAreaRectCorners()) {
+    auto* corner = m->add_min_area_rect_corners();
+    corner->set_x(t.first);
+    corner->set_y(t.second);
   }
 
-  uint8_t numCorners = 0;
-  packet >> numCorners;
-  target.detectedCorners.clear();
-  target.detectedCorners.reserve(numCorners);
-  for (size_t i = 0; i < numCorners; i++) {
-    packet >> first >> second;
-    target.detectedCorners.emplace_back(first, second);
+  m->clear_detected_corners();
+  for (const auto& t : value.GetDetectedCorners()) {
+    auto* corner = m->add_detected_corners();
+    corner->set_x(t.first);
+    corner->set_y(t.second);
   }
-
-  return packet;
 }
-}  // namespace photon
diff --git a/photon-targeting/src/main/native/include/geometry3d.pb.h b/photon-targeting/src/main/native/include/geometry3d.pb.h
new file mode 100644
index 0000000000..3cff26d7e0
--- /dev/null
+++ b/photon-targeting/src/main/native/include/geometry3d.pb.h
@@ -0,0 +1,22 @@
+/*
+ * 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/>.
+ */
+
+#pragma once
+// So wpilib publishes protbufs here at wpimath/protobuf. but generated code
+// assumes that the protobuf includes are on your include path. So we need this
+// stupid shim
+#include "wpimath/protobuf/geometry3d.pb.h"
diff --git a/photon-targeting/src/main/native/include/photon/dataflow/structures/Packet.h b/photon-targeting/src/main/native/include/photon/dataflow/structures/Packet.h
deleted file mode 100644
index c2b16c7821..0000000000
--- a/photon-targeting/src/main/native/include/photon/dataflow/structures/Packet.h
+++ /dev/null
@@ -1,122 +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/>.
- */
-
-#pragma once
-
-#include <algorithm>
-#include <string>
-#include <vector>
-
-#include <wpi/Endian.h>
-
-namespace photon {
-
-/**
- * A packet that holds byte-packed data to be sent over NetworkTables.
- */
-class Packet {
- public:
-  /**
-   * Constructs an empty packet.
-   */
-  Packet() = default;
-
-  /**
-   * Constructs a packet with the given data.
-   * @param data The packet data.
-   */
-  explicit Packet(std::vector<uint8_t> data) : packetData(data) {}
-
-  /**
-   * Clears the packet and resets the read and write positions.
-   */
-  void Clear() {
-    packetData.clear();
-    readPos = 0;
-    writePos = 0;
-  }
-
-  /**
-   * Returns the packet data.
-   * @return The packet data.
-   */
-  const std::vector<uint8_t>& GetData() { return packetData; }
-
-  /**
-   * Returns the number of bytes in the data.
-   * @return The number of bytes in the data.
-   */
-  size_t GetDataSize() const { return packetData.size(); }
-
-  /**
-   * Adds a value to the data buffer. This should only be used with PODs.
-   * @tparam T The data type.
-   * @param src The data source.
-   * @return A reference to the current object.
-   */
-  template <typename T>
-  Packet& operator<<(T src) {
-    packetData.resize(packetData.size() + sizeof(T));
-    std::memcpy(packetData.data() + writePos, &src, sizeof(T));
-
-    if constexpr (wpi::support::endian::system_endianness() ==
-                  wpi::support::endianness::little) {
-      // Reverse to big endian for network conventions.
-      std::reverse(packetData.data() + writePos,
-                   packetData.data() + writePos + sizeof(T));
-    }
-
-    writePos += sizeof(T);
-    return *this;
-  }
-
-  /**
-   * Extracts a value to the provided destination.
-   * @tparam T The type of value to extract.
-   * @param value The value to extract.
-   * @return A reference to the current object.
-   */
-  template <typename T>
-  Packet& operator>>(T& value) {
-    if (!packetData.empty()) {
-      std::memcpy(&value, packetData.data() + readPos, sizeof(T));
-
-      if constexpr (wpi::support::endian::system_endianness() ==
-                    wpi::support::endianness::little) {
-        // Reverse to little endian for host.
-        uint8_t& raw = reinterpret_cast<uint8_t&>(value);
-        std::reverse(&raw, &raw + sizeof(T));
-      }
-    }
-
-    readPos += sizeof(T);
-    return *this;
-  }
-
-  bool operator==(const Packet& right) const {
-    return packetData == right.packetData;
-  }
-  bool operator!=(const Packet& right) const { return !operator==(right); }
-
- private:
-  // Data stored in the packet
-  std::vector<uint8_t> packetData;
-
-  size_t readPos = 0;
-  size_t writePos = 0;
-};
-}  // namespace photon
diff --git a/photon-targeting/src/main/native/include/photon/targeting/MultiTargetPNPResult.h b/photon-targeting/src/main/native/include/photon/targeting/MultiTargetPNPResult.h
index 76a323e39a..cf5f58741a 100644
--- a/photon-targeting/src/main/native/include/photon/targeting/MultiTargetPNPResult.h
+++ b/photon-targeting/src/main/native/include/photon/targeting/MultiTargetPNPResult.h
@@ -19,9 +19,9 @@
 
 #include <frc/geometry/Transform3d.h>
 #include <wpi/SmallVector.h>
+#include <wpi/protobuf/Protobuf.h>
 
 #include "PNPResult.h"
-#include "photon/dataflow/structures/Packet.h"
 
 namespace photon {
 class MultiTargetPNPResult {
@@ -29,9 +29,21 @@ class MultiTargetPNPResult {
   PNPResult result;
   wpi::SmallVector<int16_t, 32> fiducialIdsUsed;
 
-  bool operator==(const MultiTargetPNPResult& other) const;
+  MultiTargetPNPResult() = default;
+
+  MultiTargetPNPResult(PNPResult result,
+                       wpi::SmallVector<int16_t, 32> fiducialIdsUsed)
+      : result(result), fiducialIdsUsed(fiducialIdsUsed) {}
 
-  friend Packet& operator<<(Packet& packet, const MultiTargetPNPResult& result);
-  friend Packet& operator>>(Packet& packet, MultiTargetPNPResult& result);
+  bool operator==(const MultiTargetPNPResult& other) const;
 };
 }  // namespace photon
+
+template <>
+struct wpi::Protobuf<photon::MultiTargetPNPResult> {
+  static google::protobuf::Message* New(google::protobuf::Arena* arena);
+  static photon::MultiTargetPNPResult Unpack(
+      const google::protobuf::Message& msg);
+  static void Pack(google::protobuf::Message* msg,
+                   const photon::MultiTargetPNPResult& value);
+};
diff --git a/photon-targeting/src/main/native/include/photon/targeting/PNPResult.h b/photon-targeting/src/main/native/include/photon/targeting/PNPResult.h
index e97f6c8d71..f200a3de04 100644
--- a/photon-targeting/src/main/native/include/photon/targeting/PNPResult.h
+++ b/photon-targeting/src/main/native/include/photon/targeting/PNPResult.h
@@ -18,8 +18,7 @@
 #pragma once
 
 #include <frc/geometry/Transform3d.h>
-
-#include "photon/dataflow/structures/Packet.h"
+#include <wpi/protobuf/Protobuf.h>
 
 namespace photon {
 
@@ -37,9 +36,34 @@ class PNPResult {
 
   double ambiguity;
 
-  bool operator==(const PNPResult& other) const;
+  // Apparently this can't be default-constructed? Things seem to have garbadge
+  // with the defaulted empty constructor anyhow
+  PNPResult()
+      : isPresent{false},
+        best{frc::Transform3d{}},
+        bestReprojErr{0},
+        alt{frc::Transform3d()},
+        altReprojErr{0},
+        ambiguity{0} {}
+
+  PNPResult(frc::Transform3d best, double bestReprojErr, frc::Transform3d alt,
+            double altReprojErr, double ambiguity)
+      : best(best),
+        bestReprojErr(bestReprojErr),
+        alt(alt),
+        altReprojErr(altReprojErr),
+        ambiguity(ambiguity) {
+    this->isPresent = true;
+  }
 
-  friend Packet& operator<<(Packet& packet, const PNPResult& target);
-  friend Packet& operator>>(Packet& packet, PNPResult& target);
+  bool operator==(const PNPResult& other) const;
 };
 }  // namespace photon
+
+template <>
+struct wpi::Protobuf<photon::PNPResult> {
+  static google::protobuf::Message* New(google::protobuf::Arena* arena);
+  static photon::PNPResult Unpack(const google::protobuf::Message& msg);
+  static void Pack(google::protobuf::Message* msg,
+                   const photon::PNPResult& value);
+};
diff --git a/photon-targeting/src/main/native/include/photon/targeting/PhotonPipelineResult.h b/photon-targeting/src/main/native/include/photon/targeting/PhotonPipelineResult.h
index 16aa6d5f6e..8c1abeb965 100644
--- a/photon-targeting/src/main/native/include/photon/targeting/PhotonPipelineResult.h
+++ b/photon-targeting/src/main/native/include/photon/targeting/PhotonPipelineResult.h
@@ -23,10 +23,10 @@
 #include <frc/Errors.h>
 #include <units/time.h>
 #include <wpi/SmallVector.h>
+#include <wpi/protobuf/Protobuf.h>
 
 #include "MultiTargetPNPResult.h"
 #include "PhotonTrackedTarget.h"
-#include "photon/dataflow/structures/Packet.h"
 
 namespace photon {
 /**
@@ -34,6 +34,12 @@ namespace photon {
  */
 class PhotonPipelineResult {
  public:
+  units::millisecond_t latency = 0_s;
+  units::second_t timestamp = -1_s;
+  wpi::SmallVector<PhotonTrackedTarget, 10> targets;
+  MultiTargetPNPResult multitagResult;
+  inline static bool HAS_WARNED = false;
+
   /**
    * Constructs an empty pipeline result
    */
@@ -44,8 +50,10 @@ class PhotonPipelineResult {
    * @param latency The latency in the pipeline.
    * @param targets The list of targets identified by the pipeline.
    */
-  PhotonPipelineResult(units::second_t latency,
-                       std::span<const PhotonTrackedTarget> targets);
+  PhotonPipelineResult(units::millisecond_t latency,
+                       std::span<const PhotonTrackedTarget> targets)
+      : latency(latency),
+        targets(targets.data(), targets.data() + targets.size()) {}
 
   /**
    * Constructs a pipeline result.
@@ -53,9 +61,12 @@ class PhotonPipelineResult {
    * @param targets The list of targets identified by the pipeline.
    * @param multitagResult The multitarget result
    */
-  PhotonPipelineResult(units::second_t latency,
+  PhotonPipelineResult(units::millisecond_t latency,
                        std::span<const PhotonTrackedTarget> targets,
-                       MultiTargetPNPResult multitagResult);
+                       MultiTargetPNPResult multitagResult)
+      : latency(latency),
+        targets(targets.data(), targets.data() + targets.size()),
+        multitagResult(multitagResult) {}
 
   /**
    * Returns the best target in this pipeline result. If there are no targets,
@@ -121,14 +132,14 @@ class PhotonPipelineResult {
   }
 
   bool operator==(const PhotonPipelineResult& other) const;
-
-  friend Packet& operator<<(Packet& packet, const PhotonPipelineResult& result);
-  friend Packet& operator>>(Packet& packet, PhotonPipelineResult& result);
-
-  units::second_t latency = 0_s;
-  units::second_t timestamp = -1_s;
-  wpi::SmallVector<PhotonTrackedTarget, 10> targets;
-  MultiTargetPNPResult multitagResult;
-  inline static bool HAS_WARNED = false;
 };
 }  // namespace photon
+
+template <>
+struct wpi::Protobuf<photon::PhotonPipelineResult> {
+  static google::protobuf::Message* New(google::protobuf::Arena* arena);
+  static photon::PhotonPipelineResult Unpack(
+      const google::protobuf::Message& msg);
+  static void Pack(google::protobuf::Message* msg,
+                   const photon::PhotonPipelineResult& value);
+};
diff --git a/photon-targeting/src/main/native/include/photon/targeting/PhotonTrackedTarget.h b/photon-targeting/src/main/native/include/photon/targeting/PhotonTrackedTarget.h
index feba565910..80ede3dc0c 100644
--- a/photon-targeting/src/main/native/include/photon/targeting/PhotonTrackedTarget.h
+++ b/photon-targeting/src/main/native/include/photon/targeting/PhotonTrackedTarget.h
@@ -24,8 +24,7 @@
 
 #include <frc/geometry/Transform3d.h>
 #include <wpi/SmallVector.h>
-
-#include "photon/dataflow/structures/Packet.h"
+#include <wpi/protobuf/Protobuf.h>
 
 namespace photon {
 /**
@@ -33,6 +32,17 @@ namespace photon {
  */
 class PhotonTrackedTarget {
  public:
+  double yaw = 0;
+  double pitch = 0;
+  double area = 0;
+  double skew = 0;
+  int fiducialId;
+  frc::Transform3d bestCameraToTarget;
+  frc::Transform3d altCameraToTarget;
+  double poseAmbiguity;
+  wpi::SmallVector<std::pair<double, double>, 4> minAreaRectCorners;
+  std::vector<std::pair<double, double>> detectedCorners;
+
   /**
    * Constructs an empty target.
    */
@@ -50,11 +60,21 @@ class PhotonTrackedTarget {
    * @param detectedCorners All detected corners
    */
   PhotonTrackedTarget(
-      double yaw, double pitch, double area, double skew, int fiducialID,
-      const frc::Transform3d& pose, const frc::Transform3d& alternatePose,
+      double yaw, double pitch, double area, double skew, int fiducialId,
+      const frc::Transform3d pose, const frc::Transform3d alternatePose,
       double ambiguity,
       const wpi::SmallVector<std::pair<double, double>, 4> minAreaRectCorners,
-      const std::vector<std::pair<double, double>> detectedCorners);
+      const std::vector<std::pair<double, double>> detectedCorners)
+      : yaw(yaw),
+        pitch(pitch),
+        area(area),
+        skew(skew),
+        fiducialId(fiducialId),
+        bestCameraToTarget(pose),
+        altCameraToTarget(alternatePose),
+        poseAmbiguity(ambiguity),
+        minAreaRectCorners(minAreaRectCorners),
+        detectedCorners(detectedCorners) {}
 
   /**
    * Returns the target yaw (positive-left).
@@ -138,19 +158,14 @@ class PhotonTrackedTarget {
   }
 
   bool operator==(const PhotonTrackedTarget& other) const;
-
-  friend Packet& operator<<(Packet& packet, const PhotonTrackedTarget& target);
-  friend Packet& operator>>(Packet& packet, PhotonTrackedTarget& target);
-
-  double yaw = 0;
-  double pitch = 0;
-  double area = 0;
-  double skew = 0;
-  int fiducialId;
-  frc::Transform3d bestCameraToTarget;
-  frc::Transform3d altCameraToTarget;
-  double poseAmbiguity;
-  wpi::SmallVector<std::pair<double, double>, 4> minAreaRectCorners;
-  std::vector<std::pair<double, double>> detectedCorners;
 };
 }  // namespace photon
+
+template <>
+struct wpi::Protobuf<photon::PhotonTrackedTarget> {
+  static google::protobuf::Message* New(google::protobuf::Arena* arena);
+  static photon::PhotonTrackedTarget Unpack(
+      const google::protobuf::Message& msg);
+  static void Pack(google::protobuf::Message* msg,
+                   const photon::PhotonTrackedTarget& value);
+};
diff --git a/photon-targeting/src/main/proto/photon.proto b/photon-targeting/src/main/proto/photon.proto
new file mode 100644
index 0000000000..d5b75802fc
--- /dev/null
+++ b/photon-targeting/src/main/proto/photon.proto
@@ -0,0 +1,63 @@
+/*
+ * 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/>.
+ */
+
+syntax = "proto3";
+
+package photonvision.proto;
+
+import "geometry3d.proto";
+
+option java_package = "org.photonvision.proto";
+
+message ProtobufTargetCorner {
+  double x = 1;
+  double y = 2;
+}
+
+message ProtobufPNPResult {
+  bool is_present = 1;
+  wpi.proto.ProtobufTransform3d best = 2;
+  double best_reproj_err = 3;
+  optional wpi.proto.ProtobufTransform3d alt = 4;
+  optional double alt_reproj_err = 5;
+  double ambiguity = 6;
+}
+
+message ProtobufMultiTargetPNPResult {
+  ProtobufPNPResult estimated_pose = 1;
+  repeated int32 fiducial_ids_used = 2;
+}
+
+message ProtobufPhotonTrackedTarget {
+  double yaw = 1;
+  double pitch = 2;
+  double area = 3;
+  double skew = 4;
+  int32 fiducial_id = 5;
+  wpi.proto.ProtobufTransform3d best_camera_to_target = 6;
+  wpi.proto.ProtobufTransform3d alt_camera_to_target = 7;
+  double pose_ambiguity = 8;
+  repeated ProtobufTargetCorner min_area_rect_corners = 9;
+  repeated ProtobufTargetCorner detected_corners = 10;
+}
+
+message ProtobufPhotonPipelineResult {
+  double latency_ms = 1;
+
+  repeated ProtobufPhotonTrackedTarget targets = 2;
+  ProtobufMultiTargetPNPResult multi_target_result = 3;
+}
diff --git a/photon-targeting/src/test/java/org/photonvision/targeting/MultiTargetPNPResultTest.java b/photon-targeting/src/test/java/org/photonvision/targeting/MultiTargetPNPResultTest.java
index 4e28237ac5..1d709c875d 100644
--- a/photon-targeting/src/test/java/org/photonvision/targeting/MultiTargetPNPResultTest.java
+++ b/photon-targeting/src/test/java/org/photonvision/targeting/MultiTargetPNPResultTest.java
@@ -27,6 +27,25 @@
 import org.junit.jupiter.api.Test;
 
 public class MultiTargetPNPResultTest {
+    @Test
+    public void protobufTest() {
+        var result = new MultiTargetPNPResult();
+        var serializedResult = MultiTargetPNPResult.proto.createMessage();
+        MultiTargetPNPResult.proto.pack(serializedResult, result);
+        var unpackedResult = MultiTargetPNPResult.proto.unpack(serializedResult);
+        assertEquals(result, unpackedResult);
+
+        result =
+                new MultiTargetPNPResult(
+                        new PNPResult(
+                                new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)), 0.1),
+                        List.of(1, 2, 3));
+        serializedResult = MultiTargetPNPResult.proto.createMessage();
+        MultiTargetPNPResult.proto.pack(serializedResult, result);
+        unpackedResult = MultiTargetPNPResult.proto.unpack(serializedResult);
+        assertEquals(result, unpackedResult);
+    }
+
     @Test
     public void equalityTest() {
         var a = new MultiTargetPNPResult();
diff --git a/photon-targeting/src/test/java/org/photonvision/targeting/PNPResultTest.java b/photon-targeting/src/test/java/org/photonvision/targeting/PNPResultTest.java
index 9f86473eaa..55e9d1966e 100644
--- a/photon-targeting/src/test/java/org/photonvision/targeting/PNPResultTest.java
+++ b/photon-targeting/src/test/java/org/photonvision/targeting/PNPResultTest.java
@@ -25,6 +25,21 @@
 import org.junit.jupiter.api.Test;
 
 public class PNPResultTest {
+    @Test
+    public void protobufTest() {
+        var pnpRes = new PNPResult();
+        var serializedPNPRes = PNPResult.proto.createMessage();
+        PNPResult.proto.pack(serializedPNPRes, pnpRes);
+        var unpackedPNPRes = PNPResult.proto.unpack(serializedPNPRes);
+        assertEquals(pnpRes, unpackedPNPRes);
+
+        pnpRes = new PNPResult(new Transform3d(1, 2, 3, new Rotation3d(1, 2, 3)), 0.1);
+        serializedPNPRes = PNPResult.proto.createMessage();
+        PNPResult.proto.pack(serializedPNPRes, pnpRes);
+        unpackedPNPRes = PNPResult.proto.unpack(serializedPNPRes);
+        assertEquals(pnpRes, unpackedPNPRes);
+    }
+
     @Test
     public void equalityTest() {
         var a = new PNPResult();
diff --git a/photon-targeting/src/test/java/org/photonvision/targeting/PhotonPipelineResultTest.java b/photon-targeting/src/test/java/org/photonvision/targeting/PhotonPipelineResultTest.java
index 72dacda168..be17e744d2 100644
--- a/photon-targeting/src/test/java/org/photonvision/targeting/PhotonPipelineResultTest.java
+++ b/photon-targeting/src/test/java/org/photonvision/targeting/PhotonPipelineResultTest.java
@@ -27,6 +27,116 @@
 import org.junit.jupiter.api.Test;
 
 public class PhotonPipelineResultTest {
+    @Test
+    public void protobufTest() {
+        // Empty Result
+        var result = new PhotonPipelineResult();
+        var serializedResult = PhotonPipelineResult.proto.createMessage();
+        PhotonPipelineResult.proto.pack(serializedResult, result);
+        var unpackedResult = PhotonPipelineResult.proto.unpack(serializedResult);
+        assertEquals(result, unpackedResult);
+
+        // non multitag result
+        result =
+                new PhotonPipelineResult(
+                        2,
+                        List.of(
+                                new PhotonTrackedTarget(
+                                        3.0,
+                                        -4.0,
+                                        9.0,
+                                        4.0,
+                                        2,
+                                        new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
+                                        new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
+                                        0.25,
+                                        List.of(
+                                                new TargetCorner(1, 2),
+                                                new TargetCorner(3, 4),
+                                                new TargetCorner(5, 6),
+                                                new TargetCorner(7, 8)),
+                                        List.of(
+                                                new TargetCorner(1, 2),
+                                                new TargetCorner(3, 4),
+                                                new TargetCorner(5, 6),
+                                                new TargetCorner(7, 8))),
+                                new PhotonTrackedTarget(
+                                        3.0,
+                                        -4.0,
+                                        9.1,
+                                        6.7,
+                                        3,
+                                        new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
+                                        new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
+                                        0.25,
+                                        List.of(
+                                                new TargetCorner(1, 2),
+                                                new TargetCorner(3, 4),
+                                                new TargetCorner(5, 6),
+                                                new TargetCorner(7, 8)),
+                                        List.of(
+                                                new TargetCorner(1, 2),
+                                                new TargetCorner(3, 4),
+                                                new TargetCorner(5, 6),
+                                                new TargetCorner(7, 8)))));
+        serializedResult = PhotonPipelineResult.proto.createMessage();
+        PhotonPipelineResult.proto.pack(serializedResult, result);
+        unpackedResult = PhotonPipelineResult.proto.unpack(serializedResult);
+        assertEquals(result, unpackedResult);
+
+        // multitag result
+        result =
+                new PhotonPipelineResult(
+                        2,
+                        List.of(
+                                new PhotonTrackedTarget(
+                                        3.0,
+                                        -4.0,
+                                        9.0,
+                                        4.0,
+                                        2,
+                                        new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
+                                        new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)),
+                                        0.25,
+                                        List.of(
+                                                new TargetCorner(1, 2),
+                                                new TargetCorner(3, 4),
+                                                new TargetCorner(5, 6),
+                                                new TargetCorner(7, 8)),
+                                        List.of(
+                                                new TargetCorner(1, 2),
+                                                new TargetCorner(3, 4),
+                                                new TargetCorner(5, 6),
+                                                new TargetCorner(7, 8))),
+                                new PhotonTrackedTarget(
+                                        3.0,
+                                        -4.0,
+                                        9.1,
+                                        6.7,
+                                        3,
+                                        new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
+                                        new Transform3d(new Translation3d(4, 2, 3), new Rotation3d(1, 5, 3)),
+                                        0.25,
+                                        List.of(
+                                                new TargetCorner(1, 2),
+                                                new TargetCorner(3, 4),
+                                                new TargetCorner(5, 6),
+                                                new TargetCorner(7, 8)),
+                                        List.of(
+                                                new TargetCorner(1, 2),
+                                                new TargetCorner(3, 4),
+                                                new TargetCorner(5, 6),
+                                                new TargetCorner(7, 8)))),
+                        new MultiTargetPNPResult(
+                                new PNPResult(
+                                        new Transform3d(new Translation3d(1, 2, 3), new Rotation3d(1, 2, 3)), 0.1),
+                                List.of(1, 2, 3)));
+        serializedResult = PhotonPipelineResult.proto.createMessage();
+        PhotonPipelineResult.proto.pack(serializedResult, result);
+        unpackedResult = PhotonPipelineResult.proto.unpack(serializedResult);
+        assertEquals(result, unpackedResult);
+    }
+
     @Test
     public void equalityTest() {
         var a = new PhotonPipelineResult();
diff --git a/photon-targeting/src/test/java/org/photonvision/targeting/PhotonTrackedTargetTest.java b/photon-targeting/src/test/java/org/photonvision/targeting/PhotonTrackedTargetTest.java
index 5d42a2b68f..c458bc4c17 100644
--- a/photon-targeting/src/test/java/org/photonvision/targeting/PhotonTrackedTargetTest.java
+++ b/photon-targeting/src/test/java/org/photonvision/targeting/PhotonTrackedTargetTest.java
@@ -25,8 +25,93 @@
 import edu.wpi.first.math.geometry.Translation3d;
 import java.util.List;
 import org.junit.jupiter.api.Test;
+import org.photonvision.proto.Photon.ProtobufPhotonTrackedTarget;
+import us.hebi.quickbuf.RepeatedMessage;
 
 public class PhotonTrackedTargetTest {
+    @Test
+    public void protobufTest() {
+        var target =
+                new PhotonTrackedTarget(
+                        3.0,
+                        4.0,
+                        9.0,
+                        -5.0,
+                        -1,
+                        new Transform3d(new Translation3d(), new Rotation3d()),
+                        new Transform3d(new Translation3d(), new Rotation3d()),
+                        0.25,
+                        List.of(
+                                new TargetCorner(1, 2),
+                                new TargetCorner(3, 4),
+                                new TargetCorner(5, 6),
+                                new TargetCorner(7, 8)),
+                        List.of(
+                                new TargetCorner(1, 2),
+                                new TargetCorner(3, 4),
+                                new TargetCorner(5, 6),
+                                new TargetCorner(7, 8)));
+        var serializedTarget = PhotonTrackedTarget.proto.createMessage();
+        PhotonTrackedTarget.proto.pack(serializedTarget, target);
+        var unpackedTarget = PhotonTrackedTarget.proto.unpack(serializedTarget);
+        assertEquals(target, unpackedTarget);
+    }
+
+    @Test
+    public void protobufListTest() {
+        List<PhotonTrackedTarget> targets = List.of();
+        var serializedTargets =
+                RepeatedMessage.newEmptyInstance(ProtobufPhotonTrackedTarget.getFactory());
+        PhotonTrackedTarget.proto.pack(serializedTargets, targets);
+        var unpackedTargets = PhotonTrackedTarget.proto.unpack(serializedTargets);
+        assertEquals(targets, unpackedTargets);
+
+        targets =
+                List.of(
+                        new PhotonTrackedTarget(
+                                3.0,
+                                4.0,
+                                9.0,
+                                -5.0,
+                                -1,
+                                new Transform3d(new Translation3d(), new Rotation3d()),
+                                new Transform3d(new Translation3d(), new Rotation3d()),
+                                0.25,
+                                List.of(
+                                        new TargetCorner(1, 2),
+                                        new TargetCorner(3, 4),
+                                        new TargetCorner(5, 6),
+                                        new TargetCorner(7, 8)),
+                                List.of(
+                                        new TargetCorner(1, 2),
+                                        new TargetCorner(3, 4),
+                                        new TargetCorner(5, 6),
+                                        new TargetCorner(7, 8))),
+                        new PhotonTrackedTarget(
+                                7.0,
+                                2.0,
+                                1.0,
+                                -9.0,
+                                -1,
+                                new Transform3d(new Translation3d(), new Rotation3d()),
+                                new Transform3d(new Translation3d(), new Rotation3d()),
+                                0.25,
+                                List.of(
+                                        new TargetCorner(1, 2),
+                                        new TargetCorner(3, 4),
+                                        new TargetCorner(5, 6),
+                                        new TargetCorner(7, 8)),
+                                List.of(
+                                        new TargetCorner(1, 2),
+                                        new TargetCorner(3, 4),
+                                        new TargetCorner(5, 6),
+                                        new TargetCorner(7, 8))));
+        serializedTargets = RepeatedMessage.newEmptyInstance(ProtobufPhotonTrackedTarget.getFactory());
+        PhotonTrackedTarget.proto.pack(serializedTargets, targets);
+        unpackedTargets = PhotonTrackedTarget.proto.unpack(serializedTargets);
+        assertEquals(targets, unpackedTargets);
+    }
+
     @Test
     public void equalityTest() {
         var a =
diff --git a/photon-targeting/src/test/java/org/photonvision/targeting/TargetCornerTest.java b/photon-targeting/src/test/java/org/photonvision/targeting/TargetCornerTest.java
index b813fb7afb..53beaed614 100644
--- a/photon-targeting/src/test/java/org/photonvision/targeting/TargetCornerTest.java
+++ b/photon-targeting/src/test/java/org/photonvision/targeting/TargetCornerTest.java
@@ -20,9 +20,36 @@
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertNotEquals;
 
+import java.util.List;
 import org.junit.jupiter.api.Test;
+import org.photonvision.proto.Photon.ProtobufTargetCorner;
+import us.hebi.quickbuf.RepeatedMessage;
 
 public class TargetCornerTest {
+    @Test
+    public void protobufTest() {
+        var corner = new TargetCorner(0, 1);
+        var serializedCorner = TargetCorner.proto.createMessage();
+        TargetCorner.proto.pack(serializedCorner, corner);
+        var unpackedCorner = TargetCorner.proto.unpack(serializedCorner);
+        assertEquals(corner, unpackedCorner);
+    }
+
+    @Test
+    public void protobufListTest() {
+        List<TargetCorner> corners = List.of();
+        var serializedCorners = RepeatedMessage.newEmptyInstance(ProtobufTargetCorner.getFactory());
+        TargetCorner.proto.pack(serializedCorners, corners);
+        var unpackedCorners = TargetCorner.proto.unpack(serializedCorners);
+        assertEquals(corners, unpackedCorners);
+
+        corners = List.of(new TargetCorner(0, 1), new TargetCorner(1, 2));
+        serializedCorners = RepeatedMessage.newEmptyInstance(ProtobufTargetCorner.getFactory());
+        TargetCorner.proto.pack(serializedCorners, corners);
+        unpackedCorners = TargetCorner.proto.unpack(serializedCorners);
+        assertEquals(corners, unpackedCorners);
+    }
+
     @Test
     public void equalityTest() {
         var a = new TargetCorner(0, 1);
diff --git a/photon-targeting/src/test/native/cpp/PacketTest.cpp b/photon-targeting/src/test/native/cpp/PacketTest.cpp
deleted file mode 100644
index 1094a3783f..0000000000
--- a/photon-targeting/src/test/native/cpp/PacketTest.cpp
+++ /dev/null
@@ -1,120 +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/>.
- */
-
-#include <units/angle.h>
-
-#include "gtest/gtest.h"
-#include "photon/dataflow/structures/Packet.h"
-#include "photon/targeting/MultiTargetPNPResult.h"
-#include "photon/targeting/PNPResult.h"
-#include "photon/targeting/PhotonPipelineResult.h"
-#include "photon/targeting/PhotonTrackedTarget.h"
-
-TEST(PacketTest, PNPResult) {
-  photon::PNPResult result;
-  photon::Packet p;
-  p << result;
-
-  photon::PNPResult b;
-  p >> b;
-
-  EXPECT_EQ(result, b);
-}
-
-TEST(PacketTest, MultiTargetPNPResult) {
-  photon::MultiTargetPNPResult result;
-  photon::Packet p;
-  p << result;
-
-  photon::MultiTargetPNPResult b;
-  p >> b;
-
-  EXPECT_EQ(result, b);
-}
-
-TEST(PacketTest, PhotonTrackedTarget) {
-  photon::PhotonTrackedTarget target{
-      3.0,
-      4.0,
-      9.0,
-      -5.0,
-      -1,
-      frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
-                       frc::Rotation3d(1_rad, 2_rad, 3_rad)),
-      frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
-                       frc::Rotation3d(1_rad, 2_rad, 3_rad)),
-      -1,
-      {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}},
-      {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}}};
-
-  photon::Packet p;
-  p << target;
-
-  photon::PhotonTrackedTarget b;
-  p >> b;
-
-  EXPECT_EQ(target, b);
-}
-
-TEST(PacketTest, PhotonPipelineResult) {
-  photon::PhotonPipelineResult result{1_s, {}};
-  photon::Packet p;
-  p << result;
-
-  photon::PhotonPipelineResult b;
-  p >> b;
-
-  EXPECT_EQ(result, b);
-
-  wpi::SmallVector<photon::PhotonTrackedTarget, 2> targets{
-      photon::PhotonTrackedTarget{
-          3.0,
-          -4.0,
-          9.0,
-          4.0,
-          1,
-          frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
-                           frc::Rotation3d(1_rad, 2_rad, 3_rad)),
-          frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
-                           frc::Rotation3d(1_rad, 2_rad, 3_rad)),
-          -1,
-          {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}},
-          {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}}},
-      photon::PhotonTrackedTarget{
-          3.0,
-          -4.0,
-          9.1,
-          6.7,
-          -1,
-          frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
-                           frc::Rotation3d(1_rad, 2_rad, 3_rad)),
-          frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
-                           frc::Rotation3d(1_rad, 2_rad, 3_rad)),
-          -1,
-          {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}},
-          {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6},
-           std::pair{7, 8}}}};
-
-  photon::PhotonPipelineResult result2{2_s, targets};
-  photon::Packet p2;
-  p2 << result2;
-
-  photon::PhotonPipelineResult b2;
-  p2 >> b2;
-
-  EXPECT_EQ(result2, b2);
-}
diff --git a/photon-targeting/src/test/native/cpp/targeting/MultiTargetPNPResultTest.cpp b/photon-targeting/src/test/native/cpp/targeting/MultiTargetPNPResultTest.cpp
index 1add81e9f6..ffda261ca4 100644
--- a/photon-targeting/src/test/native/cpp/targeting/MultiTargetPNPResultTest.cpp
+++ b/photon-targeting/src/test/native/cpp/targeting/MultiTargetPNPResultTest.cpp
@@ -16,10 +16,57 @@
  */
 
 #include "gtest/gtest.h"
+#include "photon.pb.h"
 #include "photon/targeting/MultiTargetPNPResult.h"
 
-// TODO
-TEST(MultiTargetPNPResultTest, Equality) {}
+TEST(MultiTargetPNPResultTest, Equality) {
+  photon::MultiTargetPNPResult a;
+  photon::MultiTargetPNPResult b;
 
-// TODO
-TEST(MultiTargetPNPResultTest, Inequality) {}
+  EXPECT_EQ(a, b);
+
+  photon::PNPResult pnpRes{
+      frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                       frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+      0.1,
+      frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                       frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+      0.1, 0};
+
+  photon::MultiTargetPNPResult a1{pnpRes, {1, 2, 3, 4}};
+  photon::MultiTargetPNPResult b1{pnpRes, {1, 2, 3, 4}};
+
+  EXPECT_EQ(a1, b1);
+}
+
+TEST(MultiTargetPNPResultTest, Roundtrip) {
+  photon::MultiTargetPNPResult result;
+
+  google::protobuf::Arena arena;
+  google::protobuf::Message* proto =
+      wpi::Protobuf<photon::MultiTargetPNPResult>::New(&arena);
+  wpi::Protobuf<photon::MultiTargetPNPResult>::Pack(proto, result);
+
+  photon::MultiTargetPNPResult unpacked_data =
+      wpi::Protobuf<photon::MultiTargetPNPResult>::Unpack(*proto);
+
+  EXPECT_EQ(result, unpacked_data);
+
+  photon::PNPResult pnpRes{
+      frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                       frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+      0.1,
+      frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                       frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+      0.1, 0};
+
+  photon::MultiTargetPNPResult result1{pnpRes, {1, 2, 3, 4}};
+
+  proto = wpi::Protobuf<photon::MultiTargetPNPResult>::New(&arena);
+  wpi::Protobuf<photon::MultiTargetPNPResult>::Pack(proto, result1);
+
+  photon::MultiTargetPNPResult unpacked_data1 =
+      wpi::Protobuf<photon::MultiTargetPNPResult>::Unpack(*proto);
+
+  EXPECT_EQ(result1, unpacked_data1);
+}
diff --git a/photon-targeting/src/test/native/cpp/targeting/PNPResultTest.cpp b/photon-targeting/src/test/native/cpp/targeting/PNPResultTest.cpp
index ac2c2adf11..c4313396ae 100644
--- a/photon-targeting/src/test/native/cpp/targeting/PNPResultTest.cpp
+++ b/photon-targeting/src/test/native/cpp/targeting/PNPResultTest.cpp
@@ -16,10 +16,57 @@
  */
 
 #include "gtest/gtest.h"
+#include "photon.pb.h"
 #include "photon/targeting/PNPResult.h"
 
-// TODO
-TEST(PNPResultTest, Equality) {}
+TEST(PNPResultTest, Equality) {
+  photon::PNPResult a;
+  photon::PNPResult b;
 
-// TODO
-TEST(PNPResultTest, Inequality) {}
+  EXPECT_EQ(a, b);
+
+  photon::PNPResult a1{frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                                        frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+                       0.1,
+                       frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                                        frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+                       0.1, 0};
+  photon::PNPResult b1{frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                                        frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+                       0.1,
+                       frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                                        frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+                       0.1, 0};
+
+  EXPECT_EQ(a1, b1);
+}
+
+TEST(PNPResultTest, Roundtrip) {
+  photon::PNPResult result;
+
+  google::protobuf::Arena arena;
+  google::protobuf::Message* proto =
+      wpi::Protobuf<photon::PNPResult>::New(&arena);
+  wpi::Protobuf<photon::PNPResult>::Pack(proto, result);
+
+  photon::PNPResult unpacked_data =
+      wpi::Protobuf<photon::PNPResult>::Unpack(*proto);
+
+  EXPECT_EQ(result, unpacked_data);
+
+  photon::PNPResult result1{
+      frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                       frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+      0.1,
+      frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                       frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+      0.1, 0};
+
+  proto = wpi::Protobuf<photon::PNPResult>::New(&arena);
+  wpi::Protobuf<photon::PNPResult>::Pack(proto, result1);
+
+  photon::PNPResult unpacked_data2 =
+      wpi::Protobuf<photon::PNPResult>::Unpack(*proto);
+
+  EXPECT_EQ(result1, unpacked_data2);
+}
diff --git a/photon-targeting/src/test/native/cpp/targeting/PhotonPipelineResultTest.cpp b/photon-targeting/src/test/native/cpp/targeting/PhotonPipelineResultTest.cpp
index 716334dcb3..73a4efcfdb 100644
--- a/photon-targeting/src/test/native/cpp/targeting/PhotonPipelineResultTest.cpp
+++ b/photon-targeting/src/test/native/cpp/targeting/PhotonPipelineResultTest.cpp
@@ -16,10 +16,137 @@
  */
 
 #include "gtest/gtest.h"
+#include "photon.pb.h"
 #include "photon/targeting/PhotonPipelineResult.h"
+#include "photon/targeting/PhotonTrackedTarget.h"
 
 // TODO
-TEST(PhotonPipelineResultTest, Equality) {}
+TEST(PhotonPipelineResultTest, Equality) {
+  photon::PhotonPipelineResult a{12_ms, {}};
+  photon::PhotonPipelineResult b{12_ms, {}};
+
+  EXPECT_EQ(a, b);
+
+  wpi::SmallVector<photon::PhotonTrackedTarget, 2> targets{
+      photon::PhotonTrackedTarget{
+          3.0,
+          -4.0,
+          9.0,
+          4.0,
+          1,
+          frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                           frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+          frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                           frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+          -1,
+          {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}},
+          {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}}},
+      photon::PhotonTrackedTarget{
+          3.0,
+          -4.0,
+          9.1,
+          6.7,
+          -1,
+          frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                           frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+          frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                           frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+          -1,
+          {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}},
+          {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6},
+           std::pair{7, 8}}}};
+
+  photon::PhotonPipelineResult a1{12_ms, targets};
+  photon::PhotonPipelineResult b1{12_ms, targets};
+
+  EXPECT_EQ(a1, b1);
+
+  photon::PNPResult pnpRes{
+      frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                       frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+      0.1,
+      frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                       frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+      0.1, 0};
+
+  photon::MultiTargetPNPResult multitagRes{pnpRes, {1, 2, 3, 4}};
+
+  photon::PhotonPipelineResult a2{12_ms, targets, multitagRes};
+  photon::PhotonPipelineResult b2{12_ms, targets, multitagRes};
+
+  EXPECT_EQ(a2, b2);
+}
 
 // TODO
-TEST(PhotonPipelineResultTest, Inequality) {}
+TEST(PhotonPipelineResultTest, Roundtrip) {
+  photon::PhotonPipelineResult result{12_ms, {}};
+
+  google::protobuf::Arena arena;
+  google::protobuf::Message* proto =
+      wpi::Protobuf<photon::PhotonPipelineResult>::New(&arena);
+  wpi::Protobuf<photon::PhotonPipelineResult>::Pack(proto, result);
+
+  photon::PhotonPipelineResult unpacked_data =
+      wpi::Protobuf<photon::PhotonPipelineResult>::Unpack(*proto);
+
+  EXPECT_EQ(result, unpacked_data);
+
+  wpi::SmallVector<photon::PhotonTrackedTarget, 2> targets{
+      photon::PhotonTrackedTarget{
+          3.0,
+          -4.0,
+          9.0,
+          4.0,
+          1,
+          frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                           frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+          frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                           frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+          -1,
+          {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}},
+          {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}}},
+      photon::PhotonTrackedTarget{
+          3.0,
+          -4.0,
+          9.1,
+          6.7,
+          -1,
+          frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                           frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+          frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                           frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+          -1,
+          {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}},
+          {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6},
+           std::pair{7, 8}}}};
+
+  photon::PhotonPipelineResult result2{12_ms, targets};
+
+  proto = wpi::Protobuf<photon::PhotonPipelineResult>::New(&arena);
+  wpi::Protobuf<photon::PhotonPipelineResult>::Pack(proto, result2);
+
+  photon::PhotonPipelineResult unpacked_data2 =
+      wpi::Protobuf<photon::PhotonPipelineResult>::Unpack(*proto);
+
+  EXPECT_EQ(result2, unpacked_data2);
+
+  photon::PNPResult pnpRes{
+      frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                       frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+      0.1,
+      frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                       frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+      0.1, 0};
+
+  photon::MultiTargetPNPResult multitagRes{pnpRes, {1, 2, 3, 4}};
+
+  photon::PhotonPipelineResult result3{12_ms, targets, multitagRes};
+
+  proto = wpi::Protobuf<photon::PhotonPipelineResult>::New(&arena);
+  wpi::Protobuf<photon::PhotonPipelineResult>::Pack(proto, result3);
+
+  photon::PhotonPipelineResult unpacked_data3 =
+      wpi::Protobuf<photon::PhotonPipelineResult>::Unpack(*proto);
+
+  EXPECT_EQ(result3, unpacked_data3);
+}
diff --git a/photon-targeting/src/test/native/cpp/targeting/PhotonTrackedTargetTest.cpp b/photon-targeting/src/test/native/cpp/targeting/PhotonTrackedTargetTest.cpp
index 243c56ad6f..ea8d0d5de7 100644
--- a/photon-targeting/src/test/native/cpp/targeting/PhotonTrackedTargetTest.cpp
+++ b/photon-targeting/src/test/native/cpp/targeting/PhotonTrackedTargetTest.cpp
@@ -16,10 +16,63 @@
  */
 
 #include "gtest/gtest.h"
+#include "photon.pb.h"
 #include "photon/targeting/PhotonTrackedTarget.h"
 
-// TODO
-TEST(PhotonTrackedTargetTest, Equality) {}
+TEST(PhotonTrackedTargetTest, Equality) {
+  photon::PhotonTrackedTarget a{
+      3.0,
+      4.0,
+      9.0,
+      -5.0,
+      -1,
+      frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                       frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+      frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                       frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+      -1,
+      {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}},
+      {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}}};
 
-// TODO
-TEST(PhotonTrackedTargetTest, Inequality) {}
+  photon::PhotonTrackedTarget b{
+      3.0,
+      4.0,
+      9.0,
+      -5.0,
+      -1,
+      frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                       frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+      frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                       frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+      -1,
+      {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}},
+      {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}}};
+
+  EXPECT_EQ(a, b);
+}
+
+TEST(PhotonTrackedTargetTest, Roundtrip) {
+  photon::PhotonTrackedTarget target{
+      3.0,
+      4.0,
+      9.0,
+      -5.0,
+      -1,
+      frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                       frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+      frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
+                       frc::Rotation3d(1_rad, 2_rad, 3_rad)),
+      -1,
+      {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}},
+      {std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}}};
+
+  google::protobuf::Arena arena;
+  google::protobuf::Message* proto =
+      wpi::Protobuf<photon::PhotonTrackedTarget>::New(&arena);
+  wpi::Protobuf<photon::PhotonTrackedTarget>::Pack(proto, target);
+
+  photon::PhotonTrackedTarget unpacked_data =
+      wpi::Protobuf<photon::PhotonTrackedTarget>::Unpack(*proto);
+
+  EXPECT_EQ(target, unpacked_data);
+}
diff --git a/shared/common.gradle b/shared/common.gradle
index faeaa1f694..7cbf858b22 100644
--- a/shared/common.gradle
+++ b/shared/common.gradle
@@ -32,6 +32,7 @@ dependencies {
     implementation wpilibTools.deps.wpilibJava("hal")
     implementation wpilibTools.deps.wpilibJava("wpilibj")
     implementation wpilibTools.deps.wpilibJava("apriltag")
+    implementation wpilibTools.deps.wpilibJava("wpiunits")
     implementation wpilibTools.deps.wpilibOpenCvJava("frc" + wpi.frcYear.get(), wpi.versions.opencvVersion.get())
 
     implementation group: "com.fasterxml.jackson.core", name: "jackson-annotations", version: wpi.versions.jacksonVersion.get()
diff --git a/shared/examples_common.gradle b/shared/examples_common.gradle
index 5212307f0f..711f6c9fa8 100644
--- a/shared/examples_common.gradle
+++ b/shared/examples_common.gradle
@@ -18,3 +18,6 @@ task copyPhotonlib() {
     }
     outputs.upToDateWhen { false }
 }
+
+wpi.maven.useDevelopment = true
+wpi.versions.wpilibVersion = "2024.1.1-beta-3-43-g25b7dca"
diff --git a/shared/javacommon.gradle b/shared/javacommon.gradle
index c4e0ad3b56..d1c17f5016 100644
--- a/shared/javacommon.gradle
+++ b/shared/javacommon.gradle
@@ -1,6 +1,7 @@
 apply plugin: 'maven-publish'
 apply plugin: 'java-library'
 apply plugin: 'jacoco'
+apply plugin: 'com.google.protobuf'
 
 java {
     sourceCompatibility = JavaVersion.VERSION_11
@@ -113,6 +114,7 @@ dependencies {
     implementation wpilibTools.deps.wpilibJava("hal")
     implementation wpilibTools.deps.wpilibJava("wpilibj")
     implementation wpilibTools.deps.wpilibJava("apriltag")
+    implementation wpilibTools.deps.wpilibJava("wpiunits")
     implementation wpilibTools.deps.wpilibOpenCvJava("frc" + wpi.frcYear.get(), wpi.versions.opencvVersion.get())
 
     implementation group: "com.fasterxml.jackson.core", name: "jackson-annotations", version: wpi.versions.jacksonVersion.get()
@@ -137,3 +139,27 @@ jacocoTestReport {
         html.required = true
     }
 }
+
+protobuf {
+    protoc {
+        artifact = 'com.google.protobuf:protoc:3.21.12'
+    }
+    plugins {
+        quickbuf {
+            artifact = 'us.hebi.quickbuf:protoc-gen-quickbuf:1.3.2'
+        }
+    }
+    generateProtoTasks {
+        all().configureEach { task ->
+            task.builtins {
+                cpp {}
+                remove java
+            }
+            task.plugins {
+                quickbuf {
+                    option "gen_descriptors=true"
+                }
+            }
+        }
+    }
+}
diff --git a/shared/javacpp/setupBuild.gradle b/shared/javacpp/setupBuild.gradle
index 66106c6057..a1f3c63711 100644
--- a/shared/javacpp/setupBuild.gradle
+++ b/shared/javacpp/setupBuild.gradle
@@ -38,11 +38,11 @@ model {
             sources {
                 cpp {
                     source {
-                        srcDirs 'src/main/native/cpp'
-                        include '**/*.cpp'
+                        srcDirs 'src/main/native/cpp', "$buildDir/generated/source/proto/main/cpp"
+                        include '**/*.cpp', '**/*.cc'
                     }
                     exportedHeaders {
-                        srcDirs 'src/main/native/include'
+                        srcDirs 'src/main/native/include', "$buildDir/generated/source/proto/main/cpp"
                         if (project.hasProperty('generatedHeaders')) {
                             srcDir generatedHeaders
                         }
@@ -51,8 +51,11 @@ model {
                 }
             }
 
-            if(project.hasProperty('includePhotonTargeting')) {
-                binaries.all {
+            binaries.all {
+                it.tasks.withType(CppCompile) {
+                    it.dependsOn generateProto
+                }
+                if(project.hasProperty('includePhotonTargeting')) {
                     lib project: ':photon-targeting', library: 'photontargeting', linkage: 'shared'
                 }
             }
@@ -77,13 +80,16 @@ model {
                         include '**/*.cpp'
                     }
                     exportedHeaders {
-                        srcDirs 'src/test/native/include', 'src/main/native/cpp'
+                        srcDirs 'src/test/native/include', "$buildDir/generated/source/proto/main/cpp"
                     }
                 }
             }
 
-            if(project.hasProperty('includePhotonTargeting')) {
-                binaries.all {
+            binaries.all {
+                it.tasks.withType(CppCompile) {
+                    it.dependsOn generateProto
+                }
+                if(project.hasProperty('includePhotonTargeting')) {
                     lib project: ':photon-targeting', library: 'photontargeting', linkage: 'shared'
                 }
             }