PhotonVision · mcm001 · Feb 2, 2026 · Jan 28, 2026 · Jan 28, 2026 · Jan 28, 2026
@@ -3,6 +3,7 @@ import PvSelect from "@/components/common/pv-select.vue";
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
 import { type ActivePipelineSettings, PipelineType, RobotOffsetPointMode } from "@/types/PipelineTypes";
 import PvSwitch from "@/components/common/pv-switch.vue";
+import PvSlider from "@/components/common/pv-slider.vue";
 import { computed } from "vue";
 import { RobotOffsetType } from "@/types/SettingTypes";
 import { useStateStore } from "@/stores/StateStore";
@@ -58,14 +59,17 @@ const interactiveCols = computed(() =>
 
 <template>
   <div>
-    <pv-switch
-      v-model="useCameraSettingsStore().currentPipelineSettings.outputShowMultipleTargets"
-      label="Show Multiple Targets"
-      tooltip="If enabled, up to five targets will be displayed and sent via PhotonLib, instead of just one"
+    <pv-slider
+      v-model="useCameraSettingsStore().currentPipelineSettings.outputMaximumTargets"
+      label="Maximum Targets"
+      tooltip="The maximum number of targets to display and send."
       :disabled="isTagPipeline"
+      :min="1"
+      :max="127"
+      :step="1"
       :switch-cols="interactiveCols"
       @update:modelValue="
-        (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ outputShowMultipleTargets: value }, false)
+        (value) => useCameraSettingsStore().changeCurrentPipelineSetting({ outputMaximumTargets: value }, false)
       "
     />
     <pv-switch

@@ -66,7 +66,7 @@ export interface PipelineSettings {
   hsvHue: WebsocketNumberPair | [number, number];
   ledMode: boolean;
   hueInverted: boolean;
-  outputShowMultipleTargets: boolean;
+  outputMaximumTargets: number;
   contourSortMode: number;
   cameraExposureRaw: number;
   cameraMinExposureRaw: number;
@@ -108,7 +108,7 @@ export type ConfigurablePipelineSettings = Partial<
 // Omitted settings are changed for all pipeline types
 export const DefaultPipelineSettings: Omit<
   PipelineSettings,
-  "cameraGain" | "targetModel" | "ledMode" | "outputShowMultipleTargets" | "cameraExposureRaw" | "pipelineType"
+  "cameraGain" | "targetModel" | "ledMode" | "cameraExposureRaw" | "pipelineType"
 > = {
   offsetRobotOffsetMode: RobotOffsetPointMode.None,
   streamingFrameDivisor: 0,
@@ -137,6 +137,7 @@ export const DefaultPipelineSettings: Omit<
   offsetDualPointB: { x: 0, y: 0 },
   hsvHue: { first: 50, second: 180 },
   hueInverted: false,
+  outputMaximumTargets: 20,
   contourSortMode: 0,
   offsetSinglePoint: { x: 0, y: 0 },
   cameraBrightness: 50,
@@ -166,7 +167,7 @@ export const DefaultReflectivePipelineSettings: ReflectivePipelineSettings = {
   cameraGain: 20,
   targetModel: TargetModel.InfiniteRechargeHighGoalOuter,
   ledMode: true,
-  outputShowMultipleTargets: false,
+  outputMaximumTargets: 20,
   cameraExposureRaw: 6,
   pipelineType: PipelineType.Reflective,
 
@@ -197,7 +198,7 @@ export const DefaultColoredShapePipelineSettings: ColoredShapePipelineSettings =
   cameraGain: 75,
   targetModel: TargetModel.InfiniteRechargeHighGoalOuter,
   ledMode: true,
-  outputShowMultipleTargets: false,
+  outputMaximumTargets: 20,
   cameraExposureRaw: 20,
   pipelineType: PipelineType.ColoredShape,
 
@@ -237,10 +238,9 @@ export const DefaultAprilTagPipelineSettings: AprilTagPipelineSettings = {
   cameraGain: 75,
   targetModel: TargetModel.AprilTag6p5in_36h11,
   ledMode: false,
-  outputShowMultipleTargets: true,
+  outputMaximumTargets: 127,
   cameraExposureRaw: 20,
   pipelineType: PipelineType.AprilTag,
-
   hammingDist: 0,
   numIterations: 40,
   decimate: 1,
@@ -278,13 +278,12 @@ export type ConfigurableArucoPipelineSettings = Partial<Omit<ArucoPipelineSettin
 export const DefaultArucoPipelineSettings: ArucoPipelineSettings = {
   ...DefaultPipelineSettings,
   cameraGain: 75,
-  outputShowMultipleTargets: true,
+  outputMaximumTargets: 127,
   targetModel: TargetModel.AprilTag6p5in_36h11,
   cameraExposureRaw: -1,
   cameraAutoExposure: true,
   ledMode: false,
   pipelineType: PipelineType.Aruco,
-
   tagFamily: AprilTagFamily.Family36h11,
   threshWinSizes: { first: 11, second: 91 },
   threshStepSize: 40,
@@ -316,7 +315,7 @@ export const DefaultObjectDetectionPipelineSettings: ObjectDetectionPipelineSett
   cameraGain: 20,
   targetModel: TargetModel.InfiniteRechargeHighGoalOuter,
   ledMode: true,
-  outputShowMultipleTargets: false,
+  outputMaximumTargets: 20,
   cameraExposureRaw: 6,
   confidence: 0.9,
   nms: 0.45,
@@ -335,7 +334,7 @@ export const DefaultCalibration3dPipelineSettings: Calibration3dPipelineSettings
   cameraGain: 20,
   targetModel: TargetModel.InfiniteRechargeHighGoalOuter,
   ledMode: true,
-  outputShowMultipleTargets: false,
+  outputMaximumTargets: 1,
   cameraExposureRaw: 6,
   drawAllSnapshots: false
 };

@@ -228,7 +228,8 @@ public enum ApriltagTestImages {
         kRobots,
         kTag1_640_480,
         kTag1_16h5_1280,
-        kTag_corner_1280;
+        kTag_corner_1280,
+        k36h11_stress_test;
 
         public final Path path;
 
@@ -237,6 +238,7 @@ Path getPath() {
             var filename = this.toString().substring(1).toLowerCase();
             var extension = ".jpg";
             if (filename.equals("tag1_16h5_1280")) extension = ".png";
+            if (filename.equals("36h11_stress_test")) extension = ".png";
             return Path.of("apriltag", filename + extension);
         }
 

@@ -23,8 +23,8 @@
 public class Draw2dAprilTagsPipe extends Draw2dTargetsPipe {
     public static class Draw2dAprilTagsParams extends Draw2dTargetsPipe.Draw2dTargetsParams {
         public Draw2dAprilTagsParams(
-                boolean shouldDraw, boolean showMultipleTargets, FrameDivisor divisor) {
-            super(shouldDraw, showMultipleTargets, divisor);
+                boolean shouldDraw, int outputMaximumTargets, FrameDivisor divisor) {
+            super(shouldDraw, outputMaximumTargets, divisor);
             // We want to show the polygon, not the rotated box
             this.showRotatedBox = false;
             this.showMaximumBox = false;

@@ -22,9 +22,8 @@
 
 public class Draw2dArucoPipe extends Draw2dTargetsPipe {
     public static class Draw2dArucoParams extends Draw2dTargetsPipe.Draw2dTargetsParams {
-        public Draw2dArucoParams(
-                boolean shouldDraw, boolean showMultipleTargets, FrameDivisor divisor) {
-            super(shouldDraw, showMultipleTargets, divisor);
+        public Draw2dArucoParams(boolean shouldDraw, int outputMaximumTargets, FrameDivisor divisor) {
+            super(shouldDraw, outputMaximumTargets, divisor);
             // We want to show the polygon, not the rotated box
             this.showRotatedBox = false;
             this.showMaximumBox = false;

@@ -58,14 +58,10 @@ protected Void process(Pair<Mat, List<TrackedTarget>> in) {
             var circleColor = ColorHelper.colorToScalar(params.circleColor);
             var shapeColour = ColorHelper.colorToScalar(params.shapeOutlineColour);
 
-            for (int i = 0; i < (params.showMultipleTargets ? in.getSecond().size() : 1); i++) {
+            for (int i = 0; i < Math.min(params.outputMaximumTargets, in.getSecond().size()); i++) {
                 Point[] vertices = new Point[4];
                 MatOfPoint contour = new MatOfPoint();
 
-                if (i != 0 && !params.showMultipleTargets) {
-                    break;
-                }
-
                 TrackedTarget target = in.getSecond().get(i);
                 RotatedRect r = target.getMinAreaRect();
 
@@ -233,8 +229,7 @@ public static class Draw2dTargetsParams {
         public Color shapeOutlineColour = Color.MAGENTA;
         public Color textColor = Color.GREEN;
         public Color circleColor = Color.RED;
-
-        public final boolean showMultipleTargets;
+        public int outputMaximumTargets;
         public final boolean shouldDraw;
 
         public final FrameDivisor divisor;
@@ -247,10 +242,9 @@ public boolean shouldShowCircle(CVShape shape) {
             return shape != null && shape.shape.equals(ContourShape.Circle);
         }
 
-        public Draw2dTargetsParams(
-                boolean shouldDraw, boolean showMultipleTargets, FrameDivisor divisor) {
+        public Draw2dTargetsParams(boolean shouldDraw, int outputMaximumTargets, FrameDivisor divisor) {
             this.shouldDraw = shouldDraw;
-            this.showMultipleTargets = showMultipleTargets;
+            this.outputMaximumTargets = outputMaximumTargets;
             this.divisor = divisor;
         }
     }

@@ -17,6 +17,7 @@
 
 package org.photonvision.vision.pipeline;
 
+import com.fasterxml.jackson.annotation.JsonAnySetter;
 import java.util.Objects;
 import org.opencv.core.Point;
 import org.photonvision.common.util.numbers.DoubleCouple;
@@ -41,7 +42,7 @@ public AdvancedPipelineSettings() {
     public boolean hueInverted = false;
 
     public boolean outputShouldDraw = true;
-    public boolean outputShowMultipleTargets = false;
+    public int outputMaximumTargets = 20;
 
     public DoubleCouple contourArea = new DoubleCouple(0.0, 100.0);
     public DoubleCouple contourRatio = new DoubleCouple(0.0, 20.0);
@@ -90,14 +91,30 @@ public AdvancedPipelineSettings() {
     public int cornerDetectionSideCount = 4;
     public double cornerDetectionAccuracyPercentage = 10;
 
+    /**
+     * Handles backward compatibility for the deprecated outputShowMultipleTargets property. When
+     * outputShowMultipleTargets is encountered during deserialization, it sets outputMaximumTargets
+     * appropriately. If outputShowMultipleTargets is false, outputMaximumTargets is set to 1.
+     */
+    @JsonAnySetter
+    public void handleUnknownProperty(String name, Object value) {
+        // Handle the old showMultipleTargets property for backward compatibility
+        if ("outputShowMultipleTargets".equals(name) && value instanceof Boolean showMultipleTargets) {
+            if (!showMultipleTargets) {
+                // If showMultipleTargets is false, limit to 1 target
+                outputMaximumTargets = 1;
+            }
+        }
+    }
+
     @Override
     public boolean equals(Object o) {
         if (this == o) return true;
         if (!(o instanceof AdvancedPipelineSettings)) return false;
         if (!super.equals(o)) return false;
         AdvancedPipelineSettings that = (AdvancedPipelineSettings) o;
         return outputShouldDraw == that.outputShouldDraw
-                && outputShowMultipleTargets == that.outputShowMultipleTargets
+                && outputMaximumTargets == that.outputMaximumTargets
                 && contourSpecklePercentage == that.contourSpecklePercentage
                 && Double.compare(that.offsetDualPointAArea, offsetDualPointAArea) == 0
                 && Double.compare(that.offsetDualPointBArea, offsetDualPointBArea) == 0
@@ -136,7 +153,7 @@ public int hashCode() {
                 hsvValue,
                 hueInverted,
                 outputShouldDraw,
-                outputShowMultipleTargets,
+                outputMaximumTargets,
                 contourArea,
                 contourRatio,
                 contourFullness,

@@ -30,6 +30,9 @@
 import java.util.List;
 import java.util.Optional;
 import org.photonvision.common.configuration.ConfigManager;
+import org.photonvision.common.dataflow.structures.Packet;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.estimation.TargetModel;
 import org.photonvision.targeting.MultiTargetPNPResult;
@@ -49,6 +52,8 @@
 import org.photonvision.vision.target.TrackedTarget.TargetCalculationParameters;
 
 public class AprilTagPipeline extends CVPipeline<CVPipelineResult, AprilTagPipelineSettings> {
+    private static final Logger logger = new Logger(AprilTagPipeline.class, LogGroup.VisionModule);
+
     private final AprilTagDetectionPipe aprilTagDetectionPipe = new AprilTagDetectionPipe();
     private final AprilTagPoseEstimatorPipe singleTagPoseEstimatorPipe =
             new AprilTagPoseEstimatorPipe();
@@ -232,6 +237,12 @@ protected CVPipelineResult process(Frame frame, AprilTagPipelineSettings setting
             }
         }
 
+        if (targetList.size() > Packet.MAX_ARRAY_LEN) {
+            logger.error(
+                    "We have " + targetList.size() + " targets! Arbitrarily dropping some on the floor");
+            targetList = targetList.subList(0, Packet.MAX_ARRAY_LEN);
+        }
+
         var fpsResult = calculateFPSPipe.run(null);
         var fps = fpsResult.output;
 

@@ -40,7 +40,7 @@ public class AprilTagPipelineSettings extends AdvancedPipelineSettings {
     public AprilTagPipelineSettings() {
         super();
         pipelineType = PipelineType.AprilTag;
-        outputShowMultipleTargets = true;
+        outputMaximumTargets = 127;
         targetModel = TargetModel.kAprilTag6p5in_36h11;
         cameraExposureRaw = 20;
         cameraAutoExposure = false;

@@ -15,23 +15,6 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-/*
- * 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.vision.pipeline;
 
 import edu.wpi.first.apriltag.AprilTagPoseEstimate;
@@ -46,6 +29,9 @@
 import org.opencv.imgproc.Imgproc;
 import org.opencv.objdetect.Objdetect;
 import org.photonvision.common.configuration.ConfigManager;
+import org.photonvision.common.dataflow.structures.Packet;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.estimation.TargetModel;
 import org.photonvision.targeting.MultiTargetPNPResult;
@@ -61,6 +47,8 @@
 import org.photonvision.vision.target.TrackedTarget.TargetCalculationParameters;
 
 public class ArucoPipeline extends CVPipeline<CVPipelineResult, ArucoPipelineSettings> {
+    private static final Logger logger = new Logger(ArucoPipeline.class, LogGroup.VisionModule);
+
     private ArucoDetectionPipe arucoDetectionPipe = new ArucoDetectionPipe();
     private ArucoPoseEstimatorPipe singleTagPoseEstimatorPipe = new ArucoPoseEstimatorPipe();
     private final MultiTargetPNPPipe multiTagPNPPipe = new MultiTargetPNPPipe();
@@ -237,6 +225,12 @@ protected CVPipelineResult process(Frame frame, ArucoPipelineSettings settings)
             }
         }
 
+        if (targetList.size() > Packet.MAX_ARRAY_LEN) {
+            logger.error(
+                    "We have " + targetList.size() + " targets! Arbitrarily dropping some on the floor");
+            targetList = targetList.subList(0, Packet.MAX_ARRAY_LEN);
+        }
+
         var fpsResult = calculateFPSPipe.run(null);
         var fps = fpsResult.output;
 

@@ -45,7 +45,7 @@ public class ArucoPipelineSettings extends AdvancedPipelineSettings {
     public ArucoPipelineSettings() {
         super();
         pipelineType = PipelineType.Aruco;
-        outputShowMultipleTargets = true;
+        outputMaximumTargets = 127;
         targetModel = TargetModel.kAprilTag6p5in_36h11;
         cameraExposureRaw = 20;
         cameraAutoExposure = true;

@@ -26,8 +26,6 @@
 
 public abstract class CVPipeline<R extends CVPipelineResult, S extends CVPipelineSettings>
         implements Releasable {
-    static final int MAX_MULTI_TARGET_RESULTS = 50;
-
     protected S settings;
     protected FrameStaticProperties frameStaticProperties;
     protected QuirkyCamera cameraQuirks;

@@ -101,11 +101,7 @@ protected void setPipeParamsImpl() {
 
         sortContoursPipe.setParams(
                 new SortContoursPipe.SortContoursParams(
-                        settings.contourSortMode,
-                        settings.outputShowMultipleTargets
-                                ? MAX_MULTI_TARGET_RESULTS // TODO don't hardcode?
-                                : 1,
-                        frameStaticProperties));
+                        settings.contourSortMode, settings.outputMaximumTargets, frameStaticProperties));
 
         collect2dTargetsPipe.setParams(
                 new Collect2dTargetsPipe.Collect2dTargetsParams(
@@ -131,7 +127,7 @@ protected void setPipeParamsImpl() {
         Draw2dTargetsPipe.Draw2dTargetsParams draw2DTargetsParams =
                 new Draw2dTargetsPipe.Draw2dTargetsParams(
                         settings.outputShouldDraw,
-                        settings.outputShowMultipleTargets,
+                        settings.outputMaximumTargets,
                         settings.streamingFrameDivisor);
         draw2DTargetsParams.showShape = true;
         draw2DTargetsParams.showMaximumBox = false;