PhotonVision is a popular open-source vision system, which can integrate with AdvantageScope to enable debugging on and off the field. PhotonVision publishes data to the roboRIO using NetworkTables, with the API documented here. This data can also be saved to a log file using WPILib's built-in data logging.
PhotonVision publishes targeting data using a byte-packed format. AdvantageScope can decode a subset of fields from this format, allowing individual measurements and poses to be viewed on the line graph, 3D field, etc. For full functionality with AprilTags, configure PhotonVision to publish to protobuf in additional to its default format. This option can be found under the "Networking" page of the PhotonVision web UI:
