diff --git a/photon-client/src/components/cameras/CameraCalibrationCard.vue b/photon-client/src/components/cameras/CameraCalibrationCard.vue
index 82f6d0248c..11330d5dad 100644
--- a/photon-client/src/components/cameras/CameraCalibrationCard.vue
+++ b/photon-client/src/components/cameras/CameraCalibrationCard.vue
@@ -1,7 +1,12 @@
 <script setup lang="ts">
-import { computed, ref } from "vue";
+import Vue, { computed, ref, type Ref } from "vue";
 import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
-import { CalibrationBoardTypes, type Resolution, type VideoFormat } from "@/types/SettingTypes";
+import {
+  CalibrationBoardTypes,
+  type CameraCalibrationResult,
+  type Resolution,
+  type VideoFormat
+} from "@/types/SettingTypes";
 import JsPDF from "jspdf";
 import { font as PromptRegular } from "@/assets/fonts/PromptRegular";
 import MonoLogo from "@/assets/images/logoMono.png";
@@ -11,6 +16,7 @@ import PvSwitch from "@/components/common/pv-switch.vue";
 import PvSelect from "@/components/common/pv-select.vue";
 import PvNumberInput from "@/components/common/pv-number-input.vue";
 import { WebsocketPipelineType } from "@/types/WebsocketDataTypes";
+import loadingImage from "@/assets/images/loading.svg";
 
 const settingsValid = ref(true);
 
@@ -31,14 +37,16 @@ const getUniqueVideoResolutions = (): VideoFormat[] => {
 
       const calib = getCalibrationCoeffs(format.resolution);
       if (calib !== undefined) {
-        console.log(calib)
-
         // Is this the right formula for RMS error? who knows! not me!
-        const perViewSumSquareReprojectionError = calib.observations.flatMap(it=>it.reprojectionErrors.flatMap(it2=>[it2.x, it2.y]))
-        format.mean = Math.sqrt(perViewSumSquareReprojectionError.reduce((a, b) => a + b, 0))
-
-        format.horizontalFOV = 2 * Math.atan2(format.resolution.width / 2, calib.cameraIntrinsics.data[0]) * (180 / Math.PI);
-        format.verticalFOV = 2 * Math.atan2(format.resolution.height / 2, calib.cameraIntrinsics.data[4]) * (180 / Math.PI);
+        const perViewSumSquareReprojectionError = calib.observations.flatMap((it) =>
+          it.reprojectionErrors.flatMap((it2) => [it2.x, it2.y])
+        );
+        format.mean = Math.sqrt(perViewSumSquareReprojectionError.reduce((a, b) => a + b, 0));
+
+        format.horizontalFOV =
+          2 * Math.atan2(format.resolution.width / 2, calib.cameraIntrinsics.data[0]) * (180 / Math.PI);
+        format.verticalFOV =
+          2 * Math.atan2(format.resolution.height / 2, calib.cameraIntrinsics.data[4]) * (180 / Math.PI);
         format.diagonalFOV =
           2 *
           Math.atan2(
@@ -219,70 +227,68 @@ const endCalibration = () => {
     });
 };
 
+const createSeries = (label, xData, yData, color, showLine = true, fill = false) => {
+  if (xData.length !== yData.length) {
+    return null;
+  }
 
-const createSeries = (
-      label,
-      xData,
-      yData,
-      color,
-      showLine = true,
-      fill = false,
-) => {
-      if (xData.length !== yData.length) {
-        return null;
-      }
-
-      if (xData == null || yData == null) {
-        console.log("Data was null. Skipping.");
-        return null;
-      }
+  if (xData == null || yData == null) {
+    console.log("Data was null. Skipping.");
+    return null;
+  }
 
-      // Convert data to list of x/y pairs
-      let data = [];
-      yData.forEach((y, idx) => {
-        if (!isNaN(y) || y != null) {
-          data.push({ x: xData[idx], y: y });
-        }
-      });
-      return {
-        backgroundColor: color,
-        borderColor: color,
-        label: label,
-        showLine: showLine,
-        fill: fill,
-        data: data,
-        lineTension: 0,
-      };
+  // Convert data to list of x/y pairs
+  let data = [];
+  yData.forEach((y, idx) => {
+    if (!isNaN(y) || y != null) {
+      data.push({ x: xData[idx], y: y });
+    }
+  });
+  return {
+    backgroundColor: color,
+    borderColor: color,
+    label: label,
+    showLine: showLine,
+    fill: fill,
+    data: data,
+    lineTension: 0
+  };
 };
 
 const reprojectionErrorSeries = () => {
   // HUGE hack!
   const calib = useCameraSettingsStore().currentCameraSettings.completeCalibrations[0];
 
-  const errorNorms = calib.observations.map(it2 => it2.reprojectionErrors).map(it2 => it2.map(it3 => Math.sqrt(it3.x * it3.x + it3.y * it3.y))).flat(1);
-  const xLocs = calib.observations.map(it => it.locationInImageSpace.map(it => it.x)).flat(1);
-  const yLocs = calib.observations.map(it => it.locationInImageSpace.map(it => it.y)).flat(1);
+  const errorNorms = calib.observations
+    .map((it2) => it2.reprojectionErrors)
+    .map((it2) => it2.map((it3) => Math.sqrt(it3.x * it3.x + it3.y * it3.y)))
+    .flat(1);
+  const xLocs = calib.observations.map((it) => it.locationInImageSpace.map((it) => it.x)).flat(1);
+  const yLocs = calib.observations.map((it) => it.locationInImageSpace.map((it) => it.y)).flat(1);
   console.log(errorNorms);
   console.log(xLocs);
   console.log(yLocs);
 
-  function rgb(r, g, b){
-    return "rgb("+r+","+g+","+b+")";
+  function rgb(r, g, b) {
+    return "rgb(" + r + "," + g + "," + b + ")";
   }
 
-  const colors = errorNorms.map(it => rgb(it * 200, 0, 0))
-  
+  const colors = errorNorms.map((it) => rgb(it * 200, 0, 0));
+
   return {
-    datasets: [
-      createSeries(
-        `Reprojection error`,
-        xLocs, yLocs, colors,
-        false
-      ),
-    ],
+    datasets: [createSeries(`Reprojection error`, xLocs, yLocs, colors, false)]
   };
-}
+};
 
+let showCal = ref(false);
+let calibrationDetails: Ref<CameraCalibrationResult | undefined> = ref(undefined);
+
+const showThing = (value: VideoFormat) => {
+  console.log(value);
+  calibrationDetails.value = getCalibrationCoeffs(value.resolution);
+  console.log(calibrationDetails);
+  showCal.value = true;
+};
 </script>
 
 <template>
@@ -359,7 +365,7 @@ const reprojectionErrorSeries = () => {
                   </tr>
                 </thead>
                 <tbody>
-                  <tr v-for="(value, index) in getUniqueVideoResolutions()" :key="index">
+                  <tr v-for="(value, index) in getUniqueVideoResolutions()" :key="index" @click="showThing(value)">
                     <td>{{ value.resolution.width }} X {{ value.resolution.height }}</td>
                     <td>{{ value.mean !== undefined ? value.mean.toFixed(2) + "px" : "-" }}</td>
                     <td>{{ value.horizontalFOV !== undefined ? value.horizontalFOV.toFixed(2) + "°" : "-" }}</td>
@@ -503,7 +509,6 @@ const reprojectionErrorSeries = () => {
           max="3500"
           ref="loadCell"
         /> -->
-
       </div>
     </v-card>
     <v-dialog v-model="showCalibEndDialog" width="500px" :persistent="true">
@@ -549,6 +554,57 @@ const reprojectionErrorSeries = () => {
         </v-card-actions>
       </v-card>
     </v-dialog>
+
+    <v-dialog v-model="showCal">
+      <v-card color="primary" dark>
+        <v-card-title
+          >{{ useCameraSettingsStore().cameraNames[useStateStore().currentCameraIndex] }} -
+          {{ calibrationDetails?.resolution.width }} x {{ calibrationDetails?.resolution.height }}</v-card-title
+        >
+        <v-row>
+          <v-col cols="3">
+            <v-card-text>
+              <!-- Intrinsics: {{ calibrationDetails }} -->
+              <v-simple-table>
+                <tbody>
+                  <td>Fx:</td>
+                  <td>{{ calibrationDetails?.cameraIntrinsics.data[0].toFixed(2) }} mm</td>
+                </tbody>
+                <tbody>
+                  <td>Fy:</td>
+                  <td>{{ calibrationDetails?.cameraIntrinsics.data[4].toFixed(2) }} mm</td>
+                </tbody>
+                <tbody>
+                  <td>Cx:</td>
+                  <td>{{ calibrationDetails?.cameraIntrinsics.data[2].toFixed(2) }} px</td>
+                </tbody>
+                <tbody>
+                  <td>Cy:</td>
+                  <td>{{ calibrationDetails?.cameraIntrinsics.data[5].toFixed(2) }} px</td>
+                </tbody>
+                <tbody>
+                  <td>Distortion:</td>
+                  <td>[{{ calibrationDetails?.cameraExtrinsics.data.map((it) => it.toFixed(3)).join(", ") }}]</td>
+                </tbody>
+              </v-simple-table>
+
+              <v-divider />
+
+              <pv-select label="Inspect Observation" :items="[1, 2, 3]" :select-cols="8" />
+              <pv-select label="Visualization" :items="['RMS error']" :select-cols="8" />
+              <v-btn light> Show me! </v-btn>
+            </v-card-text>
+          </v-col>
+
+          <v-col>
+            <v-card-text>
+              <img crossorigin="anonymous" :src="loadingImage" />
+            </v-card-text>
+          </v-col>
+        </v-row>
+        <v-divider />
+      </v-card>
+    </v-dialog>
   </div>
 </template>
 
diff --git a/photon-client/src/components/common/LineChart.vue b/photon-client/src/components/common/LineChart.vue
index e29dbc45c2..a8d8f54cf8 100644
--- a/photon-client/src/components/common/LineChart.vue
+++ b/photon-client/src/components/common/LineChart.vue
@@ -6,7 +6,7 @@ export default {
   props: {
     chartData: {
       type: Object,
-      default: null,
+      default: null
     },
     min: String,
     max: String,
@@ -22,8 +22,8 @@ export default {
           legend: {
             labels: {
               fontColor: "white",
-              fontSize: 12,
-            },
+              fontSize: 12
+            }
           },
           scales: {
             yAxes: [
@@ -46,11 +46,11 @@ export default {
               //     fontSize: 12,
               //   }
               // }
-            ],
-          },
+            ]
+          }
         };
-      },
-    },
+      }
+    }
   },
   computed: {
     chartOptions: {
@@ -58,19 +58,15 @@ export default {
         const opts = this.options;
 
         if (this.min) {
-          opts.scales.yAxes.forEach(
-            (it) => (it.ticks.suggestedMin = parseFloat(this.min))
-          );
+          opts.scales.yAxes.forEach((it) => (it.ticks.suggestedMin = parseFloat(this.min)));
         }
         if (this.max) {
-          opts.scales.yAxes.forEach(
-            (it) => (it.ticks.suggestedMax = parseFloat(this.max))
-          );
+          opts.scales.yAxes.forEach((it) => (it.ticks.suggestedMax = parseFloat(this.max)));
         }
 
         return opts;
-      },
-    },
+      }
+    }
   },
   mounted() {
     this.renderChart(this.chartData, this.chartOptions);
@@ -83,7 +79,7 @@ export default {
   methods: {
     update() {
       this.renderChart(this.chartData, this.chartOptions);
-    },
-  },
+    }
+  }
 };
 </script>
diff --git a/photon-client/src/types/SettingTypes.ts b/photon-client/src/types/SettingTypes.ts
index 44766033a2..28ce0bbf6b 100644
--- a/photon-client/src/types/SettingTypes.ts
+++ b/photon-client/src/types/SettingTypes.ts
@@ -80,32 +80,32 @@ export interface VideoFormat {
 }
 
 export interface JsonMat {
-  rows: number
-  cols: number
-  type: number
-  data: number[]
+  rows: number;
+  cols: number;
+  type: number;
+  data: number[];
 }
 
 export interface Point3 {
-  x: number
-  y: number
-  z: number
+  x: number;
+  y: number;
+  z: number;
 }
 export interface Point2 {
-  x: number
-  y: number
+  x: number;
+  y: number;
 }
 
 export interface Pose3d {
-  translation: { x: number, y: number, z: number }
-  rotation: { quaternion: { W: number, X: number, Y: number, Z: number } }
+  translation: { x: number; y: number; z: number };
+  rotation: { quaternion: { W: number; X: number; Y: number; Z: number } };
 }
 
 export interface BoardObservation {
-  locationInObjectSpace: Point3[]
-  locationInImageSpace: Point2[]
-  reprojectionErrors: Point2[]
-  optimisedCameraToObject: Pose3d[]  
+  locationInObjectSpace: Point3[];
+  locationInImageSpace: Point2[];
+  reprojectionErrors: Point2[];
+  optimisedCameraToObject: Pose3d;
 }
 
 export interface CameraCalibrationResult {
@@ -113,7 +113,7 @@ export interface CameraCalibrationResult {
   cameraIntrinsics: JsonMat;
   // TODO rename to be Right
   cameraExtrinsics: JsonMat;
-  observations: BoardObservation[]
+  observations: BoardObservation[];
 }
 
 export interface ConfigurableCameraSettings {
@@ -156,19 +156,46 @@ export const PlaceholderCameraSettings: CameraSettings = {
       resolution: { width: 1920, height: 1080 },
       fps: 60,
       pixelFormat: "RGB"
-    },
-    {
-      resolution: { width: 1280, height: 720 },
-      fps: 60,
-      pixelFormat: "RGB"
-    },
+    }
+    // {
+    //   resolution: { width: 1280, height: 720 },
+    //   fps: 60,
+    //   pixelFormat: "RGB"
+    // },
+    // {
+    //   resolution: { width: 640, height: 480 },
+    //   fps: 30,
+    //   pixelFormat: "RGB"
+    // }
+  ],
+  completeCalibrations: [
     {
-      resolution: { width: 640, height: 480 },
-      fps: 30,
-      pixelFormat: "RGB"
+      resolution: { width: 1920, height: 1080 },
+      cameraIntrinsics: {
+        rows: 1,
+        cols: 1,
+        type: 1,
+        data: [1, 2, 3, 4, 5, 6, 7, 8, 9]
+      },
+      cameraExtrinsics: {
+        rows: 1,
+        cols: 1,
+        type: 1,
+        data: [10, 11, 12, 13]
+      },
+      observations: [
+        {
+          locationInImageSpace: [{ x: 123, y: 456 }],
+          locationInObjectSpace: [{ x: 0, y: 0, z: 0 }],
+          optimisedCameraToObject: {
+            translation: { x: 1, y: 2, z: 3 },
+            rotation: { quaternion: { W: 1, X: 0, Y: 0, Z: 0 } }
+          },
+          reprojectionErrors: [{ x: 1, y: 1 }]
+        }
+      ]
     }
   ],
-  completeCalibrations: [],
   pipelineNicknames: ["Placeholder Pipeline"],
   lastPipelineIndex: 0,
   currentPipelineIndex: 0,
diff --git a/photon-client/src/types/WebsocketDataTypes.ts b/photon-client/src/types/WebsocketDataTypes.ts
index 3c4cd1bc5a..b62d2e788e 100644
--- a/photon-client/src/types/WebsocketDataTypes.ts
+++ b/photon-client/src/types/WebsocketDataTypes.ts
@@ -1,4 +1,11 @@
-import type { CameraCalibrationResult, GeneralSettings, LightingSettings, LogLevel, MetricData, NetworkSettings } from "@/types/SettingTypes";
+import type {
+  CameraCalibrationResult,
+  GeneralSettings,
+  LightingSettings,
+  LogLevel,
+  MetricData,
+  NetworkSettings
+} from "@/types/SettingTypes";
 import type { ActivePipelineSettings } from "@/types/PipelineTypes";
 import type { AprilTagFieldLayout, PipelineResult } from "@/types/PhotonTrackingTypes";
 
diff --git a/photon-core/src/main/java/org/photonvision/common/util/ColorHelper.java b/photon-core/src/main/java/org/photonvision/common/util/ColorHelper.java
index b36d85980b..1d6fbaa3b6 100644
--- a/photon-core/src/main/java/org/photonvision/common/util/ColorHelper.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/ColorHelper.java
@@ -24,6 +24,7 @@ public class ColorHelper {
     public static Scalar colorToScalar(Color color) {
         return new Scalar(color.getBlue(), color.getGreen(), color.getRed());
     }
+
     public static Scalar colorToScalar(Color color, double alpha) {
         return new Scalar(color.getBlue(), color.getGreen(), color.getRed(), alpha);
     }
diff --git a/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java b/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java
index 62d23d3c70..85e5121957 100644
--- a/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/math/MathUtils.java
@@ -24,14 +24,10 @@
 import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.math.geometry.Translation3d;
-import edu.wpi.first.math.numbers.N3;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.util.WPIUtilJNI;
 import java.util.Arrays;
 import java.util.List;
-import org.ejml.data.DMatrixRMaj;
-import org.ejml.dense.row.factory.DecompositionFactory_DDRM;
-import org.ejml.simple.SimpleMatrix;
 import org.opencv.core.Core;
 import org.opencv.core.Mat;
 
diff --git a/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java b/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java
index 7c0de1d024..41d77a6eaa 100644
--- a/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java
+++ b/photon-core/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java
@@ -23,12 +23,8 @@
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import com.fasterxml.jackson.annotation.JsonProperty;
 import com.fasterxml.jackson.databind.JsonNode;
-
 import edu.wpi.first.math.geometry.Pose3d;
-
-import java.util.Arrays;
 import java.util.List;
-
 import org.opencv.core.Mat;
 import org.opencv.core.MatOfDouble;
 import org.opencv.core.Point;
@@ -41,22 +37,21 @@ public class CameraCalibrationCoefficients implements Releasable {
     public static final class BoardObservation {
         @JsonProperty("locationInObjectSpace")
         public List<Point3> locationInObjectSpace; // Expected feature 3d location in the camera frame
+
         @JsonProperty("locationInImageSpace")
         public List<Point> locationInImageSpace; // Observed location in pixel space
+
         @JsonProperty("reprojectionErrors")
         public List<Point> reprojectionErrors; // (measured location in pixels) - (expected from FK)
+
         public Pose3d optimisedCameraToObject; // Solver optimized board poses
 
         @JsonCreator
         public BoardObservation(
-            @JsonProperty("locationInObjectSpace")
-            List<Point3> locationInObjectSpace, 
-            @JsonProperty("locationInImageSpace")
-            List<Point> locationInImageSpace,
-            @JsonProperty("reprojectionErrors")
-            List<Point> reprojectionErrors,
-            @JsonProperty("optimisedCameraToObject")
-            Pose3d optimisedCameraToObject) {
+                @JsonProperty("locationInObjectSpace") List<Point3> locationInObjectSpace,
+                @JsonProperty("locationInImageSpace") List<Point> locationInImageSpace,
+                @JsonProperty("reprojectionErrors") List<Point> reprojectionErrors,
+                @JsonProperty("optimisedCameraToObject") Pose3d optimisedCameraToObject) {
             this.locationInObjectSpace = locationInObjectSpace;
             this.locationInImageSpace = locationInImageSpace;
             this.reprojectionErrors = reprojectionErrors;
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
index c33337fa6c..d0406e09f4 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
@@ -216,8 +216,9 @@ public void setExposure(double exposure) {
                     } else if (camera.getProperty("exposure_time_absolute").getKind() != Kind.kNone) {
                         // Seems like the name changed at some point in v4l? set it instead
                         var prop = camera.getProperty("exposure_time_absolute");
-                        var exposure_manual_val = MathUtils.map(Math.round(exposure), 0, 100, prop.getMin(), prop.getMax());
-                        prop.set((int)exposure_manual_val);
+                        var exposure_manual_val =
+                                MathUtils.map(Math.round(exposure), 0, 100, prop.getMin(), prop.getMax());
+                        prop.set((int) exposure_manual_val);
                     } else {
                         scaledExposure = (int) Math.round(exposure);
                         logger.debug("Setting camera exposure to " + scaledExposure);
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java
index 5625b01ac7..dcbda9b4ff 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java
@@ -19,25 +19,21 @@
 
 import com.fasterxml.jackson.core.JsonProcessingException;
 import com.fasterxml.jackson.databind.ObjectMapper;
-
-import edu.wpi.first.math.geometry.Pose3d;
-
 import java.util.ArrayList;
 import java.util.List;
 import java.util.stream.Collectors;
 import org.apache.commons.lang3.tuple.Triple;
 import org.opencv.calib3d.Calib3d;
+import org.opencv.core.*;
 import org.opencv.core.Mat;
 import org.opencv.core.MatOfDouble;
 import org.opencv.core.Size;
-import org.opencv.core.*;
-import org.opencv.imgproc.Imgproc;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.math.MathUtils;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
-import org.photonvision.vision.calibration.JsonMat;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients.BoardObservation;
+import org.photonvision.vision.calibration.JsonMat;
 import org.photonvision.vision.pipe.CVPipe;
 
 public class Calibrate3dPipe
@@ -118,7 +114,7 @@ protected CameraCalibrationCoefficients process(List<Triple<Size, Mat, Mat>> in)
 
         JsonMat cameraMatrixMat = JsonMat.fromMat(cameraMatrix);
         JsonMat distortionCoefficientsMat = JsonMat.fromMat(distortionCoefficients);
-        
+
         // For each observation, calc reprojection error
         Mat jac_temp = new Mat();
         List<BoardObservation> observations = new ArrayList<>();
@@ -126,11 +122,19 @@ protected CameraCalibrationCoefficients process(List<Triple<Size, Mat, Mat>> in)
             MatOfPoint3f i_objPtsNative = new MatOfPoint3f();
             objPoints.get(i).copyTo(i_objPtsNative);
             var i_objPts = i_objPtsNative.toList();
-            var i_imgPts = ((MatOfPoint2f)imgPts.get(i)).toList();
-            
+            var i_imgPts = ((MatOfPoint2f) imgPts.get(i)).toList();
+
             var img_pts_reprojected = new MatOfPoint2f();
             try {
-                Calib3d.projectPoints(i_objPtsNative, rvecs.get(i), tvecs.get(i), cameraMatrix, distortionCoefficients, img_pts_reprojected, jac_temp, 0.0);
+                Calib3d.projectPoints(
+                        i_objPtsNative,
+                        rvecs.get(i),
+                        tvecs.get(i),
+                        cameraMatrix,
+                        distortionCoefficients,
+                        img_pts_reprojected,
+                        jac_temp,
+                        0.0);
             } catch (Exception e) {
                 e.printStackTrace();
                 continue;
@@ -151,7 +155,6 @@ protected CameraCalibrationCoefficients process(List<Triple<Size, Mat, Mat>> in)
             observations.add(new BoardObservation(i_objPts, i_imgPts, reprojectionError, camToBoard));
         }
         jac_temp.release();
-         
 
         // Standard deviation of results
         try {
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/DrawCalibrationPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/DrawCalibrationPipe.java
index 16b91a216f..a1207030a9 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/DrawCalibrationPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/DrawCalibrationPipe.java
@@ -33,37 +33,29 @@ public class DrawCalibrationPipe
                 Pair<Mat, List<TrackedTarget>>, DrawCalibrationPipe.DrawCalibrationPipeParams> {
     @Override
     protected Void process(Pair<Mat, List<TrackedTarget>> in) {
-
         var image = in.getLeft();
 
         for (var target : in.getRight()) {
-
             for (var c : target.getTargetCorners()) {
-                c = new Point(c.x / params.divisor.value.doubleValue(), c.y / params.divisor.value.doubleValue());
+                c =
+                        new Point(
+                                c.x / params.divisor.value.doubleValue(), c.y / params.divisor.value.doubleValue());
                 var r = 4;
                 var r2 = r / Math.sqrt(2);
                 var color = ColorHelper.colorToScalar(Color.RED, 0.4);
                 Imgproc.circle(image, c, r, color, 1);
-                Imgproc.line(image, 
-                    new Point(c.x-r2, c.y-r2),
-                    new Point(c.x+r2, c.y+r2),
-                    color);
-                Imgproc.line(image, 
-                    new Point(c.x+r2, c.y-r2),
-                    new Point(c.x-r2, c.y+r2),
-                    color);
+                Imgproc.line(image, new Point(c.x - r2, c.y - r2), new Point(c.x + r2, c.y + r2), color);
+                Imgproc.line(image, new Point(c.x + r2, c.y - r2), new Point(c.x - r2, c.y + r2), color);
             }
-
         }
-            
+
         return null;
     }
 
     public static class DrawCalibrationPipeParams {
         private final FrameDivisor divisor;
 
-        public DrawCalibrationPipeParams(
-                FrameDivisor divisor) {
+        public DrawCalibrationPipeParams(FrameDivisor divisor) {
             this.divisor = divisor;
         }
     }
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java
index b1de0e7ea2..2c576f562d 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java
@@ -17,8 +17,6 @@
 
 package org.photonvision.vision.pipe.impl;
 
-import java.util.Arrays;
-import java.util.stream.Collectors;
 import org.apache.commons.lang3.tuple.Pair;
 import org.apache.commons.lang3.tuple.Triple;
 import org.opencv.calib3d.Calib3d;
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java
index 105e68525f..06bfee838b 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java
@@ -20,10 +20,8 @@
 import edu.wpi.first.math.util.Units;
 import java.nio.file.Path;
 import java.util.ArrayList;
-import java.util.Collections;
 import java.util.List;
 import java.util.stream.Collectors;
-
 import org.apache.commons.lang3.tuple.Pair;
 import org.apache.commons.lang3.tuple.Triple;
 import org.opencv.core.Mat;
@@ -38,7 +36,6 @@
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.SerializationUtils;
 import org.photonvision.common.util.file.FileUtils;
-import org.photonvision.targeting.MultiTargetPNPResult;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients.BoardObservation;
 import org.photonvision.vision.frame.Frame;
@@ -158,12 +155,13 @@ protected CVPipelineResult process(Frame frame, Calibration3dPipelineSettings se
                 // new MultiTargetPNPResult(),
                 new Frame(
                         new CVMat(), outputColorCVMat, FrameThresholdType.NONE, frame.frameStaticProperties),
-                getCornersList()
-                        );
+                getCornersList());
     }
 
     List<List<Point>> getCornersList() {
-        return foundCornersList.stream().map(it -> ((MatOfPoint2f)it.getRight()).toList()).collect(Collectors.toList());
+        return foundCornersList.stream()
+                .map(it -> ((MatOfPoint2f) it.getRight()).toList())
+                .collect(Collectors.toList());
     }
 
     public void deleteSavedImages() {
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java
index c2ed46c26e..bf5b73a4ea 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java
@@ -115,7 +115,8 @@ protected void setPipeParams(
         resizeImagePipe.setParams(
                 new ResizeImagePipe.ResizeImageParams(settings.streamingFrameDivisor));
 
-        drawCalibrationPipe.setParams(new DrawCalibrationPipe.DrawCalibrationPipeParams(settings.streamingFrameDivisor));
+        drawCalibrationPipe.setParams(
+                new DrawCalibrationPipe.DrawCalibrationPipeParams(settings.streamingFrameDivisor));
     }
 
     public CVPipelineResult process(
@@ -177,13 +178,13 @@ public CVPipelineResult process(
                     pipeProfileNanos[8] = 0;
                 }
             } else if (settings instanceof Calibration3dPipelineSettings) {
-                    pipeProfileNanos[5] = 0;
-                    pipeProfileNanos[6] = 0;
+                pipeProfileNanos[5] = 0;
+                pipeProfileNanos[6] = 0;
 
-                    var drawOnInputResult = drawCalibrationPipe.run(Pair.of(outMat, targetsToDraw));
-                    sumPipeNanosElapsed += pipeProfileNanos[7] = drawOnInputResult.nanosElapsed;
+                var drawOnInputResult = drawCalibrationPipe.run(Pair.of(outMat, targetsToDraw));
+                sumPipeNanosElapsed += pipeProfileNanos[7] = drawOnInputResult.nanosElapsed;
 
-                    pipeProfileNanos[8] = 0;
+                pipeProfileNanos[8] = 0;
             } else if (settings instanceof AprilTagPipelineSettings) {
                 // If we are doing apriltags...
                 if (settings.solvePNPEnabled) {
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CalibrationPipelineResult.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CalibrationPipelineResult.java
index 3eefb597da..7ad8ff83cf 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CalibrationPipelineResult.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/result/CalibrationPipelineResult.java
@@ -19,19 +19,17 @@
 
 import java.util.List;
 import java.util.stream.Collectors;
-
 import org.opencv.core.Point;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.target.TrackedTarget;
 
-
 public class CalibrationPipelineResult extends CVPipelineResult {
-
     private static List<TrackedTarget> cornersToTarget(List<List<Point>> corners) {
         return corners.stream().map(TrackedTarget::new).collect(Collectors.toList());
     }
 
-    public CalibrationPipelineResult(double latencyNanos, double fps, Frame outputFrame, List<List<Point>> corners) {
+    public CalibrationPipelineResult(
+            double latencyNanos, double fps, Frame outputFrame, List<List<Point>> corners) {
         super(latencyNanos, fps, cornersToTarget(corners), outputFrame);
     }
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
index 2faf1593f9..982cd64864 100644
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
@@ -38,7 +38,6 @@
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.SerializationUtils;
-import org.photonvision.common.util.file.JacksonUtils;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.camera.CameraQuirk;
 import org.photonvision.vision.camera.LibcameraGpuSource;
diff --git a/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java b/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java
index 87de685cd5..c10927f0da 100644
--- a/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java
+++ b/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java
@@ -148,7 +148,8 @@ public TrackedTarget(
 
     public TrackedTarget(List<Point> corners) {
         m_mainContour = new Contour(new MatOfPoint());
-        m_mainContour.mat.fromList(List.of(new Point(0, 0), new Point(0, 1), new Point(1, 0)));;
+        m_mainContour.mat.fromList(List.of(new Point(0, 0), new Point(0, 1), new Point(1, 0)));
+        ;
         this.setTargetCorners(corners);
         m_targetOffsetPoint = new Point();
         m_robotOffsetPoint = new Point();