diff --git a/photon-server/src/main/java/org/photonvision/common/util/TestUtils.java b/photon-server/src/main/java/org/photonvision/common/util/TestUtils.java
index 19c0bf973..bd5920758 100644
--- a/photon-server/src/main/java/org/photonvision/common/util/TestUtils.java
+++ b/photon-server/src/main/java/org/photonvision/common/util/TestUtils.java
@@ -161,6 +161,10 @@ public class TestUtils {
         return getPowercellPath().resolve(image.path);
     }
 
+    public static Path getDotBoardImagesPath() {
+        return getResourcesFolderPath().resolve("calibrationBoardImages");
+    }
+
     public static void loadLibraries() {
         try {
             CameraServerCvJNI.forceLoad();
diff --git a/photon-server/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java b/photon-server/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java
index 628fc7788..8dd6b5b03 100644
--- a/photon-server/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java
+++ b/photon-server/src/main/java/org/photonvision/vision/calibration/CameraCalibrationCoefficients.java
@@ -35,14 +35,19 @@ public class CameraCalibrationCoefficients implements Releasable {
     @JsonProperty("cameraExtrinsics")
     public final JsonMat cameraExtrinsics;
 
+    @JsonProperty("perViewErrors")
+    public final double[] perViewErrors;
+
     @JsonCreator
     public CameraCalibrationCoefficients(
             @JsonProperty("resolution") Size resolution,
             @JsonProperty("cameraIntrinsics") JsonMat cameraIntrinsics,
-            @JsonProperty("cameraExtrinsics") JsonMat cameraExtrinsics) {
+            @JsonProperty("cameraExtrinsics") JsonMat cameraExtrinsics,
+            @JsonProperty("perViewErrors") double[] perViewErrors) {
         this.resolution = resolution;
         this.cameraIntrinsics = cameraIntrinsics;
         this.cameraExtrinsics = cameraExtrinsics;
+        this.perViewErrors = perViewErrors;
     }
 
     @JsonIgnore
@@ -55,6 +60,11 @@ public class CameraCalibrationCoefficients implements Releasable {
         return cameraExtrinsics.getAsMatOfDouble();
     }
 
+    @JsonIgnore
+    public double[] getPerViewErrors() {
+        return perViewErrors;
+    }
+
     @Override
     public void release() {
         cameraIntrinsics.release();
diff --git a/photon-server/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java b/photon-server/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java
new file mode 100644
index 000000000..b0f705e9c
--- /dev/null
+++ b/photon-server/src/main/java/org/photonvision/vision/pipe/impl/Calibrate3dPipe.java
@@ -0,0 +1,118 @@
+/*
+ * Copyright (C) 2020 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.pipe.impl;
+
+import com.fasterxml.jackson.core.JsonProcessingException;
+import com.fasterxml.jackson.databind.ObjectMapper;
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.List;
+import org.opencv.calib3d.Calib3d;
+import org.opencv.core.*;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
+import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
+import org.photonvision.vision.calibration.JsonMat;
+import org.photonvision.vision.pipe.CVPipe;
+
+public class Calibrate3dPipe
+        extends CVPipe<
+                List<List<Mat>>, CameraCalibrationCoefficients, Calibrate3dPipe.CalibratePipeParams> {
+
+    // Camera matrix stores the center of the image and focal length across the x and y-axis in a 3x3
+    // matrix
+    private Mat cameraMatrix = new Mat();
+    // Stores the radical and tangential distortion in a 5x1 matrix
+    private MatOfDouble distortionCoefficients = new MatOfDouble();
+
+    // For loggging
+    private static final Logger logger = new Logger(Calibrate3dPipe.class, LogGroup.General);
+
+    // Translational and rotational matrices
+    private List<Mat> rvecs = new ArrayList<>();
+    private List<Mat> tvecs = new ArrayList<>();
+
+    // The Standard deviation of the estimated parameters
+    private Mat stdDeviationsIntrinsics = new Mat();
+    private Mat stdDeviationsExtrinsics = new Mat();
+
+    // Contains the re projection error of each snapshot by re projecting the corners we found and
+    // finding the euclidean distance between the actual corners.
+    private Mat perViewErrors = new Mat();
+
+    // RMS of the calibration
+    private double calibrationAccuracy;
+
+    /**
+    * Runs the process for the pipe.
+    *
+    * @param in Input for pipe processing.
+    * @return Result of processing.
+    */
+    @Override
+    protected CameraCalibrationCoefficients process(List<List<Mat>> in) {
+        try {
+            // FindBoardCorners pipe outputs all the image points, object points, and frames to calculate
+            // imageSize from, other parameters are output Mats
+            calibrationAccuracy =
+                    Calib3d.calibrateCameraExtended(
+                            in.get(1),
+                            in.get(2),
+                            new Size(in.get(0).get(0).width(), in.get(0).get(0).height()),
+                            cameraMatrix,
+                            distortionCoefficients,
+                            rvecs,
+                            tvecs,
+                            stdDeviationsIntrinsics,
+                            stdDeviationsExtrinsics,
+                            perViewErrors);
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+        JsonMat cameraMatrixMat = JsonMat.fromMat(cameraMatrix);
+        JsonMat distortionCoefficientsMat = JsonMat.fromMat(distortionCoefficients);
+        try {
+            // Print calibration successful
+            logger.info(
+                    "CALIBRATION SUCCESS (with accuracy "
+                            + calibrationAccuracy
+                            + ")! camMatrix: \n"
+                            + new ObjectMapper().writeValueAsString(cameraMatrixMat)
+                            + "\ndistortionCoeffs:\n"
+                            + new ObjectMapper().writeValueAsString(distortionCoefficientsMat)
+                            + "\n");
+        } catch (JsonProcessingException e) {
+            logger.error(Arrays.toString(e.getStackTrace()));
+        }
+        // Create a new CameraCalibrationCoefficients object to pass onto SolvePnP
+        double[] perViewErrorsArray =
+                new double[(int) perViewErrors.total() * perViewErrors.channels()];
+        perViewErrors.get(0, 0, perViewErrorsArray);
+        return new CameraCalibrationCoefficients(
+                params.resolution, cameraMatrixMat, distortionCoefficientsMat, perViewErrorsArray);
+    }
+
+    public static class CalibratePipeParams {
+        // Only needs resolution to pass onto CameraCalibrationCoefficients object.
+        private final Size resolution;
+
+        public CalibratePipeParams(Size resolution) {
+            this.resolution = resolution;
+        }
+    }
+}
diff --git a/photon-server/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java b/photon-server/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java
new file mode 100644
index 000000000..e72c6b00a
--- /dev/null
+++ b/photon-server/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java
@@ -0,0 +1,163 @@
+/*
+ * Copyright (C) 2020 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.pipe.impl;
+
+import java.util.ArrayList;
+import java.util.List;
+import org.apache.commons.lang3.tuple.Pair;
+import org.opencv.calib3d.Calib3d;
+import org.opencv.core.*;
+import org.opencv.imgproc.Imgproc;
+import org.photonvision.vision.pipe.CVPipe;
+
+public class FindBoardCornersPipe
+        extends CVPipe<List<Mat>, List<List<Mat>>, FindBoardCornersPipe.FindCornersPipeParams> {
+    MatOfPoint3f objectPoints = new MatOfPoint3f();
+    private List<Mat> listOfObjectPoints = new ArrayList<>();
+    private List<Mat> listOfImagePoints = new ArrayList<>();
+
+    Size imageSize;
+    Size patternSize;
+
+    private MatOfPoint2f boardCorners = new MatOfPoint2f();
+
+    // SubCornerPix params
+    private final Size windowSize = new Size(11, 11);
+    private final Size zeroZone = new Size(-1, -1);
+    private final TermCriteria criteria = new TermCriteria(3, 30, 0.001);
+
+    private boolean objectPointsCreated = false;
+
+    public void createObjectPoints() {
+        if (objectPointsCreated) return;
+
+        /*If using a chessboard, then the pattern size if the inner corners of the board. For example, the pattern size of a 9x9 chessboard would be 8x8
+        If using a dot board, then the pattern size width is the sum of the bottom 2 rows and the height is the left or right most column
+        For example, a 5x4 dot board would have a pattern size of 11x4
+        * */
+        this.patternSize = new Size(params.boardWidth, params.boardHeight);
+
+        // Chessboard and dot board have different 3D points to project as a dot board has alternating
+        // dots per column
+        if (params.isUsingChessboard) {
+            // Here we can create an NxN grid since a chessboard is rectangular
+            for (int i = 0; i < patternSize.height * patternSize.width; i++) {
+                objectPoints.push_back(
+                        new MatOfPoint3f(
+                                new Point3((double) i / patternSize.width, i % patternSize.width, 0.0f)));
+            }
+        } else {
+            // Here we need to alternate the amount of dots per column since a dot board is not
+            // rectangular and also by taking in account the grid size which should be in mm
+            for (int i = 0; i < patternSize.height; i++) {
+                for (int j = 0; j < patternSize.width; j++) {
+                    objectPoints.push_back(
+                            new MatOfPoint3f(
+                                    new Point3((2 * j + i % 2) * params.gridSize, i * params.gridSize, 0.0d)));
+                }
+            }
+        }
+        objectPointsCreated = true;
+    }
+
+    /**
+    * Runs the process for the pipe.
+    *
+    * @param in Input for pipe processing.
+    * @return All valid Mats for camera calibration
+    */
+    @Override
+    protected List<List<Mat>> process(List<Mat> in) {
+        // If we have less than 20 snapshots we need to return null
+        if (in.size() < 20) return null;
+        // Contains all valid Mats where a chessboard or dot board have been found
+        List<Mat> outputMats = new ArrayList<>();
+
+        // Create the object points
+        createObjectPoints();
+
+        for (Mat board : in) {
+            if (findBoardCorners(board).getLeft()) {
+                outputMats.add(board);
+            }
+        }
+        // Contains the list of valid Mats, object points and images points where objectPoints.size() =
+        // imagePoints.size()
+        return List.of(outputMats, listOfObjectPoints, listOfImagePoints);
+    }
+
+    public Pair<Boolean, Mat> findBoardCorners(Mat frame) {
+        createObjectPoints();
+
+        // Convert the frame to grayscale to increase contrast
+        Imgproc.cvtColor(frame, frame, Imgproc.COLOR_BGR2GRAY);
+        boolean boardFound;
+
+        if (params.isUsingChessboard) {
+            // This is for chessboards
+            boardFound = Calib3d.findChessboardCorners(frame, patternSize, boardCorners);
+        } else {
+            // For dot boards
+            boardFound =
+                    Calib3d.findCirclesGrid(
+                            frame, patternSize, boardCorners, Calib3d.CALIB_CB_ASYMMETRIC_GRID);
+        }
+
+        if (!boardFound) {
+            // If we can't find a chessboard/dot board, convert the frame back to BGR and return false.
+            Imgproc.cvtColor(frame, frame, Imgproc.COLOR_GRAY2BGR);
+
+            return Pair.of(false, null);
+        }
+        // Get the size of the frame
+        this.imageSize = new Size(frame.width(), frame.height());
+
+        // Add the 3D points and the points of the corners found
+        this.listOfObjectPoints.add(objectPoints);
+        this.listOfImagePoints.add(boardCorners);
+
+        // Do sub corner pix for drawing chessboard
+        Imgproc.cornerSubPix(frame, boardCorners, windowSize, zeroZone, criteria);
+
+        // convert back to BGR
+        Imgproc.cvtColor(frame, frame, Imgproc.COLOR_GRAY2BGR);
+        // draw the chessboard, doesn't have to be different for a dot board since it just re projects
+        // the corners we found
+        Mat chessboardDrawn = new Mat();
+        frame.copyTo(chessboardDrawn);
+        Calib3d.drawChessboardCorners(chessboardDrawn, patternSize, boardCorners, true);
+        boardCorners = new MatOfPoint2f();
+        return Pair.of(true, chessboardDrawn);
+    }
+
+    public static class FindCornersPipeParams {
+
+        private final int boardHeight;
+        private final int boardWidth;
+        private final boolean isUsingChessboard;
+        private final double gridSize;
+
+        public FindCornersPipeParams(
+                int boardHeight, int boardWidth, boolean isUsingChessboard, double gridSize) {
+            this.boardHeight = boardHeight;
+            this.boardWidth = boardWidth;
+            this.isUsingChessboard = isUsingChessboard;
+            this.gridSize = gridSize; // mm
+        }
+    }
+}
diff --git a/photon-server/src/main/java/org/photonvision/vision/pipeline/Calibration3dPipeline.java b/photon-server/src/main/java/org/photonvision/vision/pipeline/Calibration3dPipeline.java
index d71595546..19f7f6373 100644
--- a/photon-server/src/main/java/org/photonvision/vision/pipeline/Calibration3dPipeline.java
+++ b/photon-server/src/main/java/org/photonvision/vision/pipeline/Calibration3dPipeline.java
@@ -17,26 +17,124 @@
 
 package org.photonvision.vision.pipeline;
 
+import java.util.ArrayList;
+import java.util.List;
+import org.opencv.core.Mat;
+import org.photonvision.common.util.math.MathUtils;
+import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.frame.Frame;
 import org.photonvision.vision.frame.FrameStaticProperties;
+import org.photonvision.vision.opencv.CVMat;
+import org.photonvision.vision.pipe.CVPipeResult;
+import org.photonvision.vision.pipe.impl.Calibrate3dPipe;
+import org.photonvision.vision.pipe.impl.FindBoardCornersPipe;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
-import org.photonvision.vision.processes.PipelineManager;
 
-public class Calibration3dPipeline extends CVPipeline<CVPipelineResult, CVPipelineSettings> {
+public class Calibration3dPipeline
+        extends CVPipeline<CVPipelineResult, Calibration3dPipelineSettings> {
 
-    // TODO: Everything here
+    // Only 2 pipes needed, one for finding the board corners and one for actually calibrating
+    private final FindBoardCornersPipe findBoardCornersPipe = new FindBoardCornersPipe();
+    private final Calibrate3dPipe calibrate3dPipe = new Calibrate3dPipe();
+
+    // Getter methods have been set for calibrate and takeSnapshot
+    private int numSnapshots = 0;
+    private boolean calibrate = false;
+    private boolean takeSnapshot = false;
+
+    // BoardSnapshots is a list of all valid snapshots taken
+    private ArrayList<Mat> boardSnapshots;
+
+    // Output of the corners
+    private CVPipeResult<List<List<Mat>>> findCornersPipeOutput;
+
+    /// Output of the calibration, getter method is set for this.
+    private CVPipeResult<CameraCalibrationCoefficients> calibrationOutput;
 
     public Calibration3dPipeline() {
-        settings = new CVPipelineSettings();
-        settings.pipelineIndex = PipelineManager.CAL_3D_INDEX;
+        this.settings = new Calibration3dPipelineSettings();
+        this.boardSnapshots = new ArrayList<>();
     }
 
     @Override
     protected void setPipeParams(
-            FrameStaticProperties frameStaticProperties, CVPipelineSettings settings) {}
+            FrameStaticProperties frameStaticProperties, Calibration3dPipelineSettings settings) {
+        FindBoardCornersPipe.FindCornersPipeParams findCornersPipeParams =
+                new FindBoardCornersPipe.FindCornersPipeParams(
+                        settings.boardHeight,
+                        settings.boardWidth,
+                        settings.isUsingChessboard,
+                        settings.gridSize);
+        findBoardCornersPipe.setParams(findCornersPipeParams);
+
+        Calibrate3dPipe.CalibratePipeParams calibratePipeParams =
+                new Calibrate3dPipe.CalibratePipeParams(settings.resolution);
+        calibrate3dPipe.setParams(calibratePipeParams);
+    }
 
     @Override
-    protected CVPipelineResult process(Frame frame, CVPipelineSettings settings) {
-        return null;
+    protected CVPipelineResult process(Frame frame, Calibration3dPipelineSettings settings) {
+        // Set the pipe parameters
+        setPipeParams(frame.frameStaticProperties, settings);
+
+        long sumPipeNanosElapsed = 0L;
+
+        // hasEnough() is a getter method for numSnapshots that checks if there are more than 25
+        // snapshots
+        // calibrate will be true when it is get by it's putter method
+        if (hasEnough() && calibrate) {
+
+            /*Pass the board corners to the pipe, which will check again to see if all boards are valid
+            and returns the corresponding image and object points*/
+            findCornersPipeOutput = findBoardCornersPipe.apply(boardSnapshots);
+            // Increment the time it took to process all board pics to total elapsed time
+            sumPipeNanosElapsed += findCornersPipeOutput.nanosElapsed;
+
+            calibrationOutput = calibrate3dPipe.apply(findCornersPipeOutput.result);
+            sumPipeNanosElapsed += calibrationOutput.nanosElapsed;
+
+            calibrate = false;
+            numSnapshots = 0;
+            boardSnapshots.clear();
+
+        } else if (takeSnapshot) {
+            var hasBoard = findBoardCornersPipe.findBoardCorners(frame.image.getMat());
+            if (hasBoard.getLeft()) {
+                Mat board = new Mat();
+                frame.image.getMat().copyTo(board);
+                // See if mat is empty
+                boardSnapshots.add(board);
+
+                // Set snapshot to false and increment number of snapshots taken
+                takeSnapshot = false;
+                numSnapshots++;
+                return new CVPipelineResult(
+                        MathUtils.nanosToMillis(sumPipeNanosElapsed),
+                        null,
+                        new Frame(new CVMat(hasBoard.getRight()), frame.frameStaticProperties));
+            }
+        }
+
+        return new CVPipelineResult(MathUtils.nanosToMillis(sumPipeNanosElapsed), null, frame);
+    }
+
+    public boolean hasEnough() {
+        return numSnapshots >= 25;
+    }
+
+    public void startCalibration() {
+        calibrate = true;
+    }
+
+    public void takeSnapshot() {
+        takeSnapshot = true;
+    }
+
+    public double[] perViewErrors() {
+        return calibrationOutput.result.perViewErrors;
+    }
+
+    public CameraCalibrationCoefficients cameraCalibrationCoefficients() {
+        return calibrationOutput.result;
     }
 }
diff --git a/photon-server/src/main/java/org/photonvision/vision/pipeline/Calibration3dPipelineSettings.java b/photon-server/src/main/java/org/photonvision/vision/pipeline/Calibration3dPipelineSettings.java
new file mode 100644
index 000000000..7feace93f
--- /dev/null
+++ b/photon-server/src/main/java/org/photonvision/vision/pipeline/Calibration3dPipelineSettings.java
@@ -0,0 +1,29 @@
+/*
+ * Copyright (C) 2020 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 org.opencv.core.Size;
+
+public class Calibration3dPipelineSettings extends AdvancedPipelineSettings {
+    public int boardHeight = 0;
+    public int boardWidth = 0;
+    public boolean isUsingChessboard = true;
+    public double gridSize = 0;
+
+    public Size resolution = new Size(640, 480);
+}
diff --git a/photon-server/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java b/photon-server/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java
new file mode 100644
index 000000000..159f2d1bb
--- /dev/null
+++ b/photon-server/src/test/java/org/photonvision/vision/pipeline/Calibrate3dPipeTest.java
@@ -0,0 +1,109 @@
+/*
+ * Copyright (C) 2020 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 static org.junit.jupiter.api.Assertions.assertTrue;
+
+import java.io.File;
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.List;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+import org.opencv.core.Mat;
+import org.opencv.core.Size;
+import org.opencv.highgui.HighGui;
+import org.opencv.imgcodecs.Imgcodecs;
+import org.photonvision.common.util.TestUtils;
+import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
+import org.photonvision.vision.frame.Frame;
+import org.photonvision.vision.frame.FrameStaticProperties;
+import org.photonvision.vision.opencv.CVMat;
+import org.photonvision.vision.pipe.CVPipeResult;
+import org.photonvision.vision.pipe.impl.Calibrate3dPipe;
+import org.photonvision.vision.pipe.impl.FindBoardCornersPipe;
+
+public class Calibrate3dPipeTest {
+    @BeforeEach
+    public void Init() {
+        TestUtils.loadLibraries();
+    }
+
+    @Test
+    public void perViewErrorsTest() {
+        List<Mat> frames = new ArrayList<>();
+
+        File dir = new File(TestUtils.getDotBoardImagesPath().toAbsolutePath().toString());
+        File[] directoryListing = dir.listFiles();
+        for (var file : directoryListing) {
+            frames.add(Imgcodecs.imread(file.getAbsolutePath()));
+        }
+
+        FindBoardCornersPipe findBoardCornersPipe = new FindBoardCornersPipe();
+        findBoardCornersPipe.setParams(
+                new FindBoardCornersPipe.FindCornersPipeParams(11, 4, false, 15));
+        CVPipeResult<List<List<Mat>>> findBoardCornersPipeOutput = findBoardCornersPipe.apply(frames);
+
+        Calibrate3dPipe calibrate3dPipe = new Calibrate3dPipe();
+        calibrate3dPipe.setParams(new Calibrate3dPipe.CalibratePipeParams(new Size(640, 480)));
+
+        CVPipeResult<CameraCalibrationCoefficients> calibrate3dPipeOutput =
+                calibrate3dPipe.apply(findBoardCornersPipeOutput.result);
+        assertTrue(calibrate3dPipeOutput.result.perViewErrors.length > 0);
+        System.out.println(
+                "Per View Errors: " + Arrays.toString(calibrate3dPipeOutput.result.perViewErrors));
+    }
+
+    @Test
+    public void calibrationPipelineTest() {
+
+        File dir = new File(TestUtils.getDotBoardImagesPath().toAbsolutePath().toString());
+        File[] directoryListing = dir.listFiles();
+
+        Calibration3dPipeline calibration3dPipeline = new Calibration3dPipeline();
+        calibration3dPipeline.getSettings().boardHeight = 11;
+        calibration3dPipeline.getSettings().boardWidth = 4;
+        calibration3dPipeline.getSettings().isUsingChessboard = false;
+        calibration3dPipeline.getSettings().gridSize = 15;
+        calibration3dPipeline.getSettings().resolution = new Size(640, 480);
+
+        for (var file : directoryListing) {
+            calibration3dPipeline.takeSnapshot();
+            var output =
+                    calibration3dPipeline.run(
+                            new Frame(
+                                    new CVMat(Imgcodecs.imread(file.getAbsolutePath())),
+                                    new FrameStaticProperties(640, 480, 60)));
+            HighGui.imshow("Calibration Output Frame", output.outputFrame.image.getMat());
+        }
+
+        calibration3dPipeline.startCalibration();
+        calibration3dPipeline.run(
+                new Frame(
+                        new CVMat(Imgcodecs.imread(directoryListing[0].getAbsolutePath())),
+                        new FrameStaticProperties(640, 480, 60)));
+        System.out.println(
+                "Per View Errors: " + Arrays.toString(calibration3dPipeline.perViewErrors()));
+        System.out.println(
+                "Camera Intrinsics : "
+                        + calibration3dPipeline.cameraCalibrationCoefficients().cameraIntrinsics.toString());
+        System.out.println(
+                "Camera Extrinsics : "
+                        + calibration3dPipeline.cameraCalibrationCoefficients().cameraExtrinsics.toString());
+    }
+}
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_1.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_1.jpg
new file mode 100644
index 000000000..2f764f951
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_1.jpg differ
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_10.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_10.jpg
new file mode 100644
index 000000000..67600eab9
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_10.jpg differ
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_11.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_11.jpg
new file mode 100644
index 000000000..33818c2a0
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_11.jpg differ
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_12.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_12.jpg
new file mode 100644
index 000000000..f734032c2
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_12.jpg differ
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_13.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_13.jpg
new file mode 100644
index 000000000..f25c4c412
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_13.jpg differ
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_14.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_14.jpg
new file mode 100644
index 000000000..c3ed0f0a5
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_14.jpg differ
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_15.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_15.jpg
new file mode 100644
index 000000000..07a7e5545
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_15.jpg differ
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_16.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_16.jpg
new file mode 100644
index 000000000..bd116482a
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_16.jpg differ
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_17.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_17.jpg
new file mode 100644
index 000000000..db1314a56
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_17.jpg differ
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_18.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_18.jpg
new file mode 100644
index 000000000..9a4e3a8d8
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_18.jpg differ
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_19.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_19.jpg
new file mode 100644
index 000000000..6706d162b
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_19.jpg differ
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_2.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_2.jpg
new file mode 100644
index 000000000..06fa8772f
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_2.jpg differ
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_20.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_20.jpg
new file mode 100644
index 000000000..9d049d6d2
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_20.jpg differ
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_21.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_21.jpg
new file mode 100644
index 000000000..a894079ce
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_21.jpg differ
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_22.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_22.jpg
new file mode 100644
index 000000000..878cbdac7
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_22.jpg differ
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_23.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_23.jpg
new file mode 100644
index 000000000..0577aacb3
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_23.jpg differ
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_24.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_24.jpg
new file mode 100644
index 000000000..9581e84c3
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_24.jpg differ
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_25.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_25.jpg
new file mode 100644
index 000000000..14b00c5b4
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_25.jpg differ
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_26.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_26.jpg
new file mode 100644
index 000000000..cc4f6b886
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_26.jpg differ
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_3.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_3.jpg
new file mode 100644
index 000000000..60814f814
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_3.jpg differ
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_4.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_4.jpg
new file mode 100644
index 000000000..7f38b1040
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_4.jpg differ
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_5.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_5.jpg
new file mode 100644
index 000000000..fe59dcc9e
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_5.jpg differ
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_6.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_6.jpg
new file mode 100644
index 000000000..e1aae209b
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_6.jpg differ
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_8.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_8.jpg
new file mode 100644
index 000000000..0eb9452f5
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_8.jpg differ
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_9.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_9.jpg
new file mode 100644
index 000000000..86ce71f70
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_close_9.jpg differ
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_far_1.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_far_1.jpg
new file mode 100644
index 000000000..ed76c2c22
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_far_1.jpg differ
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_far_10.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_far_10.jpg
new file mode 100644
index 000000000..82f335bae
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_far_10.jpg differ
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_far_2.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_far_2.jpg
new file mode 100644
index 000000000..8434ad6a0
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_far_2.jpg differ
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_far_3.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_far_3.jpg
new file mode 100644
index 000000000..24d954547
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_far_3.jpg differ
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_far_4.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_far_4.jpg
new file mode 100644
index 000000000..35238eacd
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_far_4.jpg differ
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_far_5.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_far_5.jpg
new file mode 100644
index 000000000..da1b55574
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_far_5.jpg differ
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_far_6.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_far_6.jpg
new file mode 100644
index 000000000..f54341bda
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_far_6.jpg differ
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_far_7.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_far_7.jpg
new file mode 100644
index 000000000..d11248903
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_far_7.jpg differ
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_far_8.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_far_8.jpg
new file mode 100644
index 000000000..613cdada5
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_far_8.jpg differ
diff --git a/photon-server/src/test/resources/calibrationBoardImages/dotboard_far_9.jpg b/photon-server/src/test/resources/calibrationBoardImages/dotboard_far_9.jpg
new file mode 100644
index 000000000..f0fcf2355
Binary files /dev/null and b/photon-server/src/test/resources/calibrationBoardImages/dotboard_far_9.jpg differ