diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
index c0167d0e9..d7b45bacf 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
@@ -67,7 +67,7 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
         speckleRejectPipe = new SpeckleRejectPipe(settings.speckle.doubleValue());
         groupContoursPipe = new GroupContoursPipe(settings.targetGroup, settings.targetIntersection);
         sortContoursPipe = new SortContoursPipe(settings.sortMode, camProps, 5);
-        collect2dTargetsPipe = new Collect2dTargetsPipe(settings.calibrationSettings, camProps);
+        collect2dTargetsPipe = new Collect2dTargetsPipe(settings.calibrationMode,settings.point,settings.dualTargetCalibrationM,settings.dualTargetCalibrationB, camProps);
         draw2dContoursSettings = new Draw2dContoursPipe.Draw2dContoursSettings();
         draw2dCrosshairPipeSettings = new Draw2dCrosshairPipe.Draw2dCrosshairPipeSettings();
         // TODO: make settable from UI? config?
@@ -78,7 +78,7 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
         draw2dContoursSettings.showMultiple = settings.multiple;
         draw2dCrosshairPipeSettings.showCrosshair=true;
         draw2dContoursPipe = new Draw2dContoursPipe(draw2dContoursSettings, camProps);
-        draw2dCrosshairPipe=new Draw2dCrosshairPipe(draw2dCrosshairPipeSettings,settings.calibrationSettings);
+        draw2dCrosshairPipe=new Draw2dCrosshairPipe(draw2dCrosshairPipeSettings,settings.calibrationMode,settings.point,settings.dualTargetCalibrationM,settings.dualTargetCalibrationB);
         outputMatPipe = new OutputMatPipe(settings.isBinary);
     }
 
@@ -115,9 +115,9 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
         speckleRejectPipe.setConfig(settings.speckle.doubleValue());
         groupContoursPipe.setConfig(settings.targetGroup, settings.targetIntersection);
         sortContoursPipe.setConfig(settings.sortMode, camProps, 5);
-        collect2dTargetsPipe.setConfig(settings.calibrationSettings, camProps);
+        collect2dTargetsPipe = new Collect2dTargetsPipe(settings.calibrationMode,settings.point,settings.dualTargetCalibrationM,settings.dualTargetCalibrationB, camProps);
         draw2dContoursPipe.setConfig(settings.multiple, camProps);
-        draw2dCrosshairPipe.setConfig(true,settings.calibrationSettings);
+        draw2dCrosshairPipe.setConfig(draw2dCrosshairPipeSettings,settings.calibrationMode,settings.point,settings.dualTargetCalibrationM,settings.dualTargetCalibrationB);
         outputMatPipe.setConfig(settings.isBinary);
 
         long pipeInitTimeNanos = System.nanoTime() - pipelineStartTimeNanos;
diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2dSettings.java b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2dSettings.java
index f1ff91576..2f3be3ed8 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2dSettings.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2dSettings.java
@@ -23,16 +23,8 @@ public class CVPipeline2dSettings extends CVPipelineSettings {
     public boolean multiple = false;
     public TargetGroup targetGroup = TargetGroup.Single;
     public TargetIntersection targetIntersection = TargetIntersection.Up;
-//    public List<Number> point = Arrays.asList(0, 0);
-//    public CalibrationMode calibrationMode = CalibrationMode.None;
-//    public double dualTargetCalibrationM = 1;
-//    public double dualTargetCalibrationB = 0;
-    public Calibration calibrationSettings = new Calibration();
-    public static class Calibration
-    {
-        public CalibrationMode calibrationMode=CalibrationMode.None;
-        public List<Number> calibrationPoint= Arrays.asList(0,0);
-        public double calibrationM=1;
-        public double calibrationB=0;
-    }
+    public List<Number> point = Arrays.asList(0, 0);
+    public CalibrationMode calibrationMode = CalibrationMode.None;
+    public double dualTargetCalibrationM = 1;
+    public double dualTargetCalibrationB = 0;
 }
diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/DriverVisionPipeline.java b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/DriverVisionPipeline.java
index 4a0c8e3ca..e00c156e4 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/DriverVisionPipeline.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/DriverVisionPipeline.java
@@ -2,7 +2,9 @@ package com.chameleonvision.vision.pipeline;
 
 import com.chameleonvision.util.MemoryManager;
 import com.chameleonvision.vision.camera.CameraCapture;
+import com.chameleonvision.vision.enums.CalibrationMode;
 import com.chameleonvision.vision.pipeline.pipes.Draw2dContoursPipe;
+import com.chameleonvision.vision.pipeline.pipes.Draw2dCrosshairPipe;
 import com.chameleonvision.vision.pipeline.pipes.RotateFlipPipe;
 import org.apache.commons.lang3.tuple.Pair;
 import org.opencv.core.Mat;
@@ -15,8 +17,10 @@ import static com.chameleonvision.vision.pipeline.DriverVisionPipeline.DriverPip
 public class DriverVisionPipeline extends CVPipeline<DriverPipelineResult, CVPipelineSettings> {
 
     private RotateFlipPipe rotateFlipPipe;
-    private Draw2dContoursPipe draw2dContoursPipe;
-    private Draw2dContoursPipe.Draw2dContoursSettings draw2dContoursSettings = new Draw2dContoursPipe.Draw2dContoursSettings();
+//    private Draw2dContoursPipe draw2dContoursPipe;
+//    private Draw2dContoursPipe.Draw2dContoursSettings draw2dContoursSettings = new Draw2dContoursPipe.Draw2dContoursSettings();
+    private Draw2dCrosshairPipe drawCrosshairPipe;
+    private Draw2dCrosshairPipe.Draw2dCrosshairPipeSettings crosshairPipeSettings = new Draw2dCrosshairPipe.Draw2dCrosshairPipeSettings();
     private final List<RotatedRect> blankList = List.of();
 
     private final MemoryManager memoryManager = new MemoryManager(200, 20000);
@@ -30,6 +34,8 @@ public class DriverVisionPipeline extends CVPipeline<DriverPipelineResult, CVPip
     public void initPipeline(CameraCapture capture) {
         super.initPipeline(capture);
         rotateFlipPipe = new RotateFlipPipe(settings.rotationMode, settings.flipMode);
+        crosshairPipeSettings.showCrosshair=true;
+        drawCrosshairPipe = new Draw2dCrosshairPipe(crosshairPipeSettings, CalibrationMode.None,null,0,0);
 //        draw2dContoursSettings.showCrosshair = true;
 //        draw2dContoursPipe = new Draw2dContoursPipe(draw2dContoursSettings, cameraCapture.getProperties().getStaticProperties());
     }
@@ -38,14 +44,14 @@ public class DriverVisionPipeline extends CVPipeline<DriverPipelineResult, CVPip
     public DriverPipelineResult runPipeline(Mat inputMat) {
 
         rotateFlipPipe.setConfig(settings.rotationMode, settings.flipMode);
-        draw2dContoursPipe.setConfig(false, cameraCapture.getProperties().getStaticProperties());
+//        drawCrosshairPipe.setConfig(false, settings);
 
         Pair<Mat, Long> rotateFlipResult = rotateFlipPipe.run(inputMat);
-        Pair<Mat, Long> draw2dContoursResult = draw2dContoursPipe.run(Pair.of(rotateFlipResult.getLeft(), blankList));
-
+//        Pair<Mat, Long> draw2dContoursResult = draw2dContoursPipe.run(Pair.of(rotateFlipResult.getLeft(), blankList));
+        Pair<Mat, Long> draw2dCrosshairResult = drawCrosshairPipe.run(Pair.of(rotateFlipResult.getLeft(),null));
         memoryManager.run();
 
-        return new DriverPipelineResult(null, draw2dContoursResult.getLeft(), 0);
+        return new DriverPipelineResult(null, draw2dCrosshairResult.getLeft(), 0);
     }
 
     public static class DriverPipelineResult extends CVPipelineResult<Void> {
diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/Collect2dTargetsPipe.java b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/Collect2dTargetsPipe.java
index 7cd425694..d74afcad2 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/Collect2dTargetsPipe.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/Collect2dTargetsPipe.java
@@ -16,15 +16,20 @@ public class Collect2dTargetsPipe implements Pipe<Pair<List<RotatedRect>, Captur
 
 
     private CaptureStaticProperties camProps;
-    private CVPipeline2dSettings.Calibration calibrationSettings;
+    private CalibrationMode calibrationMode;
+    private List<Number> calibrationPoint;
+    private double calibrationM, calibrationB;
     private List<CVPipeline2d.Target2d> targets = new ArrayList<>();
 
-    public Collect2dTargetsPipe(CVPipeline2dSettings.Calibration calibrationSettings, CaptureStaticProperties camProps) {
-        setConfig(calibrationSettings,camProps);
+    public Collect2dTargetsPipe(CalibrationMode calibrationMode, List<Number> calibrationPoint, double calibrationM, double calibrationB, CaptureStaticProperties camProps) {
+        setConfig(calibrationMode, calibrationPoint, calibrationM, calibrationB, camProps);
     }
 
-    public void setConfig(CVPipeline2dSettings.Calibration calibrationSettings, CaptureStaticProperties camProps) {
-        this.calibrationSettings = calibrationSettings;
+    public void setConfig(CalibrationMode calibrationMode, List<Number> calibrationPoint, double calibrationM, double calibrationB, CaptureStaticProperties camProps) {
+        this.calibrationMode = calibrationMode;
+        this.calibrationPoint = calibrationPoint;
+        this.calibrationM = calibrationM;
+        this.calibrationB = calibrationB;
         this.camProps = camProps;
     }
 
@@ -40,18 +45,22 @@ public class Collect2dTargetsPipe implements Pipe<Pair<List<RotatedRect>, Captur
             for (RotatedRect r : input) {
                 CVPipeline2d.Target2d t = new CVPipeline2d.Target2d();
                 t.rawPoint = r;
-                switch (calibrationSettings.calibrationMode) {
+                switch (this.calibrationMode) {
+                    case Single:
+                        if (this.calibrationPoint.get(0) == null)
+                            this.calibrationPoint.set(0, camProps.centerX);
+                        if (this.calibrationPoint.get(1) == null)
+                            this.calibrationPoint.set(1, camProps.centerY);
+                        t.calibratedX = this.calibrationPoint.get(0).doubleValue();
+                        t.calibratedY = this.calibrationPoint.get(1).doubleValue();
+                        break;
                     case None:
                         t.calibratedX = camProps.centerX;
                         t.calibratedY = camProps.centerY;
                         break;
-                    case Single:
-                        t.calibratedX = calibrationSettings.calibrationPoint.get(0).doubleValue();
-                        t.calibratedY = calibrationSettings.calibrationPoint.get(1).doubleValue();
-                        break;
                     case Dual:
-                        t.calibratedX = (r.center.y - calibrationSettings.calibrationB) / calibrationSettings.calibrationM;
-                        t.calibratedY = (r.center.x * calibrationSettings.calibrationM) + calibrationSettings.calibrationB;
+                        t.calibratedX = (r.center.y - this.calibrationB) / this.calibrationM;
+                        t.calibratedY = (r.center.x * this.calibrationM) + this.calibrationB;
                         break;
                 }
 
diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/Draw2dCrosshairPipe.java b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/Draw2dCrosshairPipe.java
index f64b8df67..effea537c 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/Draw2dCrosshairPipe.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/Draw2dCrosshairPipe.java
@@ -2,6 +2,7 @@ package com.chameleonvision.vision.pipeline.pipes;
 
 import com.chameleonvision.util.Helpers;
 import com.chameleonvision.vision.camera.CaptureStaticProperties;
+import com.chameleonvision.vision.enums.CalibrationMode;
 import com.chameleonvision.vision.pipeline.CVPipeline2d;
 import com.chameleonvision.vision.pipeline.CVPipeline2dSettings;
 import org.apache.commons.lang3.tuple.Pair;
@@ -16,19 +17,23 @@ public class Draw2dCrosshairPipe implements Pipe<Pair<Mat, List<CVPipeline2d.Tar
 
     //Settings
     private Draw2dCrosshairPipeSettings crosshairSettings;
-    private CVPipeline2dSettings.Calibration calibrationSettings;
+    private CalibrationMode calibrationMode;
+    private List<Number> calibrationPoint;
+    private double calibrationM, calibrationB;
 
 
     private Point xMax = new Point(), xMin = new Point(), yMax = new Point(), yMin = new Point();
 
-    public Draw2dCrosshairPipe(Draw2dCrosshairPipeSettings crosshairSettings, CVPipeline2dSettings.Calibration calibrationSettings) {
-        this.crosshairSettings = crosshairSettings;
-        this.calibrationSettings = calibrationSettings;
+    public Draw2dCrosshairPipe(Draw2dCrosshairPipeSettings crosshairSettings, CalibrationMode calibrationMode, List<Number> calibrationPoint, double calibrationM, double calibrationB) {
+        setConfig(crosshairSettings, calibrationMode, calibrationPoint, calibrationM, calibrationB);
     }
 
-    public void setConfig(boolean showCrosshair, CVPipeline2dSettings.Calibration calibrationSettings) {
-        this.crosshairSettings.showCrosshair = showCrosshair;
-        this.calibrationSettings = calibrationSettings;
+    public void setConfig(Draw2dCrosshairPipeSettings crosshairSettings, CalibrationMode calibrationMode, List<Number> calibrationPoint, double calibrationM, double calibrationB) {
+        this.crosshairSettings = crosshairSettings;
+        this.calibrationMode = calibrationMode;
+        this.calibrationPoint = calibrationPoint;
+        this.calibrationM = calibrationM;
+        this.calibrationB = calibrationB;
     }
 
     @Override
@@ -40,23 +45,24 @@ public class Draw2dCrosshairPipe implements Pipe<Pair<Mat, List<CVPipeline2d.Tar
 
         drawCrosshair:
         if (this.crosshairSettings.showCrosshair) {
-            switch (calibrationSettings.calibrationMode) {
-                case None:
-                    x = image.rows() / 2;
-                    y = image.cols() / 2;
-                    break;
+            x = image.cols() / 2;
+            y = image.rows() / 2;
+            switch (this.calibrationMode) {
                 case Single:
-                    x = targets.get(0).calibratedX;
-                    y = targets.get(0).calibratedY;
+                    if (this.calibrationPoint.get(0) == null)
+                        this.calibrationPoint.set(0, image.cols()/2);
+                    if (this.calibrationPoint.get(1) == null)
+                        this.calibrationPoint.set(1, image.rows()/2);
+                    x = this.calibrationPoint.get(0).intValue();
+                    y = this.calibrationPoint.get(1).intValue();
                     break;
                 case Dual:
                     if (targets != null && !targets.isEmpty()) {
                         x = targets.get(0).calibratedX;
                         y = targets.get(0).calibratedY;
                         //TODO dual point calibration crosshair checks
-                    } else {
+                    } else
                         break drawCrosshair;
-                    }
                     break;
             }
             xMax.set(new double[]{x + scale, y});