diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/DrawSolvePNPPipe.java b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/DrawSolvePNPPipe.java
index 3eaad04fb..da724ecbd 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/DrawSolvePNPPipe.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/DrawSolvePNPPipe.java
@@ -83,6 +83,7 @@ public class DrawSolvePNPPipe implements Pipe<Pair<Mat, List<StandardCVPipeline.
                 var point = new Point(it.imageCornerPoints.get(i, 0));
                 Imgproc.circle(image, point, 4, new Scalar(0, 255, 0), 5);
             }
+            Imgproc.circle(image, it.minAreaRect.center, 4, new Scalar(200, 0, 100), 5);
 
             // sketch out floor
             Imgproc.line(image, pts.get(0), pts.get(1), new Scalar(0, 255, 0), 3);
diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java
index 9a3e32f54..d3cc10146 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java
@@ -107,7 +107,8 @@ public class SolvePNPPipe implements Pipe<List<StandardCVPipeline.TrackedTarget>
         long processStartNanos = System.nanoTime();
         poseList.clear();
         for(var target: targets) {
-            var corners = (target.leftRightDualTargetPair != null) ? findCorner2019(target) : findBoundingBoxCorners(target);
+            var corners = find2020VisionTarget(target);// (target.leftRightDualTargetPair != null) ? findCorner2019(target) : findBoundingBoxCorners(target);
+            if(corners == null) continue;
             var pose = calculatePose(corners, target);
             if(pose != null) poseList.add(pose);
         }