diff --git a/LICENSE_MathUtils_orthogonalizeRotationMatrix.txt b/LICENSE_MathUtils_orthogonalizeRotationMatrix.txt
new file mode 100644
index 000000000..3b4929683
--- /dev/null
+++ b/LICENSE_MathUtils_orthogonalizeRotationMatrix.txt
@@ -0,0 +1,23 @@
+Copyright (c) 2022 Photon Vision. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+   * Neither the name of FIRST, WPILib, nor the names of other WPILib
+     contributors may be used to endorse or promote products derived from
+     this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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 8e8d1ef40..cd035555f 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
@@ -104,7 +104,7 @@ public class MathUtils {
             return list.get(0); // always return single value for n = 1
         }
 
-        // Sort array.  We avoid a third copy here by just creating the
+        // Sort array. We avoid a third copy here by just creating the
         // list directly.
         double[] sorted = new double[list.size()];
         for (int i = 0; i < list.size(); i++) {
@@ -184,11 +184,16 @@ public class MathUtils {
     }
 
     /*
-     * The AprilTag pose rotation outputs are X left, Y down, Z away from the tag with the tag facing
-     * the camera upright and the camera facing the target parallel to the floor. But our OpenCV
-     * solvePNP code would have X left, Y up, Z towards the camera with the target facing the camera
-     * and both parallel to the floor. So we apply a base rotation to the rotation component of the
-     * apriltag pose to make it consistent with the EDN system that OpenCV uses, internally a 180
+     * The AprilTag pose rotation outputs are X left, Y down, Z away from the tag
+     * with the tag facing
+     * the camera upright and the camera facing the target parallel to the floor.
+     * But our OpenCV
+     * solvePNP code would have X left, Y up, Z towards the camera with the target
+     * facing the camera
+     * and both parallel to the floor. So we apply a base rotation to the rotation
+     * component of the
+     * apriltag pose to make it consistent with the EDN system that OpenCV uses,
+     * internally a 180
      * rotation about the X axis
      */
     private static final Rotation3d APRILTAG_BASE_ROTATION =
@@ -213,6 +218,9 @@ public class MathUtils {
      * Orthogonalize an input matrix using a QR decomposition. QR decompositions decompose a
      * rectangular matrix 'A' such that 'A=QR', where Q is the closest orthogonal matrix to the input,
      * and R is an upper triangular matrix.
+     *
+     * <p>The following function is released under the BSD license avaliable in
+     * LICENSE_MathUtils_orthogonalizeRotationMatrix.txt.
      */
     public static Matrix<N3, N3> orthogonalizeRotationMatrix(Matrix<N3, N3> input) {
         var a = DecompositionFactory_DDRM.qr(3, 3);