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 2e0f2f893..c0167d0e9 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
@@ -4,6 +4,7 @@ import com.chameleonvision.Main;
 import com.chameleonvision.util.MemoryManager;
 import com.chameleonvision.vision.camera.CameraCapture;
 import com.chameleonvision.vision.camera.CaptureStaticProperties;
+import com.chameleonvision.vision.enums.CalibrationMode;
 import com.chameleonvision.vision.pipeline.pipes.*;
 import org.apache.commons.lang3.tuple.Pair;
 import org.opencv.core.*;
@@ -66,19 +67,18 @@ 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.calibrationMode, settings.point,
-                settings.dualTargetCalibrationM, settings.dualTargetCalibrationB, camProps);
+        collect2dTargetsPipe = new Collect2dTargetsPipe(settings.calibrationSettings, camProps);
         draw2dContoursSettings = new Draw2dContoursPipe.Draw2dContoursSettings();
+        draw2dCrosshairPipeSettings = new Draw2dCrosshairPipe.Draw2dCrosshairPipeSettings();
         // TODO: make settable from UI? config?
         draw2dContoursSettings.showCentroid = false;
         draw2dContoursSettings.boxOutlineSize = 2;
         draw2dContoursSettings.showRotatedBox = true;
         draw2dContoursSettings.showMaximumBox = true;
         draw2dContoursSettings.showMultiple = settings.multiple;
-        draw2dContoursPipe = new Draw2dContoursPipe(draw2dContoursSettings, camProps);
-        draw2dCrosshairPipeSettings = new Draw2dCrosshairPipe.Draw2dCrosshairPipeSettings();
         draw2dCrosshairPipeSettings.showCrosshair=true;
-        draw2dCrosshairPipe=new Draw2dCrosshairPipe(draw2dCrosshairPipeSettings);
+        draw2dContoursPipe = new Draw2dContoursPipe(draw2dContoursSettings, camProps);
+        draw2dCrosshairPipe=new Draw2dCrosshairPipe(draw2dCrosshairPipeSettings,settings.calibrationSettings);
         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.calibrationMode, settings.point,
-                settings.dualTargetCalibrationM, settings.dualTargetCalibrationB, camProps);
+        collect2dTargetsPipe.setConfig(settings.calibrationSettings, camProps);
         draw2dContoursPipe.setConfig(settings.multiple, camProps);
+        draw2dCrosshairPipe.setConfig(true,settings.calibrationSettings);
         outputMatPipe.setConfig(settings.isBinary);
 
         long pipeInitTimeNanos = System.nanoTime() - pipelineStartTimeNanos;
@@ -211,4 +211,6 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
         public double area = 0.0;
         public RotatedRect rawPoint;
     }
+
+
 }
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 2f3be3ed8..f1ff91576 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
@@ -23,8 +23,16 @@ 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 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;
+    }
 }
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 572e9e6e2..7cd425694 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
@@ -3,6 +3,7 @@ package com.chameleonvision.vision.pipeline.pipes;
 import com.chameleonvision.vision.camera.CaptureStaticProperties;
 import com.chameleonvision.vision.pipeline.CVPipeline2d;
 import com.chameleonvision.vision.enums.CalibrationMode;
+import com.chameleonvision.vision.pipeline.CVPipeline2dSettings;
 import org.apache.commons.lang3.tuple.Pair;
 import org.apache.commons.math3.util.FastMath;
 import org.opencv.core.Mat;
@@ -13,29 +14,18 @@ import java.util.List;
 
 public class Collect2dTargetsPipe implements Pipe<Pair<List<RotatedRect>, CaptureStaticProperties>, List<CVPipeline2d.Target2d>> {
 
-    private CalibrationMode calibrationMode;
-    private CaptureStaticProperties camProps;
-    private List<Number> calibrationPoint;
-    private double calibrationM, calibrationB;
 
+    private CaptureStaticProperties camProps;
+    private CVPipeline2dSettings.Calibration calibrationSettings;
     private List<CVPipeline2d.Target2d> targets = new ArrayList<>();
 
-    public Collect2dTargetsPipe(CalibrationMode calibrationMode, List<Number> calibrationPoint,
-                                double calibrationM, double calibrationB, CaptureStaticProperties camProps) {
-        this.calibrationMode = calibrationMode;
-        this.camProps = camProps;
-        this.calibrationPoint = calibrationPoint;
-        this.calibrationM = calibrationM;
-        this.calibrationB = calibrationB;
+    public Collect2dTargetsPipe(CVPipeline2dSettings.Calibration calibrationSettings, CaptureStaticProperties camProps) {
+        setConfig(calibrationSettings,camProps);
     }
 
-    public void setConfig(CalibrationMode calibrationMode, List<Number> calibrationPoint,
-                          double calibrationM, double calibrationB, CaptureStaticProperties camProps) {
-        this.calibrationMode = calibrationMode;
+    public void setConfig(CVPipeline2dSettings.Calibration calibrationSettings, CaptureStaticProperties camProps) {
+        this.calibrationSettings = calibrationSettings;
         this.camProps = camProps;
-        this.calibrationPoint = calibrationPoint;
-        this.calibrationM = calibrationM;
-        this.calibrationB = calibrationB;
     }
 
     @Override
@@ -50,18 +40,18 @@ public class Collect2dTargetsPipe implements Pipe<Pair<List<RotatedRect>, Captur
             for (RotatedRect r : input) {
                 CVPipeline2d.Target2d t = new CVPipeline2d.Target2d();
                 t.rawPoint = r;
-                switch (calibrationMode) {
+                switch (calibrationSettings.calibrationMode) {
                     case None:
                         t.calibratedX = camProps.centerX;
                         t.calibratedY = camProps.centerY;
                         break;
                     case Single:
-                        t.calibratedX = calibrationPoint.get(0).doubleValue();
-                        t.calibratedY = calibrationPoint.get(1).doubleValue();
+                        t.calibratedX = calibrationSettings.calibrationPoint.get(0).doubleValue();
+                        t.calibratedY = calibrationSettings.calibrationPoint.get(1).doubleValue();
                         break;
                     case Dual:
-                        t.calibratedX = (r.center.y - calibrationB) / calibrationM;
-                        t.calibratedY = (r.center.x * calibrationM) + calibrationB;
+                        t.calibratedX = (r.center.y - calibrationSettings.calibrationB) / calibrationSettings.calibrationM;
+                        t.calibratedY = (r.center.x * calibrationSettings.calibrationM) + calibrationSettings.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 8d7f29afd..f64b8df67 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
@@ -3,6 +3,7 @@ package com.chameleonvision.vision.pipeline.pipes;
 import com.chameleonvision.util.Helpers;
 import com.chameleonvision.vision.camera.CaptureStaticProperties;
 import com.chameleonvision.vision.pipeline.CVPipeline2d;
+import com.chameleonvision.vision.pipeline.CVPipeline2dSettings;
 import org.apache.commons.lang3.tuple.Pair;
 import org.opencv.core.Mat;
 import org.opencv.core.Point;
@@ -11,43 +12,67 @@ import org.opencv.imgproc.Imgproc;
 import java.awt.*;
 import java.util.List;
 
-public class Draw2dCrosshairPipe implements Pipe<Pair<Mat, List<CVPipeline2d.Target2d>>, Mat>{
+public class Draw2dCrosshairPipe implements Pipe<Pair<Mat, List<CVPipeline2d.Target2d>>, Mat> {
+
+    //Settings
+    private Draw2dCrosshairPipeSettings crosshairSettings;
+    private CVPipeline2dSettings.Calibration calibrationSettings;
+
 
-    private final Draw2dCrosshairPipe.Draw2dCrosshairPipeSettings settings;
     private Point xMax = new Point(), xMin = new Point(), yMax = new Point(), yMin = new Point();
 
-    public Draw2dCrosshairPipe(Draw2dCrosshairPipe.Draw2dCrosshairPipeSettings settings) {
-        this.settings = settings;
+    public Draw2dCrosshairPipe(Draw2dCrosshairPipeSettings crosshairSettings, CVPipeline2dSettings.Calibration calibrationSettings) {
+        this.crosshairSettings = crosshairSettings;
+        this.calibrationSettings = calibrationSettings;
     }
 
-    public void setConfig(boolean showCrosshair) {
-        this.settings.showCrosshair = showCrosshair;
+    public void setConfig(boolean showCrosshair, CVPipeline2dSettings.Calibration calibrationSettings) {
+        this.crosshairSettings.showCrosshair = showCrosshair;
+        this.calibrationSettings = calibrationSettings;
     }
 
     @Override
-    public Pair<Mat, Long> run(Pair<Mat,List<CVPipeline2d.Target2d>> inputPair) {
+    public Pair<Mat, Long> run(Pair<Mat, List<CVPipeline2d.Target2d>> inputPair) {
         long processStartNanos = System.nanoTime();
-
+        Mat image = inputPair.getLeft();
         List<CVPipeline2d.Target2d> targets = inputPair.getRight();
-        double x,y;
-        if(targets != null && !targets.isEmpty()) {
-            x = targets.get(0).calibratedX;
-            y = targets.get(0).calibratedY;
-            if (this.settings.showCrosshair) {
-                xMax.set(new double[] {x + 10, y});
-                xMin.set(new double[] {x - 10, y});
-                yMax.set(new double[] {x, y + 10});
-                yMin.set(new double[] {x, y - 10});
-                Imgproc.line(inputPair.getLeft(), xMax, xMin, Helpers.colorToScalar(this.settings.crosshairColor), 2);
-                Imgproc.line(inputPair.getLeft(), yMax, yMin, Helpers.colorToScalar(this.settings.crosshairColor), 2);
+        double x = 0, y = 0, scale = image.cols() / 32.0;
+
+        drawCrosshair:
+        if (this.crosshairSettings.showCrosshair) {
+            switch (calibrationSettings.calibrationMode) {
+                case None:
+                    x = image.rows() / 2;
+                    y = image.cols() / 2;
+                    break;
+                case Single:
+                    x = targets.get(0).calibratedX;
+                    y = targets.get(0).calibratedY;
+                    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 {
+                        break drawCrosshair;
+                    }
+                    break;
             }
+            xMax.set(new double[]{x + scale, y});
+            xMin.set(new double[]{x - scale, y});
+            yMax.set(new double[]{x, y + scale});
+            yMin.set(new double[]{x, y - scale});
+            Imgproc.line(inputPair.getLeft(), xMax, xMin, Helpers.colorToScalar(this.crosshairSettings.crosshairColor), 2);
+            Imgproc.line(inputPair.getLeft(), yMax, yMin, Helpers.colorToScalar(this.crosshairSettings.crosshairColor), 2);
         }
-//        image.release();
+
         long processTime = System.nanoTime() - processStartNanos;
         return Pair.of(inputPair.getLeft(), processTime);
     }
-    public static class Draw2dCrosshairPipeSettings{
-        public boolean showCrosshair =true;
+
+    public static class Draw2dCrosshairPipeSettings {
+        public boolean showCrosshair = true;
         public Color crosshairColor = Color.GREEN;
     }
 }