diff --git a/chameleon-server/src/main/java/com/chameleonvision/config/PipelineConfig.java b/chameleon-server/src/main/java/com/chameleonvision/config/PipelineConfig.java
index e57ca250f..61376ed0e 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/config/PipelineConfig.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/config/PipelineConfig.java
@@ -2,6 +2,8 @@ package com.chameleonvision.config;
 
 import com.chameleonvision.util.JacksonHelper;
 import com.chameleonvision.vision.pipeline.*;
+import com.chameleonvision.vision.pipeline.impl.CVPipeline2dSettings;
+import com.chameleonvision.vision.pipeline.impl.CVPipeline3dSettings;
 
 import java.io.File;
 import java.io.IOException;
diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/VisionProcess.java b/chameleon-server/src/main/java/com/chameleonvision/vision/VisionProcess.java
index 9d11db4fd..595d49905 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/VisionProcess.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/VisionProcess.java
@@ -3,10 +3,12 @@ package com.chameleonvision.vision;
 import com.chameleonvision.Debug;
 import com.chameleonvision.config.ConfigManager;
 import com.chameleonvision.util.LoopingRunnable;
-import com.chameleonvision.vision.camera.CameraCapture;
 import com.chameleonvision.vision.camera.CameraStreamer;
 import com.chameleonvision.vision.camera.USBCameraCapture;
 import com.chameleonvision.vision.pipeline.*;
+import com.chameleonvision.vision.pipeline.impl.CVPipeline2d;
+import com.chameleonvision.vision.pipeline.impl.CVPipeline3d;
+import com.chameleonvision.vision.pipeline.impl.DriverVisionPipeline;
 import com.chameleonvision.web.SocketHandler;
 import com.fasterxml.jackson.core.JsonProcessingException;
 import com.fasterxml.jackson.databind.ObjectMapper;
diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline.java b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline.java
index 092939ace..d71bd64fb 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline.java
@@ -1,6 +1,7 @@
 package com.chameleonvision.vision.pipeline;
 
 import com.chameleonvision.vision.camera.CameraCapture;
+import com.chameleonvision.vision.pipeline.impl.CVPipeline3d;
 import org.opencv.core.Mat;
 
 /**
diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/PipelineManager.java b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/PipelineManager.java
index 7e6a942a1..b0a2649f7 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/PipelineManager.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/PipelineManager.java
@@ -4,6 +4,7 @@ import com.chameleonvision.config.CameraConfig;
 import com.chameleonvision.config.ConfigManager;
 import com.chameleonvision.vision.VisionManager;
 import com.chameleonvision.vision.VisionProcess;
+import com.chameleonvision.vision.pipeline.impl.*;
 import com.chameleonvision.web.SocketHandler;
 import edu.wpi.first.networktables.NetworkTableEntry;
 
diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/CVPipeline2d.java
similarity index 97%
rename from chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
rename to chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/CVPipeline2d.java
index d7b45bacf..aeb75f5d2 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/CVPipeline2d.java
@@ -1,17 +1,18 @@
-package com.chameleonvision.vision.pipeline;
+package com.chameleonvision.vision.pipeline.impl;
 
 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.CVPipeline;
+import com.chameleonvision.vision.pipeline.CVPipelineResult;
 import com.chameleonvision.vision.pipeline.pipes.*;
 import org.apache.commons.lang3.tuple.Pair;
 import org.opencv.core.*;
 
 import java.util.List;
 
-import static com.chameleonvision.vision.pipeline.CVPipeline2d.*;
+import static com.chameleonvision.vision.pipeline.impl.CVPipeline2d.*;
 
 @SuppressWarnings("WeakerAccess")
 public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSettings> {
diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2dSettings.java b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/CVPipeline2dSettings.java
similarity index 91%
rename from chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2dSettings.java
rename to chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/CVPipeline2dSettings.java
index 2f3be3ed8..4f023f16c 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2dSettings.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/CVPipeline2dSettings.java
@@ -1,9 +1,10 @@
-package com.chameleonvision.vision.pipeline;
+package com.chameleonvision.vision.pipeline.impl;
 
 import com.chameleonvision.vision.enums.CalibrationMode;
 import com.chameleonvision.vision.enums.SortMode;
 import com.chameleonvision.vision.enums.TargetGroup;
 import com.chameleonvision.vision.enums.TargetIntersection;
+import com.chameleonvision.vision.pipeline.CVPipelineSettings;
 
 import java.util.Arrays;
 import java.util.List;
diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline3d.java b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/CVPipeline3d.java
similarity index 76%
rename from chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline3d.java
rename to chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/CVPipeline3d.java
index 7db893fef..c39469500 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline3d.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/CVPipeline3d.java
@@ -1,10 +1,12 @@
-package com.chameleonvision.vision.pipeline;
+package com.chameleonvision.vision.pipeline.impl;
 
+import com.chameleonvision.vision.pipeline.CVPipeline;
+import com.chameleonvision.vision.pipeline.CVPipelineResult;
 import org.opencv.core.Mat;
 
 import java.util.List;
 
-import static com.chameleonvision.vision.pipeline.CVPipeline3d.*;
+import static com.chameleonvision.vision.pipeline.impl.CVPipeline3d.*;
 
 public class CVPipeline3d extends CVPipeline<CVPipeline3dResult, CVPipeline3dSettings> {
 
diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline3dSettings.java b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/CVPipeline3dSettings.java
similarity index 82%
rename from chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline3dSettings.java
rename to chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/CVPipeline3dSettings.java
index 342659ca1..70729f5b8 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline3dSettings.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/CVPipeline3dSettings.java
@@ -1,4 +1,4 @@
-package com.chameleonvision.vision.pipeline;
+package com.chameleonvision.vision.pipeline.impl;
 
 public class CVPipeline3dSettings extends CVPipeline2dSettings {
     // TODO: (2.1) define 3d-specific pipeline settings
diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/DriverVisionPipeline.java b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/DriverVisionPipeline.java
similarity index 88%
rename from chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/DriverVisionPipeline.java
rename to chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/DriverVisionPipeline.java
index e00c156e4..ec38034d9 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/DriverVisionPipeline.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/DriverVisionPipeline.java
@@ -1,9 +1,11 @@
-package com.chameleonvision.vision.pipeline;
+package com.chameleonvision.vision.pipeline.impl;
 
 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.CVPipeline;
+import com.chameleonvision.vision.pipeline.CVPipelineResult;
+import com.chameleonvision.vision.pipeline.CVPipelineSettings;
 import com.chameleonvision.vision.pipeline.pipes.Draw2dCrosshairPipe;
 import com.chameleonvision.vision.pipeline.pipes.RotateFlipPipe;
 import org.apache.commons.lang3.tuple.Pair;
@@ -12,7 +14,7 @@ import org.opencv.core.RotatedRect;
 
 import java.util.List;
 
-import static com.chameleonvision.vision.pipeline.DriverVisionPipeline.DriverPipelineResult;
+import static com.chameleonvision.vision.pipeline.impl.DriverVisionPipeline.DriverPipelineResult;
 
 public class DriverVisionPipeline extends CVPipeline<DriverPipelineResult, CVPipelineSettings> {
 
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 3d30f7d72..cafa503c6 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
@@ -1,12 +1,10 @@
 package com.chameleonvision.vision.pipeline.pipes;
 
 import com.chameleonvision.vision.camera.CaptureStaticProperties;
-import com.chameleonvision.vision.pipeline.CVPipeline2d;
+import com.chameleonvision.vision.pipeline.impl.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;
 import org.opencv.core.RotatedRect;
 
 import java.util.ArrayList;
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 d0834420a..4f5ed80c5 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
@@ -1,10 +1,8 @@
 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 com.chameleonvision.vision.pipeline.impl.CVPipeline2d;
 import org.apache.commons.lang3.tuple.Pair;
 import org.opencv.core.Mat;
 import org.opencv.core.Point;
diff --git a/chameleon-server/src/main/java/com/chameleonvision/web/SocketHandler.java b/chameleon-server/src/main/java/com/chameleonvision/web/SocketHandler.java
index ae5066f6d..342b132a2 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/web/SocketHandler.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/web/SocketHandler.java
@@ -9,7 +9,7 @@ import com.chameleonvision.vision.camera.USBCameraCapture;
 import com.chameleonvision.vision.enums.ImageRotationMode;
 import com.chameleonvision.vision.enums.StreamDivisor;
 import com.chameleonvision.vision.pipeline.CVPipeline;
-import com.chameleonvision.vision.pipeline.CVPipeline2d;
+import com.chameleonvision.vision.pipeline.impl.CVPipeline2d;
 import com.chameleonvision.vision.pipeline.CVPipelineSettings;
 import com.fasterxml.jackson.core.JsonProcessingException;
 import com.fasterxml.jackson.core.type.TypeReference;
@@ -164,6 +164,7 @@ public class SocketHandler {
                                 break;
                             }
                             case "rotationMode": {//Create new CaptureStaticProperties with new width and height, reset crosshair calib
+
                                 ImageRotationMode rotationMode = currentPipeline.settings.rotationMode;
                                 CaptureStaticProperties prop = currentCamera.getProperties().getStaticProperties();
                                 int width, height;
diff --git a/chameleon-server/src/test/java/com/chameleonvision/config/StaticCaptureTest.java b/chameleon-server/src/test/java/com/chameleonvision/config/StaticCaptureTest.java
index 93ead0087..845fd2fda 100644
--- a/chameleon-server/src/test/java/com/chameleonvision/config/StaticCaptureTest.java
+++ b/chameleon-server/src/test/java/com/chameleonvision/config/StaticCaptureTest.java
@@ -3,7 +3,7 @@ package com.chameleonvision.config;
 import com.chameleonvision.util.ProgramDirectoryUtilities;
 import com.chameleonvision.vision.camera.CameraStreamer;
 import com.chameleonvision.vision.image.StaticImageCapture;
-import com.chameleonvision.vision.pipeline.CVPipeline2d;
+import com.chameleonvision.vision.pipeline.impl.CVPipeline2d;
 import edu.wpi.cscore.CameraServerCvJNI;
 import edu.wpi.cscore.CameraServerJNI;
 import edu.wpi.first.networktables.NetworkTableInstance;
@@ -17,7 +17,6 @@ import java.io.IOException;
 import java.nio.file.Files;
 import java.nio.file.Path;
 import java.nio.file.Paths;
-import java.util.ArrayList;
 import java.util.LinkedHashMap;
 import java.util.List;