diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/Calibrate3dPipeline.java b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/Calibrate3dPipeline.java
index 69403df67..e46a15bdb 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/Calibrate3dPipeline.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/Calibrate3dPipeline.java
@@ -144,8 +144,8 @@ public class Calibrate3dPipeline extends CVPipeline<DriverVisionPipeline.DriverP
         VisionManager.getCurrentUIVisionProcess().addCalibration(cal);
 
         try {
-            System.out.printf("CALIBRATION SUCCESS! camMatrix: \n%s\ndistortionCoeffs:\n%s\n",
-                    new ObjectMapper().writeValueAsString(cal.cameraMatrix), new ObjectMapper().writeValueAsString(cal.distortionCoeffs));
+            System.out.printf("CALIBRATION SUCCESS (with accuracy %s)! camMatrix: \n%s\ndistortionCoeffs:\n%s\n",
+                    calibrationAccuracy, new ObjectMapper().writeValueAsString(cal.cameraMatrix), new ObjectMapper().writeValueAsString(cal.distortionCoeffs));
         } catch (JsonProcessingException e) {
             e.printStackTrace();
         }
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 c637018f0..a59fa693c 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
@@ -116,7 +116,12 @@ public class SolvePNPPipe implements Pipe<Pair<List<StandardCVPipeline.TrackedTa
         Imgproc.cvtColor(image, greyImg, Imgproc.COLOR_BGR2GRAY);
         poseList.clear();
         for(var target: targets) {
-            var corners = find2020VisionTarget(target, accuracyPercentage);//, imageTargetPair.getRight()); //find2020VisionTarget(target);// (target.leftRightDualTargetPair != null) ? findCorner2019(target) : findBoundingBoxCorners(target);
+            MatOfPoint2f corners;
+            if(target.leftRightRotatedRect == null) {
+                corners = find2020VisionTarget(target, accuracyPercentage);//, imageTargetPair.getRight()); //find2020VisionTarget(target);// (target.leftRightDualTargetPair != null) ? findCorner2019(target) : findBoundingBoxCorners(target);
+            } else {
+                corners = findCorner2019(target);
+            }
 //            var corners = findCorner2019(target);
             if(corners == null) continue;