diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/StandardCVPipelineSettings.java b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/StandardCVPipelineSettings.java
index d79575cf6..8b688abd5 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/StandardCVPipelineSettings.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/impl/StandardCVPipelineSettings.java
@@ -4,10 +4,7 @@ import com.chameleonvision.vision.enums.*;
 import com.chameleonvision.vision.pipeline.CVPipelineSettings;
 import com.fasterxml.jackson.annotation.JsonIgnore;
 import edu.wpi.first.wpilibj.util.Units;
-import org.opencv.core.Mat;
-import org.opencv.core.MatOfDouble;
-import org.opencv.core.Point;
-import org.opencv.core.Point3;
+import org.opencv.core.*;
 
 import java.util.Arrays;
 import java.util.List;
@@ -35,7 +32,22 @@ public class StandardCVPipelineSettings extends CVPipelineSettings {
     public double dualTargetCalibrationB = 0;
 
     // 3d stuff
-    public double targetWidth = 15.5, targetHeight = 6.0;
+    public MatOfPoint3f targetCornerMat = new MatOfPoint3f();
+    private static MatOfPoint3f hexTargetMat = new MatOfPoint3f();
+
+    static {
+        hexTargetMat.fromList(List.of(
+            new Point3(-19.625, 0, 0),
+            new Point3(-9.819867, -17, 0),
+            new Point3(9.819867, -17, 0),
+            new Point3(19.625, 0, 0)));
+    }
+
+    public StandardCVPipelineSettings() {
+        super();
+        hexTargetMat.copyTo(targetCornerMat);
+    }
+
 
     public boolean is3D = false;
 }
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 f59a95cb7..eded3b1a8 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
@@ -81,6 +81,7 @@ public class SolvePNPPipe implements Pipe<Pair<List<StandardCVPipeline.TrackedTa
 //        setBoundingBoxTarget(settings.targetWidth, settings.targetHeight);
         // TODO add proper year differentiation
         tilt_angle = tilt.getRadians();
+        this.objPointsMat = settings.targetCornerMat;
     }
 
     private void setCameraCoeffs(CameraCalibrationConfig settings) {
diff --git a/chameleon-server/src/main/java/com/chameleonvision/web/RequestHandler.java b/chameleon-server/src/main/java/com/chameleonvision/web/RequestHandler.java
index ef675584e..dd7ff5f0f 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/web/RequestHandler.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/web/RequestHandler.java
@@ -176,8 +176,13 @@ public class RequestHandler {
     }
 
     public static void onPnpModel(Context ctx) throws JsonProcessingException {
-        ObjectMapper objectMapper = kObjectMapper;
-        List points = objectMapper.readValue(ctx.body(), List.class);
-        System.out.println(points);
+        //noinspection unchecked
+        List<Object> points = kObjectMapper.readValue(ctx.body(), List.class);
+
+        // each entry should be an xy pair
+        for(Object point: points) {
+            //noinspection RedundantCast
+            point = (List<Object>) point;
+        }
     }
 }