diff --git a/y2023/vision/BUILD b/y2023/vision/BUILD
index d5168c1..ef300e3 100644
--- a/y2023/vision/BUILD
+++ b/y2023/vision/BUILD
@@ -83,10 +83,10 @@
         "//frc971/vision:calibration_fbs",
         "//frc971/vision:charuco_lib",
         "//frc971/vision:target_mapper",
+        "//frc971/vision:visualize_robot",
         "//third_party:opencv",
         "//y2023/constants:constants_fbs",
         "//y2023/constants:simulated_constants_sender",
-        "@org_tuxfamily_eigen//:eigen",
     ],
 )
 
@@ -203,6 +203,36 @@
 )
 
 cc_binary(
+    name = "calibrate_multi_cameras",
+    srcs = [
+        "calibrate_multi_cameras.cc",
+    ],
+    data = [
+        "//y2023:aos_config",
+        "//y2023/constants:constants.json",
+        "//y2023/vision:maps",
+    ],
+    target_compatible_with = ["@platforms//os:linux"],
+    visibility = ["//y2023:__subpackages__"],
+    deps = [
+        ":aprilrobotics_lib",
+        "//aos:init",
+        "//aos/events:simulated_event_loop",
+        "//aos/events/logging:log_reader",
+        "//aos/util:mcap_logger",
+        "//frc971/constants:constants_sender_lib",
+        "//frc971/control_loops:pose",
+        "//frc971/vision:calibration_fbs",
+        "//frc971/vision:charuco_lib",
+        "//frc971/vision:target_mapper",
+        "//third_party:opencv",
+        "//y2023/constants:constants_fbs",
+        "//y2023/constants:simulated_constants_sender",
+        "@org_tuxfamily_eigen//:eigen",
+    ],
+)
+
+cc_binary(
     name = "game_pieces_detector",
     srcs = [
         "game_pieces_main.cc",
diff --git a/y2023/vision/README.md b/y2023/vision/README.md
new file mode 100644
index 0000000..55d217f
--- /dev/null
+++ b/y2023/vision/README.md
@@ -0,0 +1,25 @@
+How to use the extrinsic calibration for camera-to-camera calibration
+
+This all assumes you have cameras that have been intrinsically
+calibrated, and that pi1 has a valid extrinsic calibration (from robot
+origin / IMU to the pi1 camera).
+
+It by default will compute the extrinsics for each of the other cameras (pi2,
+pi3, pi4) relative to the robot origin (IMU origin).
+
+Steps:
+* Place two Aruco Diamond markers about 1 meter apart
+  (center-to-center) at a height so that they will be in view of the
+  cameras when the robot is about 1-2m away
+* Start with the robot in a position that both markers are fully in
+  view by one camera
+* Enable logging for all cameras
+* Rotate the robot in place through a full circle, so that each camera sees both tags, and at times just one tag.
+* Stop the logging and copy the files to your laptop
+* Run the calibration code on the resulting files, e.g.,
+  * `bazel run -c opt //y2023/vision:calibrate_multi_cameras -- /data/PATH_TO_LOGS --team_number 971 --target_type charuco_diamond
+  * Can add "--visualize" flag to see the camera views and marker detections
+  * I've sometimes found it necessary to add the "--skip_missing_forwarding_entries" flag-- as guided by the logging messages
+* From the output, copy the calculated ("Updated") extrinsic into the
+  corresponding calibration file for the right robot and camera in the
+  calib_files directory
\ No newline at end of file
diff --git a/y2023/vision/calibrate_multi_cameras.cc b/y2023/vision/calibrate_multi_cameras.cc
new file mode 100644
index 0000000..aaff033
--- /dev/null
+++ b/y2023/vision/calibrate_multi_cameras.cc
@@ -0,0 +1,456 @@
+#include <numeric>
+
+#include "aos/configuration.h"
+#include "aos/events/logging/log_reader.h"
+#include "aos/events/simulated_event_loop.h"
+#include "aos/init.h"
+#include "aos/util/mcap_logger.h"
+#include "frc971/control_loops/pose.h"
+#include "frc971/control_loops/quaternion_utils.h"
+#include "frc971/vision/calibration_generated.h"
+#include "frc971/vision/charuco_lib.h"
+#include "frc971/vision/target_mapper.h"
+#include "frc971/vision/visualize_robot.h"
+// clang-format off
+// OpenCV eigen files must be included after Eigen includes
+#include "opencv2/aruco.hpp"
+#include "opencv2/calib3d.hpp"
+#include "opencv2/core/eigen.hpp"
+#include "opencv2/features2d.hpp"
+#include "opencv2/highgui.hpp"
+#include "opencv2/highgui/highgui.hpp"
+#include "opencv2/imgproc.hpp"
+// clang-format on
+#include "y2023/constants/simulated_constants_sender.h"
+#include "y2023/vision/aprilrobotics.h"
+#include "y2023/vision/vision_util.h"
+
+DEFINE_string(config, "",
+              "If set, override the log's config file with this one.");
+DEFINE_string(constants_path, "y2023/constants/constants.json",
+              "Path to the constant file");
+DEFINE_string(target_type, "charuco_diamond",
+              "Type of target being used [aruco, charuco, charuco_diamond]");
+DEFINE_int32(team_number, 0,
+             "Required: Use the calibration for a node with this team number");
+DEFINE_uint64(
+    wait_key, 1,
+    "Time in ms to wait between images (0 to wait indefinitely until click)");
+
+// Calibrate extrinsic relationship between cameras using two targets
+// seen jointly between cameras.  Uses two types of information: 1)
+// when a single camera sees two targets, we estimate the pose between
+// targets, and 2) when two separate cameras each see a target, we can
+// use the pose between targets to estimate the pose between cameras.
+
+// We then create the extrinsics for the robot by starting with the
+// given extrinsic for camera 1 (between imu/robot and camera frames)
+// and then map each subsequent camera based on the data collected and
+// the extrinsic poses computed here.
+
+// TODO<Jim>: Should export a new extrinsic file for each camera
+// TODO<Jim>: Not currently using estimate from pi1->pi4-- should do full
+// estimation, and probably also include camera->imu extrinsics from all
+// cameras, not just pi1
+// TODO<Jim>: Should add ability to do this with apriltags, since they're on the
+// field
+
+namespace y2023 {
+namespace vision {
+using frc971::vision::DataAdapter;
+using frc971::vision::ImageCallback;
+using frc971::vision::PoseUtils;
+using frc971::vision::TargetMap;
+using frc971::vision::TargetMapper;
+namespace calibration = frc971::vision::calibration;
+
+static constexpr double kImagePeriodMs =
+    1.0 / 30.0 * 1000.0;  // Image capture period in ms
+
+// Change reference frame from camera to robot
+Eigen::Affine3d CameraToRobotDetection(Eigen::Affine3d H_camera_target,
+                                       Eigen::Affine3d extrinsics) {
+  const Eigen::Affine3d H_robot_camera = extrinsics;
+  const Eigen::Affine3d H_robot_target = H_robot_camera * H_camera_target;
+  return H_robot_target;
+}
+
+struct TimestampedPiDetection {
+  aos::distributed_clock::time_point time;
+  // Pose of target relative to robot
+  Eigen::Affine3d H_camera_target;
+  // name of pi
+  std::string pi_name;
+  int board_id;
+};
+
+TimestampedPiDetection last_observation;
+std::vector<std::pair<TimestampedPiDetection, TimestampedPiDetection>>
+    detection_list;
+std::vector<TimestampedPiDetection> two_board_extrinsics_list;
+
+// TODO<jim>: Implement variance calcs
+Eigen::Affine3d ComputeAveragePose(
+    std::vector<Eigen::Vector3d> &translation_list,
+    std::vector<Eigen::Vector4d> &rotation_list,
+    Eigen::Vector3d *translation_variance = nullptr,
+    Eigen::Vector3d *rotation_variance = nullptr) {
+  Eigen::Vector3d avg_translation =
+      std::accumulate(translation_list.begin(), translation_list.end(),
+                      Eigen::Vector3d{0, 0, 0}) /
+      translation_list.size();
+
+  // TODO<Jim>: Use QuaternionMean from quaternion_utils.cc (but this
+  // requires a fixed number of quaternions to be averaged
+  Eigen::Vector4d avg_rotation =
+      std::accumulate(rotation_list.begin(), rotation_list.end(),
+                      Eigen::Vector4d{0, 0, 0, 0}) /
+      rotation_list.size();
+  // Normalize, so it's a valid quaternion
+  avg_rotation = avg_rotation / avg_rotation.norm();
+  Eigen::Quaterniond avg_rotation_q{avg_rotation[0], avg_rotation[1],
+                                    avg_rotation[2], avg_rotation[3]};
+  Eigen::Translation3d translation(avg_translation);
+  Eigen::Affine3d return_pose = translation * avg_rotation_q;
+  if (translation_variance != nullptr) {
+    *translation_variance = Eigen::Vector3d();
+  }
+  if (rotation_variance != nullptr) {
+    LOG(INFO) << *rotation_variance;
+  }
+
+  return return_pose;
+}
+
+Eigen::Affine3d ComputeAveragePose(
+    std::vector<Eigen::Affine3d> &pose_list,
+    Eigen::Vector3d *translation_variance = nullptr,
+    Eigen::Vector3d *rotation_variance = nullptr) {
+  std::vector<Eigen::Vector3d> translation_list;
+  std::vector<Eigen::Vector4d> rotation_list;
+
+  for (Eigen::Affine3d pose : pose_list) {
+    translation_list.push_back(pose.translation());
+    Eigen::Quaterniond quat(pose.rotation().matrix());
+    rotation_list.push_back(
+        Eigen::Vector4d(quat.w(), quat.x(), quat.y(), quat.z()));
+  }
+
+  return ComputeAveragePose(translation_list, rotation_list,
+                            translation_variance, rotation_variance);
+}
+
+Eigen::Affine3d ComputeAveragePose(
+    std::vector<TimestampedPiDetection> &pose_list,
+    Eigen::Vector3d *translation_variance = nullptr,
+    Eigen::Vector3d *rotation_variance = nullptr) {
+  std::vector<Eigen::Vector3d> translation_list;
+  std::vector<Eigen::Vector4d> rotation_list;
+
+  for (TimestampedPiDetection pose : pose_list) {
+    translation_list.push_back(pose.H_camera_target.translation());
+    Eigen::Quaterniond quat(pose.H_camera_target.rotation().matrix());
+    rotation_list.push_back(
+        Eigen::Vector4d(quat.w(), quat.x(), quat.y(), quat.z()));
+  }
+  return ComputeAveragePose(translation_list, rotation_list,
+                            translation_variance, rotation_variance);
+}
+
+void ProcessImage(aos::EventLoop *event_loop, cv::Mat rgb_image,
+                  const aos::monotonic_clock::time_point eof,
+                  aos::distributed_clock::time_point distributed_eof,
+                  frc971::vision::CharucoExtractor &charuco_extractor,
+                  std::string pi_name) {
+  std::vector<cv::Vec4i> charuco_ids;
+  std::vector<std::vector<cv::Point2f>> charuco_corners;
+  bool valid = false;
+  std::vector<Eigen::Vector3d> rvecs_eigen;
+  std::vector<Eigen::Vector3d> tvecs_eigen;
+  charuco_extractor.ProcessImage(rgb_image, eof, event_loop->monotonic_now(),
+                                 charuco_ids, charuco_corners, valid,
+                                 rvecs_eigen, tvecs_eigen);
+
+  if (valid) {
+    if (tvecs_eigen.size() == 2) {
+      VLOG(2) << "Saw two boards in same view from " << pi_name;
+      // Handle when we see two boards at once
+      std::vector<TimestampedPiDetection> detections;
+      for (uint i = 0; i < tvecs_eigen.size(); i++) {
+        Eigen::Quaternion<double> rotation(
+            frc971::controls::ToQuaternionFromRotationVector(rvecs_eigen[i]));
+        Eigen::Translation3d translation(tvecs_eigen[i]);
+        Eigen::Affine3d H_camera_board = translation * rotation;
+        TimestampedPiDetection new_observation{
+            .time = distributed_eof,
+            .H_camera_target = H_camera_board,
+            .pi_name = pi_name,
+            .board_id = charuco_ids[i][0]};
+        detections.emplace_back(new_observation);
+      }
+      Eigen::Affine3d H_boardA_boardB =
+          detections[0].H_camera_target.inverse() *
+          detections[1].H_camera_target;
+
+      TimestampedPiDetection board_extrinsic{.time = distributed_eof,
+                                             .H_camera_target = H_boardA_boardB,
+                                             .pi_name = pi_name,
+                                             .board_id = charuco_ids[0][0]};
+
+      // Make sure we've got them in the right order (sorted by id)
+      if (detections[0].board_id < detections[1].board_id) {
+        two_board_extrinsics_list.push_back(board_extrinsic);
+      } else {
+        // Flip them around
+        board_extrinsic.H_camera_target =
+            board_extrinsic.H_camera_target.inverse();
+        board_extrinsic.board_id = charuco_ids[1][0];
+        two_board_extrinsics_list.push_back(board_extrinsic);
+      }
+    } else {
+      VLOG(1) << "Saw single board in camera " << pi_name;
+      Eigen::Quaternion<double> rotation(
+          frc971::controls::ToQuaternionFromRotationVector(rvecs_eigen[0]));
+      Eigen::Translation3d translation(tvecs_eigen[0]);
+      Eigen::Affine3d H_camera_board = translation * rotation;
+      TimestampedPiDetection new_observation{.time = distributed_eof,
+                                             .H_camera_target = H_camera_board,
+                                             .pi_name = pi_name,
+                                             .board_id = charuco_ids[0][0]};
+
+      VLOG(2) << "Checking versus last result from " << last_observation.pi_name
+              << " at time " << last_observation.time << " with delta time = "
+              << std::abs((distributed_eof - last_observation.time).count());
+      // Only take two observations if they're near enough to each other
+      // in time.  This should be within +/- kImagePeriodMs of each other (e.g.,
+      // +/-16.666ms for 30 Hz capture).  This should make sure
+      // we're always getting the closest images, and not miss too many possible
+      // pairs, between cameras
+      // TODO<Jim>: Should also check that (rotational) velocity of the robot is
+      // small
+      if (std::abs((distributed_eof - last_observation.time).count()) <
+          static_cast<int>(kImagePeriodMs / 2.0 * 1000000)) {
+        Eigen::Affine3d H_camera1_board = last_observation.H_camera_target;
+        Eigen::Affine3d H_camera1_camera2 =
+            H_camera1_board * H_camera_board.inverse();
+        VLOG(1) << "Storing observation between " << last_observation.pi_name
+                << ", target " << last_observation.board_id << " and "
+                << new_observation.pi_name << ", target "
+                << new_observation.board_id << " is "
+                << H_camera1_camera2.matrix();
+        // Sort by pi numbering
+        if (last_observation.pi_name < new_observation.pi_name) {
+          detection_list.push_back(
+              std::pair(last_observation, new_observation));
+        } else if (last_observation.pi_name > new_observation.pi_name) {
+          detection_list.push_back(
+              std::pair(new_observation, last_observation));
+        } else {
+          LOG(WARNING) << "Got 2 observations in a row from same pi. Probably "
+                          "not too much of an issue???";
+        }
+      } else {
+        VLOG(2) << "Storing observation for " << pi_name << " at time "
+                << distributed_eof;
+        last_observation = new_observation;
+      }
+    }
+  }
+  if (FLAGS_visualize) {
+    std::string image_name = pi_name + " Image";
+    cv::Mat rgb_small;
+    cv::resize(rgb_image, rgb_small, cv::Size(), 0.5, 0.5);
+    cv::imshow(image_name, rgb_small);
+    cv::waitKey(FLAGS_wait_key);
+  }
+}
+
+void ExtrinsicsMain(int argc, char *argv[]) {
+  std::vector<DataAdapter::TimestampedDetection> timestamped_target_detections;
+
+  std::optional<aos::FlatbufferDetachedBuffer<aos::Configuration>> config =
+      (FLAGS_config.empty()
+           ? std::nullopt
+           : std::make_optional(aos::configuration::ReadConfig(FLAGS_config)));
+
+  // open logfiles
+  aos::logger::LogReader reader(
+      aos::logger::SortParts(aos::logger::FindLogs(argc, argv)),
+      config.has_value() ? &config->message() : nullptr);
+
+  constexpr size_t kNumPis = 4;
+  for (size_t i = 1; i <= kNumPis; i++) {
+    reader.RemapLoggedChannel(absl::StrFormat("/pi%u/camera", i),
+                              "frc971.vision.TargetMap");
+    reader.RemapLoggedChannel(absl::StrFormat("/pi%u/camera", i),
+                              "foxglove.ImageAnnotations");
+    reader.RemapLoggedChannel(absl::StrFormat("/pi%u/constants", i),
+                              "y2023.Constants");
+  }
+  reader.RemapLoggedChannel("/imu/constants", "y2023.Constants");
+  reader.Register();
+
+  SendSimulationConstants(reader.event_loop_factory(), FLAGS_team_number,
+                          FLAGS_constants_path);
+
+  LOG(INFO) << "Using target type " << FLAGS_target_type;
+  std::vector<std::string> node_list;
+  node_list.push_back("pi1");
+  node_list.push_back("pi2");
+  node_list.push_back("pi3");
+  node_list.push_back("pi4");
+
+  std::vector<std::unique_ptr<aos::EventLoop>> detection_event_loops;
+  std::vector<frc971::vision::CharucoExtractor *> charuco_extractors;
+  std::vector<frc971::vision::ImageCallback *> image_callbacks;
+  std::vector<Eigen::Affine3d> default_extrinsics;
+
+  for (uint i = 0; i < node_list.size(); i++) {
+    std::string node = node_list[i];
+    const aos::Node *pi =
+        aos::configuration::GetNode(reader.configuration(), node.c_str());
+
+    detection_event_loops.emplace_back(
+        reader.event_loop_factory()->MakeEventLoop(
+            (node + "_detection").c_str(), pi));
+
+    frc971::constants::ConstantsFetcher<y2023::Constants> constants_fetcher(
+        detection_event_loops.back().get());
+    aos::FlatbufferDetachedBuffer<calibration::CameraCalibration> intrinsics =
+        aos::RecursiveCopyFlatBuffer(y2023::vision::FindCameraCalibration(
+            constants_fetcher.constants(), node));
+
+    const calibration::CameraCalibration *calibration =
+        FindCameraCalibration(constants_fetcher.constants(), node);
+
+    frc971::vision::TargetType target_type =
+        frc971::vision::TargetTypeFromString(FLAGS_target_type);
+    frc971::vision::CharucoExtractor *charuco_ext =
+        new frc971::vision::CharucoExtractor(calibration, target_type);
+    charuco_extractors.emplace_back(charuco_ext);
+
+    cv::Mat extrinsics_cv = CameraExtrinsics(calibration).value();
+    Eigen::Matrix4d extrinsics_matrix;
+    cv::cv2eigen(extrinsics_cv, extrinsics_matrix);
+    const auto ext_H_robot_pi = Eigen::Affine3d(extrinsics_matrix);
+    default_extrinsics.emplace_back(ext_H_robot_pi);
+
+    LOG(INFO) << "Got extrinsics for " << node << " as\n"
+              << default_extrinsics.back().matrix();
+
+    frc971::vision::ImageCallback *image_callback =
+        new frc971::vision::ImageCallback(
+            detection_event_loops[i].get(), "/" + node_list[i] + "/camera",
+            [&reader, &charuco_extractors, &detection_event_loops, &node_list,
+             i](cv::Mat rgb_image, const aos::monotonic_clock::time_point eof) {
+              aos::distributed_clock::time_point pi_distributed_time =
+                  reader.event_loop_factory()
+                      ->GetNodeEventLoopFactory(
+                          detection_event_loops[i].get()->node())
+                      ->ToDistributedClock(eof);
+              ProcessImage(detection_event_loops[i].get(), rgb_image, eof,
+                           pi_distributed_time, *charuco_extractors[i],
+                           node_list[i]);
+            });
+
+    image_callbacks.emplace_back(image_callback);
+  }
+
+  const auto ext_H_robot_piA = default_extrinsics[0];
+  const auto ext_H_robot_piB = default_extrinsics[1];
+
+  reader.event_loop_factory()->Run();
+
+  for (auto node : node_list) {
+    std::vector<TimestampedPiDetection> pose_list;
+    for (auto ext : two_board_extrinsics_list) {
+      if (ext.pi_name == node) {
+        pose_list.push_back(ext);
+      }
+    }
+    Eigen::Affine3d avg_pose = ComputeAveragePose(pose_list);
+    VLOG(1) << "Estimate from " << node << " with " << pose_list.size()
+            << " observations is:\n"
+            << avg_pose.matrix();
+  }
+  Eigen::Affine3d avg_pose = ComputeAveragePose(two_board_extrinsics_list);
+  LOG(INFO) << "Estimate of two board pose using all nodes with "
+            << two_board_extrinsics_list.size() << " observations is:\n"
+            << avg_pose.matrix() << "\n";
+
+  LOG(INFO) << "Got " << detection_list.size() << " extrinsic observations";
+  Eigen::Affine3d H_target0_target1 = avg_pose;
+  int base_target_id = detection_list[0].first.board_id;
+  std::vector<Eigen::Affine3d> H_cameraA_cameraB_list;
+  std::vector<Eigen::Affine3d> updated_extrinsics;
+  // Use the first node's extrinsics as our base, and fix from there
+  updated_extrinsics.push_back(default_extrinsics[0]);
+  LOG(INFO) << "Default extrinsic for node " << node_list[0] << " is "
+            << default_extrinsics[0].matrix();
+  for (uint i = 0; i < node_list.size() - 1; i++) {
+    H_cameraA_cameraB_list.clear();
+    for (auto [poseA, poseB] : detection_list) {
+      if ((poseA.pi_name == node_list[i]) &&
+          (poseB.pi_name == node_list[i + 1])) {
+        Eigen::Affine3d H_cameraA_target0 = poseA.H_camera_target;
+        // If this pose isn't referenced to target0, correct that
+        if (poseA.board_id != base_target_id) {
+          H_cameraA_target0 = H_cameraA_target0 * H_target0_target1.inverse();
+        }
+
+        Eigen::Affine3d H_cameraB_target0 = poseB.H_camera_target;
+        if (poseB.board_id != base_target_id) {
+          H_cameraB_target0 = H_cameraB_target0 * H_target0_target1.inverse();
+        }
+        Eigen::Affine3d H_cameraA_cameraB =
+            H_cameraA_target0 * H_cameraB_target0.inverse();
+        H_cameraA_cameraB_list.push_back(H_cameraA_cameraB);
+      }
+    }
+    CHECK(H_cameraA_cameraB_list.size() > 0)
+        << "Failed with zero poses for node " << node_list[i];
+    if (H_cameraA_cameraB_list.size() > 0) {
+      Eigen::Affine3d avg_H_cameraA_cameraB =
+          ComputeAveragePose(H_cameraA_cameraB_list);
+      LOG(INFO) << "From " << node_list[i] << " to " << node_list[i + 1]
+                << " found " << H_cameraA_cameraB_list.size()
+                << " observations, and the average pose is:\n"
+                << avg_H_cameraA_cameraB.matrix();
+      Eigen::Affine3d default_H_cameraA_camera_B =
+          default_extrinsics[i].inverse() * default_extrinsics[i + 1];
+      LOG(INFO) << "Compare this to that from default values:\n"
+                << default_H_cameraA_camera_B.matrix();
+      // Next extrinsic is just previous one * avg_delta_pose
+      Eigen::Affine3d next_extrinsic =
+          updated_extrinsics.back() * avg_H_cameraA_cameraB;
+      LOG(INFO)
+          << "Difference between averaged and default delta poses has |T| = "
+          << (avg_H_cameraA_cameraB * default_H_cameraA_camera_B.inverse())
+                 .translation()
+                 .norm()
+          << " and |R| = "
+          << Eigen::AngleAxisd(
+                 (avg_H_cameraA_cameraB * default_H_cameraA_camera_B.inverse())
+                     .rotation())
+                 .angle();
+      updated_extrinsics.push_back(next_extrinsic);
+      LOG(INFO) << "Default Extrinsic for " << node_list[i + 1] << " is \n"
+                << default_extrinsics[i + 1].matrix();
+      LOG(INFO) << "--> Updated Extrinsic for " << node_list[i + 1] << " is \n"
+                << next_extrinsic.matrix();
+    }
+  }
+
+  // Cleanup
+  for (uint i = 0; i < image_callbacks.size(); i++) {
+    delete charuco_extractors[i];
+    delete image_callbacks[i];
+  }
+}
+}  // namespace vision
+}  // namespace y2023
+
+int main(int argc, char **argv) {
+  aos::InitGoogle(&argc, &argv);
+  y2023::vision::ExtrinsicsMain(argc, argv);
+}
diff --git a/y2023/vision/target_mapping.cc b/y2023/vision/target_mapping.cc
index 2ca6f66..eec545e 100644
--- a/y2023/vision/target_mapping.cc
+++ b/y2023/vision/target_mapping.cc
@@ -20,38 +20,39 @@
 #include "y2023/vision/aprilrobotics.h"
 #include "y2023/vision/vision_util.h"
 
-DEFINE_string(json_path, "y2023/vision/maps/target_map.json",
-              "Specify path for json with initial pose guesses.");
 DEFINE_string(config, "",
               "If set, override the log's config file with this one.");
 DEFINE_string(constants_path, "y2023/constants/constants.json",
               "Path to the constant file");
-DEFINE_string(output_dir, "y2023/vision/maps",
-              "Directory to write solved target map to");
+DEFINE_string(dump_constraints_to, "/tmp/mapping_constraints.txt",
+              "Write the target constraints to this path");
+DEFINE_string(dump_stats_to, "/tmp/mapping_stats.txt",
+              "Write the mapping stats to this path");
 DEFINE_string(field_name, "charged_up",
               "Field name, for the output json filename and flatbuffer field");
-DEFINE_int32(team_number, 0,
-             "Required: Use the calibration for a node with this team number");
-DEFINE_string(mcap_output_path, "/tmp/log.mcap", "Log to output.");
-DEFINE_string(pi, "pi1", "Pi name to generate mcap log for; defaults to pi1.");
+DEFINE_string(json_path, "y2023/vision/maps/target_map.json",
+              "Specify path for json with initial pose guesses.");
 DEFINE_double(max_pose_error, 1e-6,
               "Throw out target poses with a higher pose error than this");
 DEFINE_double(
     max_pose_error_ratio, 0.4,
     "Throw out target poses with a higher pose error ratio than this");
-DEFINE_uint64(wait_key, 0,
-              "Time in ms to wait between images, if no click (0 to wait "
-              "indefinitely until click).");
+DEFINE_string(mcap_output_path, "", "Log to output.");
+DEFINE_string(output_dir, "y2023/vision/maps",
+              "Directory to write solved target map to");
 DEFINE_double(pause_on_distance, 1.0,
               "Pause if two consecutive implied robot positions differ by more "
               "than this many meters");
+DEFINE_string(pi, "pi1", "Pi name to generate mcap log for; defaults to pi1.");
 DEFINE_uint64(skip_to, 1,
               "Start at combined image of this number (1 is the first image)");
 DEFINE_bool(solve, true, "Whether to solve for the field's target map.");
-DEFINE_string(dump_constraints_to, "/tmp/mapping_constraints.txt",
-              "Write the target constraints to this path");
-DEFINE_string(dump_stats_to, "/tmp/mapping_stats.txt",
-              "Write the target constraints to this path");
+DEFINE_int32(team_number, 0,
+             "Required: Use the calibration for a node with this team number");
+DEFINE_uint64(wait_key, 1,
+              "Time in ms to wait between images, if no click (0 to wait "
+              "indefinitely until click).");
+
 DECLARE_int32(frozen_target_id);
 DECLARE_int32(min_target_id);
 DECLARE_int32(max_target_id);
@@ -307,7 +308,6 @@
       vis_robot_.DrawRobotOutline(H_world_robot,
                                   std::to_string(target_pose_fbs->id()),
                                   kPiColors.at(node_name));
-
       vis_robot_.DrawFrameAxes(H_world_target,
                                std::to_string(target_pose_fbs->id()),
                                kPiColors.at(node_name));
@@ -385,6 +385,7 @@
                        }),
         target_constraints.end());
 
+    LOG(INFO) << "Solving for locations of tags";
     TargetMapper mapper(FLAGS_json_path, target_constraints);
     mapper.Solve(FLAGS_field_name, FLAGS_output_dir);