diff --git a/y2019/vision/BUILD b/y2019/vision/BUILD
index e620ffa..c2f9da5 100644
--- a/y2019/vision/BUILD
+++ b/y2019/vision/BUILD
@@ -81,10 +81,9 @@
     ],
 )
 
-"""
 cc_binary(
-    name = "calibration",
-    srcs = ["calibration.cc"],
+    name = "global_calibration",
+    srcs = ["global_calibration.cc"],
     deps = [
          ":target_finder",
          "//aos/logging",
@@ -95,9 +94,9 @@
          "//aos/vision/events:socket_types",
          "//aos/vision/events:udp",
          "//aos/vision/image:image_stream",
+         "//aos/vision/image:image_dataset",
          "//aos/vision/image:reader",
          "@com_google_ceres_solver//:ceres",
     ],
     restricted_to = VISION_TARGETS,
 )
-"""
diff --git a/y2019/vision/global_calibration.cc b/y2019/vision/global_calibration.cc
new file mode 100644
index 0000000..e92ae56
--- /dev/null
+++ b/y2019/vision/global_calibration.cc
@@ -0,0 +1,216 @@
+#include <fstream>
+
+#include "aos/logging/implementations.h"
+#include "aos/logging/logging.h"
+#include "aos/vision/blob/codec.h"
+#include "aos/vision/blob/find_blob.h"
+#include "aos/vision/events/socket_types.h"
+#include "aos/vision/events/udp.h"
+#include "aos/vision/image/image_dataset.h"
+#include "aos/vision/image/image_stream.h"
+#include "aos/vision/image/reader.h"
+#include "y2019/vision/target_finder.h"
+
+#undef CHECK_NOTNULL
+#undef CHECK_OP
+#undef PCHECK
+// CERES Clashes with logging symbols...
+#include "ceres/ceres.h"
+
+using ::aos::events::DataSocket;
+using ::aos::events::RXUdpSocket;
+using ::aos::events::TCPServer;
+using ::aos::vision::DataRef;
+using ::aos::vision::Int32Codec;
+using ::aos::monotonic_clock;
+using aos::vision::Segment;
+
+using ceres::NumericDiffCostFunction;
+using ceres::CENTRAL;
+using ceres::CostFunction;
+using ceres::Problem;
+using ceres::Solver;
+using ceres::Solve;
+
+namespace y2019 {
+namespace vision {
+
+constexpr double kInchesToMeters = 0.0254;
+
+template <size_t k, size_t n, size_t n2, typename T>
+T *MakeFunctor(T &&t) {
+  return new T(std::move(t));
+}
+
+std::array<double, 3> GetError(const double *const extrinsics,
+                               const double *const geometry, int i) {
+  auto ex = ExtrinsicParams::get(extrinsics);
+
+  double s = sin(geometry[2] + ex.r2);
+  double c = cos(geometry[2] + ex.r2);
+
+  // TODO: Generalize this from being just for a single calibration.
+  double dx = 12.5 + 26.0 + i - (geometry[0] + c * ex.z) / kInchesToMeters;
+  double dy = 12.0 - (geometry[1] + s * ex.z) / kInchesToMeters;
+  double dz = 28.5 - (geometry[3] + ex.y) / kInchesToMeters;
+  return {{dx, dy, dz}};
+}
+
+void main(int argc, char **argv) {
+  (void)argc;
+  (void)argv;
+  using namespace y2019::vision;
+  // gflags::ParseCommandLineFlags(&argc, &argv, false);
+  ::aos::logging::Init();
+  ::aos::logging::AddImplementation(
+      new ::aos::logging::StreamLogImplementation(stderr));
+
+  TargetFinder finder_;
+
+  ceres::Problem problem;
+
+  struct Sample {
+    std::unique_ptr<double[]> extrinsics;
+    int i;
+  };
+  std::vector<Sample> all_extrinsics;
+  double intrinsics[IntrinsicParams::kNumParams];
+  IntrinsicParams().set(&intrinsics[0]);
+
+  // To know the meaning, see the printout below...
+  constexpr size_t GeometrykNumParams = 4;
+  double geometry[GeometrykNumParams] = {0, 0, 0, 0};
+
+  Solver::Options options;
+  options.minimizer_progress_to_stdout = false;
+  Solver::Summary summary;
+
+  std::cout << summary.BriefReport() << "\n";
+  auto intrinsics_ = IntrinsicParams::get(&intrinsics[0]);
+  std::cout << "rup = " << intrinsics_.mount_angle * 180 / M_PI << ";\n";
+  std::cout << "fl = " << intrinsics_.focal_length << ";\n";
+  std::cout << "error = " << summary.final_cost << ";\n";
+
+  int nimgs = 56;
+  for (int i = 0; i < nimgs; ++i) {
+    auto frame = aos::vision::LoadFile(
+        "/home/parker/data/frc/2019_calibration/cam4_0/debug_viewer_jpeg_" +
+        std::to_string(i) + ".yuyv");
+
+    aos::vision::ImageFormat fmt{640, 480};
+    aos::vision::BlobList imgs = aos::vision::FindBlobs(
+        aos::vision::DoThresholdYUYV(fmt, frame.data.data(), 120));
+    finder_.PreFilter(&imgs);
+
+    bool verbose = false;
+    std::vector<std::vector<Segment<2>>> raw_polys;
+    for (const RangeImage &blob : imgs) {
+      std::vector<Segment<2>> polygon = finder_.FillPolygon(blob, verbose);
+      if (polygon.empty()) {
+      } else {
+        raw_polys.push_back(polygon);
+      }
+    }
+
+    // Calculate each component side of a possible target.
+    std::vector<TargetComponent> target_component_list =
+        finder_.FillTargetComponentList(raw_polys);
+
+    // Put the compenents together into targets.
+    std::vector<Target> target_list =
+        finder_.FindTargetsFromComponents(target_component_list, verbose);
+
+    // Use the solver to generate an intermediate version of our results.
+    std::vector<IntermediateResult> results;
+    for (const Target &target : target_list) {
+      auto target_value = target.toPointList();
+      auto template_value = finder_.GetTemplateTarget().toPointList();
+
+      auto *extrinsics = new double[ExtrinsicParams::kNumParams];
+      ExtrinsicParams().set(extrinsics);
+      all_extrinsics.push_back({std::unique_ptr<double[]>(extrinsics), i});
+
+      for (size_t j = 0; j < 8; ++j) {
+        auto temp = template_value[j];
+        auto targ = target_value[j];
+
+        auto ftor = [temp, targ, i](const double *const intrinsics,
+                                    const double *const extrinsics,
+                                    double *residual) {
+          auto in = IntrinsicParams::get(intrinsics);
+          auto ex = ExtrinsicParams::get(extrinsics);
+          auto pt = targ - Project(temp, in, ex);
+          residual[0] = pt.x();
+          residual[1] = pt.y();
+          return true;
+        };
+        problem.AddResidualBlock(
+            new NumericDiffCostFunction<decltype(ftor), CENTRAL, 2,
+                                        IntrinsicParams::kNumParams,
+                                        ExtrinsicParams::kNumParams>(
+                new decltype(ftor)(std::move(ftor))),
+            NULL, &intrinsics[0], extrinsics);
+      }
+
+      auto ftor = [i](const double *const extrinsics,
+                      const double *const geometry, double *residual) {
+        auto err = GetError(extrinsics, geometry, i);
+        residual[0] = 32.0 * err[0];
+        residual[1] = 32.0 * err[1];
+        residual[2] = 32.0 * err[2];
+        return true;
+      };
+
+      problem.AddResidualBlock(
+          new NumericDiffCostFunction<decltype(ftor), CENTRAL, 3,
+                                      ExtrinsicParams::kNumParams,
+                                      GeometrykNumParams>(
+              new decltype(ftor)(std::move(ftor))),
+          NULL, extrinsics, &geometry[0]);
+    }
+  }
+  // TODO: Debug solver convergence?
+  Solve(options, &problem, &summary);
+  Solve(options, &problem, &summary);
+  Solve(options, &problem, &summary);
+
+  {
+    std::cout << summary.BriefReport() << "\n";
+    auto intrinsics_ = IntrinsicParams::get(&intrinsics[0]);
+    std::cout << "rup = " << intrinsics_.mount_angle * 180 / M_PI << ";\n";
+    std::cout << "fl = " << intrinsics_.focal_length << ";\n";
+    std::cout << "error = " << summary.final_cost << ";\n";
+
+    std::cout << "camera_height = " << geometry[3] / kInchesToMeters << "\n";
+    std::cout << "camera_angle = " << geometry[2] * 180 / M_PI << "\n";
+    std::cout << "camera_x = " << geometry[0] / kInchesToMeters << "\n";
+    std::cout << "camera_y = " << geometry[1] / kInchesToMeters << "\n";
+    std::cout << "camera_barrel = " << intrinsics_.barrel_mount * 180.0 / M_PI
+              << "\n";
+
+    for (auto &sample : all_extrinsics) {
+      int i = sample.i;
+      double *data = sample.extrinsics.get();
+
+      auto extn = ExtrinsicParams::get(data);
+
+      auto err = GetError(data, &geometry[0], i);
+
+      std::cout << i << ", ";
+      std::cout << extn.z / kInchesToMeters << ", ";
+      std::cout << extn.y / kInchesToMeters << ", ";
+      std::cout << extn.r1 * 180 / M_PI << ", ";
+      std::cout << extn.r2 * 180 / M_PI << ", ";
+      // TODO: Methodology problem: This should really have a separate solve for
+      // extrinsics...
+      std::cout << err[0] << ", ";
+      std::cout << err[1] << ", ";
+      std::cout << err[2] << "\n";
+    }
+  }
+}
+
+}  // namespace y2019
+}  // namespace vision
+
+int main(int argc, char **argv) { y2019::vision::main(argc, argv); }
diff --git a/y2019/vision/target_geometry.cc b/y2019/vision/target_geometry.cc
index 77adc83..1c1fb99 100644
--- a/y2019/vision/target_geometry.cc
+++ b/y2019/vision/target_geometry.cc
@@ -58,6 +58,7 @@
   double r1 = extrinsics.r1;
   double r2 = extrinsics.r2;
   double rup = intrinsics.mount_angle;
+  double rbarrel = intrinsics.barrel_mount;
   double fl = intrinsics.focal_length;
 
   ::Eigen::Matrix<double, 1, 3> pts{pt.x(), pt.y() + y, 0.0};
@@ -93,6 +94,11 @@
           pts.transpose();
   }
 
+  // TODO: Maybe barrel should be extrinsics to allow rocking?
+  // Also, in this case, barrel should go above the rotation above?
+  pts = ::Eigen::AngleAxis<double>(rbarrel, ::Eigen::Vector3d(0.0, 0.0, 1.0)) *
+        pts.transpose();
+
   // TODO: Final image projection.
   ::Eigen::Matrix<double, 1, 3> res = pts;
 
diff --git a/y2019/vision/target_types.h b/y2019/vision/target_types.h
index 557b04a..089b897 100644
--- a/y2019/vision/target_types.h
+++ b/y2019/vision/target_types.h
@@ -43,19 +43,23 @@
 };
 
 struct IntrinsicParams {
-  static constexpr size_t kNumParams = 2;
+  static constexpr size_t kNumParams = 3;
 
-  double mount_angle = 10.0481 / 180.0 * M_PI;
-  double focal_length = 729.445;
+  double mount_angle = 0.819433 / 180.0 * M_PI;  // 9.32615 / 180.0 * M_PI;
+  double focal_length = 666.763;                 // 734.328;
+  // This is a final rotation where the camera isn't straight.
+  double barrel_mount = 2.72086 / 180.0 * M_PI;
 
   void set(double *data) {
     data[0] = mount_angle;
     data[1] = focal_length;
+    data[2] = barrel_mount;
   }
   static IntrinsicParams get(const double *data) {
     IntrinsicParams out;
     out.mount_angle = data[0];
     out.focal_length = data[1];
+    out.barrel_mount = data[2];
     return out;
   }
 };