diff --git a/y2022/vision/target_mapping.cc b/y2022/vision/target_mapping.cc
new file mode 100644
index 0000000..b65e5a3
--- /dev/null
+++ b/y2022/vision/target_mapping.cc
@@ -0,0 +1,282 @@
+#include "aos/events/logging/log_reader.h"
+#include "aos/events/simulated_event_loop.h"
+#include "aos/init.h"
+#include "frc971/control_loops/pose.h"
+#include "frc971/vision/charuco_lib.h"
+#include "frc971/vision/target_mapper.h"
+#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"
+#include "y2022/control_loops/superstructure/superstructure_status_generated.h"
+#include "y2022/vision/camera_reader.h"
+
+DEFINE_string(json_path, "target_map.json",
+              "Specify path for json with initial pose guesses.");
+DEFINE_int32(
+    team_number, 971,
+    "If reading locally, use the calibration for a node with this team number");
+
+namespace y2022 {
+namespace vision {
+using frc971::vision::DataAdapter;
+using frc971::vision::PoseUtils;
+using frc971::vision::TargetMapper;
+namespace superstructure = ::y2022::control_loops::superstructure;
+
+// Find transformation from camera to robot reference frame
+Eigen::Affine3d CameraTransform(Eigen::Affine3d fixed_extrinsics,
+                                Eigen::Affine3d turret_extrinsics,
+                                double turret_position) {
+  // Calculate the pose of the camera relative to the robot origin.
+  Eigen::Affine3d H_robot_camrob =
+      fixed_extrinsics *
+      Eigen::Affine3d(frc971::control_loops::TransformationMatrixForYaw<double>(
+          turret_position)) *
+      turret_extrinsics;
+
+  return H_robot_camrob;
+}
+
+// Change reference frame from camera to robot
+Eigen::Affine3d CameraToRobotDetection(Eigen::Affine3d H_camcv_target,
+                                       Eigen::Affine3d fixed_extrinsics,
+                                       Eigen::Affine3d turret_extrinsics,
+                                       double turret_position) {
+  // With X, Y, Z being robot axes and x, y, z being camera axes,
+  // x = -Y, y = -Z, z = X
+  const Eigen::Affine3d H_camcv_camrob =
+      Eigen::Affine3d((Eigen::Matrix4d() << 0.0, -1.0, 0.0, 0.0, 0.0, 0.0, -1.0,
+                       0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0)
+                          .finished());
+
+  const Eigen::Affine3d H_robot_camrob =
+      CameraTransform(fixed_extrinsics, turret_extrinsics, turret_position);
+  const Eigen::Affine3d H_robot_target =
+      H_robot_camrob * H_camcv_camrob.inverse() * H_camcv_target;
+  return H_robot_target;
+}
+
+// Add detected apriltag poses relative to the robot to
+// timestamped_target_detections
+void HandleAprilTag(
+    aos::distributed_clock::time_point pi_distributed_time,
+    std::vector<cv::Vec4i> april_ids, std::vector<Eigen::Vector3d> rvecs_eigen,
+    std::vector<Eigen::Vector3d> tvecs_eigen,
+    std::vector<DataAdapter::TimestampedDetection>
+        *timestamped_target_detections,
+    aos::Fetcher<superstructure::Status> *superstructure_status_fetcher,
+    Eigen::Affine3d fixed_extrinsics, Eigen::Affine3d turret_extrinsics) {
+  CHECK(superstructure_status_fetcher->Fetch());
+  double turret_position =
+      superstructure_status_fetcher->get()->turret()->position();
+
+  for (size_t tag = 0; tag < april_ids.size(); tag++) {
+    Eigen::Translation3d T_camera_target = Eigen::Translation3d(
+        tvecs_eigen[tag][0], tvecs_eigen[tag][1], tvecs_eigen[tag][2]);
+    Eigen::AngleAxisd r_angle = Eigen::AngleAxisd(
+        rvecs_eigen[tag].norm(), rvecs_eigen[tag] / rvecs_eigen[tag].norm());
+    CHECK(rvecs_eigen[tag].norm() != 0) << "rvecs norm = 0; divide by 0";
+    Eigen::Affine3d H_camcv_target = T_camera_target * r_angle;
+
+    Eigen::Affine3d H_robot_target = CameraToRobotDetection(
+        H_camcv_target, fixed_extrinsics, turret_extrinsics, turret_position);
+
+    timestamped_target_detections->emplace_back(
+        DataAdapter::TimestampedDetection{.time = pi_distributed_time,
+                                          .H_robot_target = H_robot_target,
+                                          .id = april_ids[tag][0]});
+  }
+}
+
+Eigen::Affine3d CameraFixedExtrinsics(
+    const calibration::CameraCalibration *camera_calibration) {
+  cv::Mat extrinsics(
+      4, 4, CV_32F,
+      const_cast<void *>(static_cast<const void *>(
+          camera_calibration->fixed_extrinsics()->data()->data())));
+  extrinsics.convertTo(extrinsics, CV_64F);
+  CHECK_EQ(extrinsics.total(),
+           camera_calibration->fixed_extrinsics()->data()->size());
+  Eigen::Matrix4d extrinsics_eigen;
+  cv::cv2eigen(extrinsics, extrinsics_eigen);
+  return Eigen::Affine3d(extrinsics_eigen);
+}
+
+Eigen::Affine3d CameraTurretExtrinsics(
+    const calibration::CameraCalibration *camera_calibration) {
+  cv::Mat extrinsics(
+      4, 4, CV_32F,
+      const_cast<void *>(static_cast<const void *>(
+          camera_calibration->turret_extrinsics()->data()->data())));
+  extrinsics.convertTo(extrinsics, CV_64F);
+  CHECK_EQ(extrinsics.total(),
+           camera_calibration->turret_extrinsics()->data()->size());
+  Eigen::Matrix4d extrinsics_eigen;
+  cv::cv2eigen(extrinsics, extrinsics_eigen);
+  return Eigen::Affine3d(extrinsics_eigen);
+}
+
+// Get images from pi and pass apriltag positions to HandleAprilTag()
+void HandlePiCaptures(
+    int pi_number, aos::EventLoop *pi_event_loop,
+    aos::logger::LogReader *reader,
+    aos::Fetcher<superstructure::Status> *superstructure_status_fetcher,
+    std::vector<DataAdapter::TimestampedDetection>
+        *timestamped_target_detections,
+    std::vector<std::unique_ptr<CharucoExtractor>> *charuco_extractors,
+    std::vector<std::unique_ptr<ImageCallback>> *image_callbacks) {
+  const aos::FlatbufferSpan<calibration::CalibrationData> calibration_data(
+      CalibrationData());
+  const calibration::CameraCalibration *calibration =
+      CameraReader::FindCameraCalibration(&calibration_data.message(),
+                                          "pi" + std::to_string(pi_number),
+                                          FLAGS_team_number);
+  const auto turret_extrinsics = CameraTurretExtrinsics(calibration);
+  const auto fixed_extrinsics = CameraFixedExtrinsics(calibration);
+
+  charuco_extractors->emplace_back(std::make_unique<CharucoExtractor>(
+      pi_event_loop,
+      "pi-" + std::to_string(FLAGS_team_number) + "-" +
+          std::to_string(pi_number),
+      [=](cv::Mat /*rgb_image*/, aos::monotonic_clock::time_point eof,
+          std::vector<cv::Vec4i> april_ids,
+          std::vector<std::vector<cv::Point2f>> /*april_corners*/, bool valid,
+          std::vector<Eigen::Vector3d> rvecs_eigen,
+          std::vector<Eigen::Vector3d> tvecs_eigen) {
+        aos::distributed_clock::time_point pi_distributed_time =
+            reader->event_loop_factory()
+                ->GetNodeEventLoopFactory(pi_event_loop->node())
+                ->ToDistributedClock(eof);
+
+        if (valid) {
+          HandleAprilTag(pi_distributed_time, april_ids, rvecs_eigen,
+                         tvecs_eigen, timestamped_target_detections,
+                         superstructure_status_fetcher, fixed_extrinsics,
+                         turret_extrinsics);
+        }
+      }));
+
+  std::string channel =
+      absl::StrCat("/pi", std::to_string(pi_number), "/camera");
+
+  image_callbacks->emplace_back(std::make_unique<ImageCallback>(
+      pi_event_loop, "/pi" + std::to_string(pi_number) + "/camera",
+      [&, charuco_extractor =
+              charuco_extractors->at(charuco_extractors->size() - 1).get()](
+          cv::Mat rgb_image, const aos::monotonic_clock::time_point eof) {
+        charuco_extractor->HandleImage(rgb_image, eof);
+      }));
+}
+
+void MappingMain(int argc, char *argv[]) {
+  std::vector<std::string> unsorted_logfiles =
+      aos::logger::FindLogs(argc, argv);
+
+  std::vector<DataAdapter::TimestampedPose> timestamped_robot_poses;
+  std::vector<DataAdapter::TimestampedDetection> timestamped_target_detections;
+
+  // open logfiles
+  aos::logger::LogReader reader(aos::logger::SortParts(unsorted_logfiles));
+  reader.Register();
+  const aos::Node *imu_node =
+      aos::configuration::GetNode(reader.configuration(), "imu");
+
+  std::unique_ptr<aos::EventLoop> imu_event_loop =
+      reader.event_loop_factory()->MakeEventLoop("imu", imu_node);
+
+  const aos::Node *roborio_node =
+      aos::configuration::GetNode(reader.configuration(), "roborio");
+
+  std::unique_ptr<aos::EventLoop> roborio_event_loop =
+      reader.event_loop_factory()->MakeEventLoop("roborio", roborio_node);
+
+  imu_event_loop->MakeWatcher(
+      "/localizer", [&](const frc971::controls::LocalizerOutput &localizer) {
+        aos::monotonic_clock::time_point imu_monotonic_time =
+            aos::monotonic_clock::time_point(aos::monotonic_clock::duration(
+                localizer.monotonic_timestamp_ns()));
+        aos::distributed_clock::time_point imu_distributed_time =
+            reader.event_loop_factory()
+                ->GetNodeEventLoopFactory(imu_node)
+                ->ToDistributedClock(imu_monotonic_time);
+
+        timestamped_robot_poses.emplace_back(DataAdapter::TimestampedPose{
+            .time = imu_distributed_time,
+            .pose = ceres::examples::Pose2d{.x = localizer.x(),
+                                            .y = localizer.y(),
+                                            .yaw_radians = localizer.theta()}});
+      });
+
+  // Override target_type to AprilTag, since that's what we're using here
+  FLAGS_target_type = "april_tag";
+
+  auto superstructure_status_fetcher =
+      roborio_event_loop->MakeFetcher<superstructure::Status>(
+          "/superstructure");
+
+  std::vector<std::unique_ptr<CharucoExtractor>> charuco_extractors;
+  std::vector<std::unique_ptr<ImageCallback>> image_callbacks;
+
+  const aos::Node *pi1 =
+      aos::configuration::GetNode(reader.configuration(), "pi1");
+  std::unique_ptr<aos::EventLoop> pi1_event_loop =
+      reader.event_loop_factory()->MakeEventLoop("pi1", pi1);
+  HandlePiCaptures(
+      1, pi1_event_loop.get(), &reader, &superstructure_status_fetcher,
+      &timestamped_target_detections, &charuco_extractors, &image_callbacks);
+
+  const aos::Node *pi2 =
+      aos::configuration::GetNode(reader.configuration(), "pi2");
+  std::unique_ptr<aos::EventLoop> pi2_event_loop =
+      reader.event_loop_factory()->MakeEventLoop("pi2", pi2);
+  HandlePiCaptures(
+      2, pi2_event_loop.get(), &reader, &superstructure_status_fetcher,
+      &timestamped_target_detections, &charuco_extractors, &image_callbacks);
+
+  const aos::Node *pi3 =
+      aos::configuration::GetNode(reader.configuration(), "pi3");
+  std::unique_ptr<aos::EventLoop> pi3_event_loop =
+      reader.event_loop_factory()->MakeEventLoop("pi3", pi3);
+  HandlePiCaptures(
+      3, pi3_event_loop.get(), &reader, &superstructure_status_fetcher,
+      &timestamped_target_detections, &charuco_extractors, &image_callbacks);
+
+  const aos::Node *pi4 =
+      aos::configuration::GetNode(reader.configuration(), "pi4");
+  std::unique_ptr<aos::EventLoop> pi4_event_loop =
+      reader.event_loop_factory()->MakeEventLoop("pi4", pi4);
+  HandlePiCaptures(
+      4, pi4_event_loop.get(), &reader, &superstructure_status_fetcher,
+      &timestamped_target_detections, &charuco_extractors, &image_callbacks);
+
+  reader.event_loop_factory()->Run();
+
+  auto target_constraints =
+      DataAdapter::MatchTargetDetections(timestamped_robot_poses,
+                                         timestamped_target_detections)
+          .first;
+
+  frc971::vision::TargetMapper mapper(FLAGS_json_path, target_constraints);
+  mapper.Solve();
+
+  // Pointers need to be deleted to destruct all fetchers
+  for (auto &charuco_extractor_ptr : charuco_extractors) {
+    charuco_extractor_ptr.reset();
+  }
+
+  for (auto &image_callback_ptr : image_callbacks) {
+    image_callback_ptr.reset();
+  }
+}
+
+}  // namespace vision
+}  // namespace y2022
+
+int main(int argc, char **argv) {
+  aos::InitGoogle(&argc, &argv);
+  y2022::vision::MappingMain(argc, argv);
+}
\ No newline at end of file