diff --git a/y2023/vision/vision_util.cc b/y2023/vision/vision_util.cc
index eed315a..f4937e5 100644
--- a/y2023/vision/vision_util.cc
+++ b/y2023/vision/vision_util.cc
@@ -3,6 +3,7 @@
 #include "glog/logging.h"
 
 namespace y2023::vision {
+
 const frc971::vision::calibration::CameraCalibration *FindCameraCalibration(
     const y2023::Constants &calibration_data, std::string_view node_name) {
   CHECK(calibration_data.has_cameras());
@@ -16,4 +17,40 @@
   }
   LOG(FATAL) << ": Failed to find camera calibration for " << node_name;
 }
+
+cv::Mat CameraExtrinsics(
+    const frc971::vision::calibration::CameraCalibration *camera_calibration) {
+  CHECK(!camera_calibration->has_turret_extrinsics())
+      << "No turret on 2023 robot";
+
+  cv::Mat result(4, 4, CV_32F,
+                 const_cast<void *>(static_cast<const void *>(
+                     camera_calibration->fixed_extrinsics()->data()->data())));
+  result.convertTo(result, CV_64F);
+  CHECK_EQ(result.total(),
+           camera_calibration->fixed_extrinsics()->data()->size());
+
+  return result;
+}
+
+cv::Mat CameraIntrinsics(
+    const frc971::vision::calibration::CameraCalibration *camera_calibration) {
+  cv::Mat result(3, 3, CV_32F,
+                 const_cast<void *>(static_cast<const void *>(
+                     camera_calibration->intrinsics()->data())));
+  result.convertTo(result, CV_64F);
+  CHECK_EQ(result.total(), camera_calibration->intrinsics()->size());
+
+  return result;
+}
+
+cv::Mat CameraDistCoeffs(
+    const frc971::vision::calibration::CameraCalibration *camera_calibration) {
+  const cv::Mat result(5, 1, CV_32F,
+                       const_cast<void *>(static_cast<const void *>(
+                           camera_calibration->dist_coeffs()->data())));
+  CHECK_EQ(result.total(), camera_calibration->dist_coeffs()->size());
+  return result;
+}
+
 }  // namespace y2023::vision