diff --git a/photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp b/photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp
index 0153f9d3a4..96e641ce4b 100644
--- a/photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp
+++ b/photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp
@@ -210,18 +210,17 @@ PhotonPipelineResult PhotonCameraSim::Process(
 
     std::vector<std::pair<float, float>> tempCorners =
         OpenCVHelp::PointsToCorners(minAreaRectPts);
-    wpi::SmallVector<std::pair<double, double>, 4> smallVec;
+    std::vector<TargetCorner> smallVec;
 
     for (const auto& corner : tempCorners) {
-      smallVec.emplace_back(std::make_pair(static_cast<double>(corner.first),
-                                           static_cast<double>(corner.second)));
+      smallVec.emplace_back(static_cast<double>(corner.first),
+                            static_cast<double>(corner.second));
     }
 
-    std::vector<std::pair<float, float>> cornersFloat =
-        OpenCVHelp::PointsToCorners(noisyTargetCorners);
+    auto cornersFloat = OpenCVHelp::PointsToTargetCorners(noisyTargetCorners);
 
-    std::vector<std::pair<double, double>> cornersDouble{cornersFloat.begin(),
-                                                         cornersFloat.end()};
+    std::vector<TargetCorner> cornersDouble{cornersFloat.begin(),
+                                            cornersFloat.end()};
     detectableTgts.emplace_back(
         -centerRot.Z().convert<units::degrees>().to<double>(),
         -centerRot.Y().convert<units::degrees>().to<double>(), areaPercent,
@@ -277,17 +276,15 @@ PhotonPipelineResult PhotonCameraSim::Process(
         cv::LINE_AA);
     for (const auto& tgt : detectableTgts) {
       auto detectedCornersDouble = tgt.GetDetectedCorners();
-      std::vector<std::pair<float, float>> detectedCornerFloat{
-          detectedCornersDouble.begin(), detectedCornersDouble.end()};
       if (tgt.GetFiducialId() >= 0) {
         VideoSimUtil::DrawTagDetection(
             tgt.GetFiducialId(),
-            OpenCVHelp::CornersToPoints(detectedCornerFloat),
+            OpenCVHelp::CornersToPoints(detectedCornersDouble),
             videoSimFrameProcessed);
       } else {
         cv::rectangle(videoSimFrameProcessed,
                       OpenCVHelp::GetBoundingRect(
-                          OpenCVHelp::CornersToPoints(detectedCornerFloat)),
+                          OpenCVHelp::CornersToPoints(detectedCornersDouble)),
                       cv::Scalar{0, 0, 255},
                       static_cast<int>(VideoSimUtil::GetScaledThickness(
                           1, videoSimFrameProcessed)),
@@ -316,7 +313,7 @@ PhotonPipelineResult PhotonCameraSim::Process(
         cs::VideoSource::ConnectionStrategy::kConnectionForceClose);
   }
 
-  MultiTargetPNPResult multiTagResults{};
+  std::optional<MultiTargetPNPResult> multiTagResults = std::nullopt;
 
   std::vector<frc::AprilTag> visibleLayoutTags =
       VisionEstimation::GetVisibleLayoutTags(detectableTgts, tagLayout);
@@ -330,12 +327,16 @@ PhotonPipelineResult PhotonCameraSim::Process(
     auto pnpResult = VisionEstimation::EstimateCamPosePNP(
         prop.GetIntrinsics(), prop.GetDistCoeffs(), detectableTgts, tagLayout,
         kAprilTag36h11);
-    multiTagResults = MultiTargetPNPResult{pnpResult, usedIds};
+    if (pnpResult) {
+      multiTagResults = MultiTargetPNPResult{*pnpResult, usedIds};
+    }
   }
 
   heartbeatCounter++;
-  return PhotonPipelineResult{heartbeatCounter, 0_s, latency, detectableTgts,
-                              multiTagResults};
+  return PhotonPipelineResult{
+      PhotonPipelineMetadata{heartbeatCounter, 0,
+                             units::microsecond_t{latency}.to<double>()},
+      detectableTgts, multiTagResults};
 }
 void PhotonCameraSim::SubmitProcessedFrame(const PhotonPipelineResult& result) {
   SubmitProcessedFrame(result, wpi::Now());
diff --git a/photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp b/photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp
index 72d1ccf7d6..a1c901c15b 100644
--- a/photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp
+++ b/photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp
@@ -51,15 +51,17 @@ static std::vector<frc::AprilTag> tags = {
 
 static frc::AprilTagFieldLayout aprilTags{tags, 54_ft, 27_ft};
 
-static wpi::SmallVector<std::pair<double, double>, 4> corners{
-    std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}};
-static std::vector<std::pair<double, double>> detectedCorners{
-    std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}};
+static std::vector<photon::TargetCorner> corners{
+    photon::TargetCorner{1, 2}, photon::TargetCorner{3, 4},
+    photon::TargetCorner{5, 6}, photon::TargetCorner{7, 8}};
+static std::vector<photon::TargetCorner> detectedCorners{
+    photon::TargetCorner{1, 2}, photon::TargetCorner{3, 4},
+    photon::TargetCorner{5, 6}, photon::TargetCorner{7, 8}};
 
 TEST(PhotonPoseEstimatorTest, LowestAmbiguityStrategy) {
   photon::PhotonCamera cameraOne = photon::PhotonCamera("test");
 
-  wpi::SmallVector<photon::PhotonTrackedTarget, 3> targets{
+  std::vector<photon::PhotonTrackedTarget> targets{
       photon::PhotonTrackedTarget{
           3.0, -4.0, 9.0, 4.0, 0, -1, -1,
           frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
@@ -83,7 +85,8 @@ TEST(PhotonPoseEstimatorTest, LowestAmbiguityStrategy) {
           0.4, corners, detectedCorners}};
 
   cameraOne.test = true;
-  cameraOne.testResult = {{0, 0_s, 2_ms, targets}};
+  cameraOne.testResult = {photon::PhotonPipelineResult{
+      photon::PhotonPipelineMetadata{0, 0, 2000}, targets, std::nullopt}};
   cameraOne.testResult[0].SetRecieveTimestamp(units::second_t(11));
 
   photon::PhotonPoseEstimator estimator(aprilTags, photon::LOWEST_AMBIGUITY,
@@ -118,7 +121,7 @@ TEST(PhotonPoseEstimatorTest, ClosestToCameraHeightStrategy) {
   // ID 0 at 3,3,3
   // ID 1 at 5,5,5
 
-  wpi::SmallVector<photon::PhotonTrackedTarget, 3> targets{
+  std::vector<photon::PhotonTrackedTarget> targets{
       photon::PhotonTrackedTarget{
           3.0, -4.0, 9.0, 4.0, 1, -1, -1,
           frc::Transform3d(frc::Translation3d(0_m, 0_m, 0_m),
@@ -142,7 +145,8 @@ TEST(PhotonPoseEstimatorTest, ClosestToCameraHeightStrategy) {
           0.4, corners, detectedCorners}};
 
   cameraOne.test = true;
-  cameraOne.testResult = {{0, 0_s, 2_ms, targets}};
+  cameraOne.testResult = {photon::PhotonPipelineResult{
+      photon::PhotonPipelineMetadata{0, 0, 2000}, targets, std::nullopt}};
   cameraOne.testResult[0].SetRecieveTimestamp(17_s);
 
   photon::PhotonPoseEstimator estimator(
@@ -165,7 +169,7 @@ TEST(PhotonPoseEstimatorTest, ClosestToCameraHeightStrategy) {
 TEST(PhotonPoseEstimatorTest, ClosestToReferencePoseStrategy) {
   photon::PhotonCamera cameraOne = photon::PhotonCamera("test");
 
-  wpi::SmallVector<photon::PhotonTrackedTarget, 3> targets{
+  std::vector<photon::PhotonTrackedTarget> targets{
       photon::PhotonTrackedTarget{
           3.0, -4.0, 9.0, 4.0, 1, -1, -1,
           frc::Transform3d(frc::Translation3d(0_m, 0_m, 0_m),
@@ -189,7 +193,8 @@ TEST(PhotonPoseEstimatorTest, ClosestToReferencePoseStrategy) {
           0.4, corners, detectedCorners}};
 
   cameraOne.test = true;
-  cameraOne.testResult = {{0, 0_s, 2_ms, targets}};
+  cameraOne.testResult = {photon::PhotonPipelineResult{
+      photon::PhotonPipelineMetadata{0, 0, 2000}, targets, std::nullopt}};
   cameraOne.testResult[0].SetRecieveTimestamp(units::second_t(17));
 
   photon::PhotonPoseEstimator estimator(aprilTags,
@@ -214,7 +219,7 @@ TEST(PhotonPoseEstimatorTest, ClosestToReferencePoseStrategy) {
 TEST(PhotonPoseEstimatorTest, ClosestToLastPose) {
   photon::PhotonCamera cameraOne = photon::PhotonCamera("test");
 
-  wpi::SmallVector<photon::PhotonTrackedTarget, 3> targets{
+  std::vector<photon::PhotonTrackedTarget> targets{
       photon::PhotonTrackedTarget{
           3.0, -4.0, 9.0, 4.0, 1, -1, -1,
           frc::Transform3d(frc::Translation3d(0_m, 0_m, 0_m),
@@ -238,7 +243,8 @@ TEST(PhotonPoseEstimatorTest, ClosestToLastPose) {
           0.4, corners, detectedCorners}};
 
   cameraOne.test = true;
-  cameraOne.testResult = {{0, 0_s, 2_ms, targets}};
+  cameraOne.testResult = {photon::PhotonPipelineResult{
+      photon::PhotonPipelineMetadata{0, 0, 2000}, targets, std::nullopt}};
   cameraOne.testResult[0].SetRecieveTimestamp(units::second_t(17));
 
   photon::PhotonPoseEstimator estimator(aprilTags, photon::CLOSEST_TO_LAST_POSE,
@@ -254,7 +260,7 @@ TEST(PhotonPoseEstimatorTest, ClosestToLastPose) {
   ASSERT_TRUE(estimatedPose);
   frc::Pose3d pose = estimatedPose.value().estimatedPose;
 
-  wpi::SmallVector<photon::PhotonTrackedTarget, 3> targetsThree{
+  std::vector<photon::PhotonTrackedTarget> targetsThree{
       photon::PhotonTrackedTarget{
           3.0, -4.0, 9.0, 4.0, 1, -1, -1,
           frc::Transform3d(frc::Translation3d(0_m, 0_m, 0_m),
@@ -277,7 +283,8 @@ TEST(PhotonPoseEstimatorTest, ClosestToLastPose) {
                            frc::Rotation3d(0_rad, 0_rad, 0_rad)),
           0.4, corners, detectedCorners}};
 
-  cameraOne.testResult = {{0, 0_s, 2_ms, targetsThree}};
+  cameraOne.testResult = {photon::PhotonPipelineResult{
+      photon::PhotonPipelineMetadata{0, 0, 2000}, targetsThree, std::nullopt}};
   cameraOne.testResult[0].SetRecieveTimestamp(units::second_t(21));
 
   // std::optional<photon::EstimatedRobotPose> estimatedPose;
@@ -298,7 +305,7 @@ TEST(PhotonPoseEstimatorTest, ClosestToLastPose) {
 TEST(PhotonPoseEstimatorTest, AverageBestPoses) {
   photon::PhotonCamera cameraOne = photon::PhotonCamera("test");
 
-  wpi::SmallVector<photon::PhotonTrackedTarget, 3> targets{
+  std::vector<photon::PhotonTrackedTarget> targets{
       photon::PhotonTrackedTarget{
           3.0, -4.0, 9.0, 4.0, 0, -1, -1,
           frc::Transform3d(frc::Translation3d(2_m, 2_m, 2_m),
@@ -322,7 +329,8 @@ TEST(PhotonPoseEstimatorTest, AverageBestPoses) {
           0.4, corners, detectedCorners}};
 
   cameraOne.test = true;
-  cameraOne.testResult = {{0, 0_s, 2_ms, targets}};
+  cameraOne.testResult = {photon::PhotonPipelineResult{
+      photon::PhotonPipelineMetadata{0, 0, 2000}, targets, std::nullopt}};
   cameraOne.testResult[0].SetRecieveTimestamp(units::second_t(15));
 
   photon::PhotonPoseEstimator estimator(aprilTags, photon::AVERAGE_BEST_TARGETS,
@@ -345,7 +353,7 @@ TEST(PhotonPoseEstimatorTest, AverageBestPoses) {
 TEST(PhotonPoseEstimatorTest, PoseCache) {
   photon::PhotonCamera cameraOne = photon::PhotonCamera("test2");
 
-  wpi::SmallVector<photon::PhotonTrackedTarget, 3> targets{
+  std::vector<photon::PhotonTrackedTarget> targets{
       photon::PhotonTrackedTarget{
           3.0, -4.0, 9.0, 4.0, 0, -1, -1,
           frc::Transform3d(frc::Translation3d(2_m, 2_m, 2_m),
@@ -374,7 +382,9 @@ TEST(PhotonPoseEstimatorTest, PoseCache) {
                                         {});
 
   // empty input, expect empty out
-  cameraOne.testResult = {{0, 0_s, 2_ms, {}}};
+  cameraOne.testResult = {photon::PhotonPipelineResult{
+      photon::PhotonPipelineMetadata{0, 0, 2000},
+      std::vector<photon::PhotonTrackedTarget>{}, std::nullopt}};
   cameraOne.testResult[0].SetRecieveTimestamp(units::second_t(1));
 
   std::optional<photon::EstimatedRobotPose> estimatedPose;
@@ -385,7 +395,8 @@ TEST(PhotonPoseEstimatorTest, PoseCache) {
   EXPECT_FALSE(estimatedPose);
 
   // Set result, and update -- expect present and timestamp to be 15
-  cameraOne.testResult = {{0, 0_s, 3_ms, targets}};
+  cameraOne.testResult = {photon::PhotonPipelineResult{
+      photon::PhotonPipelineMetadata{0, 0, 3000}, targets, std::nullopt}};
   cameraOne.testResult[0].SetRecieveTimestamp(units::second_t(15));
 
   for (const auto& result : cameraOne.GetAllUnreadResults()) {
diff --git a/photon-lib/src/test/native/cpp/VisionSystemSimTest.cpp b/photon-lib/src/test/native/cpp/VisionSystemSimTest.cpp
index 8398a37a69..e57c91c4f0 100644
--- a/photon-lib/src/test/native/cpp/VisionSystemSimTest.cpp
+++ b/photon-lib/src/test/native/cpp/VisionSystemSimTest.cpp
@@ -439,9 +439,10 @@ TEST_F(VisionSystemSimTest, TestPoseEstimation) {
   for (photon::PhotonTrackedTarget tar : targetSpan) {
     targets.push_back(tar);
   }
-  photon::PnpResult results = photon::VisionEstimation::EstimateCamPosePNP(
+  auto results = photon::VisionEstimation::EstimateCamPosePNP(
       camEigen, distEigen, targets, layout, photon::kAprilTag16h5);
-  frc::Pose3d pose = frc::Pose3d{} + results.best;
+  ASSERT_TRUE(results);
+  frc::Pose3d pose = frc::Pose3d{} + results->best;
   ASSERT_NEAR(5, pose.X().to<double>(), 0.01);
   ASSERT_NEAR(1, pose.Y().to<double>(), 0.01);
   ASSERT_NEAR(0, pose.Z().to<double>(), 0.01);
@@ -460,9 +461,10 @@ TEST_F(VisionSystemSimTest, TestPoseEstimation) {
   for (photon::PhotonTrackedTarget tar : targetSpan2) {
     targets2.push_back(tar);
   }
-  photon::PnpResult results2 = photon::VisionEstimation::EstimateCamPosePNP(
+  auto results2 = photon::VisionEstimation::EstimateCamPosePNP(
       camEigen, distEigen, targets2, layout, photon::kAprilTag16h5);
-  frc::Pose3d pose2 = frc::Pose3d{} + results2.best;
+  ASSERT_TRUE(results2);
+  frc::Pose3d pose2 = frc::Pose3d{} + results2->best;
   ASSERT_NEAR(5, pose2.X().to<double>(), 0.01);
   ASSERT_NEAR(1, pose2.Y().to<double>(), 0.01);
   ASSERT_NEAR(0, pose2.Z().to<double>(), 0.01);
diff --git a/photon-targeting/src/main/native/include/photon/dataflow/structures/Packet.h b/photon-targeting/src/main/native/include/photon/dataflow/structures/Packet.h
index 488ada0298..acd28a2caa 100644
--- a/photon-targeting/src/main/native/include/photon/dataflow/structures/Packet.h
+++ b/photon-targeting/src/main/native/include/photon/dataflow/structures/Packet.h
@@ -170,7 +170,8 @@ struct SerdeType<std::vector<T>> {
   static constexpr std::string_view GetSchema() {
     // TODO: this gets us the plain type name of T, but this is not schema JSON
     // compliant!
-    return wpi::Demangle(typeid(T).name());
+    std::string name = wpi::Demangle(typeid(T).name());
+    return name;
   }
 };
 
@@ -199,7 +200,8 @@ struct SerdeType<std::optional<T>> {
   static constexpr std::string_view GetSchema() {
     // TODO: this gets us the plain type name of T, but this is not schema JSON
     // compliant!
-    return wpi::Demangle(typeid(T).name());
+    std::string name = wpi::Demangle(typeid(T).name());
+    return name;
   }
 };
 
diff --git a/photon-targeting/src/main/native/include/photon/estimation/OpenCVHelp.h b/photon-targeting/src/main/native/include/photon/estimation/OpenCVHelp.h
index 794883e2c6..ebb6a9fffc 100644
--- a/photon-targeting/src/main/native/include/photon/estimation/OpenCVHelp.h
+++ b/photon-targeting/src/main/native/include/photon/estimation/OpenCVHelp.h
@@ -32,6 +32,8 @@
 #include "photon/targeting/PnpResult.h"
 #include "photon/targeting/MultiTargetPNPResult.h"
 
+#include "photon/targeting/TargetCorner.h"
+
 namespace photon {
 namespace OpenCVHelp {
 
@@ -96,6 +98,16 @@ static std::vector<cv::Point3f> RotationToRVec(
   return points[0];
 }
 
+[[maybe_unused]] static std::vector<photon::TargetCorner> PointsToTargetCorners(
+    const std::vector<cv::Point2f>& points) {
+  std::vector<photon::TargetCorner> retVal;
+  retVal.reserve(points.size());
+  for (size_t i = 0; i < points.size(); i++) {
+    retVal.emplace_back(photon::TargetCorner{points[i].x, points[i].y});
+  }
+  return retVal;
+}
+
 [[maybe_unused]] static std::vector<std::pair<float, float>> PointsToCorners(
     const std::vector<cv::Point2f>& points) {
   std::vector<std::pair<float, float>> retVal;
@@ -116,6 +128,17 @@ static std::vector<cv::Point3f> RotationToRVec(
   return retVal;
 }
 
+[[maybe_unused]] static std::vector<cv::Point2f> CornersToPoints(
+    const std::vector<photon::TargetCorner>& corners) {
+  std::vector<cv::Point2f> retVal;
+  retVal.reserve(corners.size());
+  for (size_t i = 0; i < corners.size(); i++) {
+    retVal.emplace_back(cv::Point2f{static_cast<float>(corners[i].x),
+                                    static_cast<float>(corners[i].y)});
+  }
+  return retVal;
+}
+
 [[maybe_unused]] static cv::Rect GetBoundingRect(
     const std::vector<cv::Point2f>& points) {
   return cv::boundingRect(points);
diff --git a/photon-targeting/src/main/native/include/photon/estimation/VisionEstimation.h b/photon-targeting/src/main/native/include/photon/estimation/VisionEstimation.h
index 53df691598..bb621f4f83 100644
--- a/photon-targeting/src/main/native/include/photon/estimation/VisionEstimation.h
+++ b/photon-targeting/src/main/native/include/photon/estimation/VisionEstimation.h
@@ -56,7 +56,7 @@ static std::optional<PnpResult> EstimateCamPosePNP(
     return PnpResult();
   }
 
-  std::vector<std::pair<float, float>> corners{};
+  std::vector<photon::TargetCorner> corners{};
   std::vector<frc::AprilTag> knownTags{};
 
   for (const auto& tgt : visTags) {
@@ -101,19 +101,8 @@ static std::optional<PnpResult> EstimateCamPosePNP(
       auto verts = tagModel.GetFieldVertices(tag.pose);
       objectTrls.insert(objectTrls.end(), verts.begin(), verts.end());
     }
-    auto camToOrigin = OpenCVHelp::SolvePNP_SQPNP(cameraMatrix, distCoeffs,
-                                                  objectTrls, points);
-    if (!camToOrigin) {
-      return std::nullopt;
-    } else {
-      PnpResult ret{};
-      ret.best = camToOrigin.best.Inverse(),
-      ret.alt = camToOrigin.alt.Inverse(),
-      ret.ambiguity = camToOrigin.ambiguity;
-      ret.bestReprojErr = camToOrigin.bestReprojErr;
-      ret.altReprojErr = camToOrigin.altReprojErr;
-      return ret;
-    }
+    return OpenCVHelp::SolvePNP_SQPNP(cameraMatrix, distCoeffs, objectTrls,
+                                      points);
   }
 }