diff --git a/README.md b/README.md
index ecdd3e19..a6e1498b 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
-# SUAS-2023
+# SUAS-2025
 
-Missouri S&T Multirotor Robot Design Team's code for the Association for Unmanned Vehicle Systems International's 2023 Student Unmanned Aerial Systems Competition (AUVSI SUAS 2023)
+Missouri S&T Multirotor Drone Design Team's code for the Association for Unmanned Vehicle Systems International's 2025 Student Unmanned Aerial Systems Competition (AUVSI SUAS 2025) hosted by Robonation
 
 ## Table of contents
 
@@ -53,7 +53,7 @@ You will need to install pip with `sudo apt-get install python3-pip`. Pip is use
 
 ### Getting the Repo
 
-Go to your documents folder and clone the repo with `git clone https://github.com/MissouriMRR/SUAS-2023.git`
+Go to your documents folder and clone the repo with `git clone https://github.com/MissouriMRR/SUAS-2025.git`
 
 ### Pre-commit
 
diff --git a/Unittest_camera_distance.py b/Unittest_camera_distance.py
new file mode 100644
index 00000000..4a2d8d86
--- /dev/null
+++ b/Unittest_camera_distance.py
@@ -0,0 +1,93 @@
+import unittest
+import numpy as np
+from enum import Enum
+from vision.common.constants import Point, CameraParameters, ODLCDict
+from vision.common.bounding_box import BoundingBox, ObjectType
+from vision.deskew.camera_distances import get_coordinates, bounding_area, calculate_distance
+
+
+class TestVisionFunctions(unittest.TestCase):
+    """
+    Tests to verify the functionality of calculations
+    concerning object positioning and distances in images captured by a camera.
+
+    Attributes
+    ----------
+        The dimensions of the image used in tests, specified as (height, width, channels).
+    """
+
+    def setUp(self) -> None:
+        """
+        Initializes common properties for all test methods. Sets up camera parameters
+        and image dimensions that simulate a typical usage scenario.
+
+        """
+        self.camera_params = CameraParameters(
+            focal_length=35.0,
+            rotation_deg=[0, 0, 0],
+            drone_coordinates=[37.7749, -122.4194],
+            altitude_f=1000.0,
+        )
+        self.image_shape = (1080, 1920, 3)  # Image size with 3 color channels
+
+    def test_get_coordinates(self) -> None:
+        """
+
+        Verifies that the accurately calculates  coordinates
+        from a center pixel. Asserts correct type and closeness to expected values.
+
+        Returns
+        -------
+            None: This method does not return a value but asserts the correctness of the output.
+        """
+        center_pixel = (960, 540)
+        expected_coordinates = (37.77, -122.211)
+        result = get_coordinates(center_pixel, self.image_shape, self.camera_params)
+
+        self.assertIsNotNone(result, "Coordinates should not be None")
+        # Check if the result is not None and is of the expected tuple type
+        self.assertIsInstance(result, tuple, "Result should be a tuple")
+        if isinstance(result, tuple):
+            self.assertEqual(len(result), 2, "Result tuple should have two elements")
+            self.assertIsInstance(result[0], float, "Latitude is float")
+            self.assertIsInstance(result[1], float, "Longitude is float")
+        # Make sure to get the expected value
+        if result is not None:
+            self.assertAlmostEqual(result[0], expected_coordinates[0], places=2)
+            self.assertAlmostEqual(result[1], expected_coordinates[1], places=2)
+
+    def test_bounding_area(self) -> None:
+        """
+        Tests the  function to calculate the area of a bounding box
+        within the image, simulating an object detection scenario.
+
+        Returns
+        -------
+            None: This method does not return a value but asserts the area calculation is correct.
+        """
+        obj_type = ObjectType(value="")  # Provide the necessary argument
+        self.box = BoundingBox(
+            obj_type=obj_type,
+            vertices=((100, 200), (200, 200), (200, 300), (100, 300)),
+        )
+        expected_area = 10000
+        result = bounding_area(self.box, self.image_shape, self.camera_params)
+
+        # Ensure result is not None before asserting
+        self.assertIsNotNone(result, "Result should not be None for valid bounding box")
+
+    def test_calculate_distance(self) -> None:
+        """
+        Tests distance calculation between two points in an image. Ensures the method
+        returns a valid result.
+        """
+        pixel1 = (100, 100)
+        pixel2 = (200, 200)  # Valid pixel coordinates
+        result = calculate_distance(pixel1, pixel2, self.image_shape, self.camera_params)
+
+        # Ensure result is not None before asserting
+        self.assertIsNotNone(result, "Result should not be None for valid pixel coordinates")
+
+
+if __name__ == "__main__":
+    unittest.main()
diff --git a/camera.json b/camera.json
new file mode 100644
index 00000000..e02ea4cf
--- /dev/null
+++ b/camera.json
@@ -0,0 +1,17 @@
+{
+    "suas2.png": {
+        "focal_length": 10,
+        "rotation_deg": [10, 20, 30],
+        "drone_coordinates": [50.80085, 21.42069],
+        "altitude_f": 100
+    },
+
+
+
+    "suas.png": {
+        "focal_length": 10,
+        "rotation_deg": [10, 20, 30],
+        "drone_coordinates": [50.80085, 21.42069],
+        "altitude_f": 100
+    }
+}
diff --git a/poetry.lock b/poetry.lock
index 70f2541b..2b18d8a1 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -16,17 +16,18 @@ grpcio = ">=1.12.0"
 
 [[package]]
 name = "astroid"
-version = "2.12.10"
+version = "2.15.8"
 description = "An abstract syntax tree for Python with inference support."
 optional = false
 python-versions = ">=3.7.2"
 files = [
-    {file = "astroid-2.12.10-py3-none-any.whl", hash = "sha256:997e0c735df60d4a4caff27080a3afc51f9bdd693d3572a4a0b7090b645c36c5"},
-    {file = "astroid-2.12.10.tar.gz", hash = "sha256:81f870105d892e73bf535da77a8261aa5bde838fa4ed12bb2f435291a098c581"},
+    {file = "astroid-2.15.8-py3-none-any.whl", hash = "sha256:1aa149fc5c6589e3d0ece885b4491acd80af4f087baafa3fb5203b113e68cd3c"},
+    {file = "astroid-2.15.8.tar.gz", hash = "sha256:6c107453dffee9055899705de3c9ead36e74119cee151e5a9aaf7f0b0e020a6a"},
 ]
 
 [package.dependencies]
 lazy-object-proxy = ">=1.4.0"
+typing-extensions = {version = ">=4.0.0", markers = "python_version < \"3.11\""}
 wrapt = [
     {version = ">=1.14,<2", markers = "python_version >= \"3.11\""},
     {version = ">=1.11,<2", markers = "python_version < \"3.11\""},
@@ -60,121 +61,123 @@ uvloop = ["uvloop (>=0.15.2)"]
 
 [[package]]
 name = "certifi"
-version = "2022.9.14"
+version = "2024.8.30"
 description = "Python package for providing Mozilla's CA Bundle."
 optional = false
 python-versions = ">=3.6"
 files = [
-    {file = "certifi-2022.9.14-py3-none-any.whl", hash = "sha256:e232343de1ab72c2aa521b625c80f699e356830fd0e2c620b465b304b17b0516"},
-    {file = "certifi-2022.9.14.tar.gz", hash = "sha256:36973885b9542e6bd01dea287b2b4b3b21236307c56324fcc3f1160f2d655ed5"},
+    {file = "certifi-2024.8.30-py3-none-any.whl", hash = "sha256:922820b53db7a7257ffbda3f597266d435245903d80737e34f8a45ff3e3230d8"},
+    {file = "certifi-2024.8.30.tar.gz", hash = "sha256:bec941d2aa8195e248a60b31ff9f0558284cf01a52591ceda73ea9afffd69fd9"},
 ]
 
 [[package]]
 name = "charset-normalizer"
-version = "3.0.1"
+version = "3.3.2"
 description = "The Real First Universal Charset Detector. Open, modern and actively maintained alternative to Chardet."
 optional = false
-python-versions = "*"
+python-versions = ">=3.7.0"
 files = [
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 [[package]]
 name = "click"
-version = "8.1.3"
+version = "8.1.7"
 description = "Composable command line interface toolkit"
 optional = false
 python-versions = ">=3.7"
 files = [
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 [package.dependencies]
@@ -182,24 +185,24 @@ colorama = {version = "*", markers = "platform_system == \"Windows\""}
 
 [[package]]
 name = "colorama"
-version = "0.4.5"
+version = "0.4.6"
 description = "Cross-platform colored terminal text."
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*,>=2.7"
 files = [
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 ]
 
 [[package]]
 name = "colorlog"
-version = "6.7.0"
+version = "6.8.2"
 description = "Add colours to the output of Python's logging module."
 optional = false
 python-versions = ">=3.6"
 files = [
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 ]
 
 [package.dependencies]
@@ -210,140 +213,181 @@ development = ["black", "flake8", "mypy", "pytest", "types-colorama"]
 
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-version = "1.0.5"
+version = "1.3.0"
 description = "Python library for calculating contours of 2D quadrilateral grids"
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+[package.extras]
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 [[package]]
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 [package.extras]
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 ]
 
 [package.extras]
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+all = ["brotli (>=1.0.1)", "brotlicffi (>=0.8.0)", "fs (>=2.2.0,<3)", "lxml (>=4.0)", "lz4 (>=1.7.4.2)", "matplotlib", "munkres", "pycairo", "scipy", "skia-pathops (>=0.5.0)", "sympy", "uharfbuzz (>=0.23.0)", "unicodedata2 (>=15.1.0)", "xattr", "zopfli (>=0.1.4)"]
 graphite = ["lz4 (>=1.7.4.2)"]
-interpolatable = ["munkres", "scipy"]
-lxml = ["lxml (>=4.0,<5)"]
+interpolatable = ["munkres", "pycairo", "scipy"]
+lxml = ["lxml (>=4.0)"]
 pathops = ["skia-pathops (>=0.5.0)"]
 plot = ["matplotlib"]
 repacker = ["uharfbuzz (>=0.23.0)"]
 symfont = ["sympy"]
 type1 = ["xattr"]
 ufo = ["fs (>=2.2.0,<3)"]
-unicode = ["unicodedata2 (>=14.0.0)"]
+unicode = ["unicodedata2 (>=15.1.0)"]
 woff = ["brotli (>=1.0.1)", "brotlicffi (>=0.8.0)", "zopfli (>=0.1.4)"]
 
 [[package]]
@@ -359,13 +403,13 @@ files = [
 
 [[package]]
 name = "geopy"
-version = "2.3.0"
+version = "2.4.1"
 description = "Python Geocoding Toolbox"
 optional = false
 python-versions = ">=3.7"
 files = [
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-    {file = "geopy-2.3.0.tar.gz", hash = "sha256:228cd53b6eef699b2289d1172e462a90d5057779a10388a7366291812601187f"},
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 ]
 
 [package.dependencies]
@@ -382,13 +426,13 @@ timezone = ["pytz"]
 
 [[package]]
 name = "gitdb"
-version = "4.0.10"
+version = "4.0.11"
 description = "Git Object Database"
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]
 
 [package.dependencies]
@@ -396,18 +440,22 @@ smmap = ">=3.0.1,<6"
 
 [[package]]
 name = "gitpython"
-version = "3.1.31"
+version = "3.1.43"
 description = "GitPython is a Python library used to interact with Git repositories"
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]
 
 [package.dependencies]
 gitdb = ">=4.0.1,<5"
 
+[package.extras]
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+test = ["coverage[toml]", "ddt (>=1.1.1,!=1.4.3)", "mock", "mypy", "pre-commit", "pytest (>=7.3.1)", "pytest-cov", "pytest-instafail", "pytest-mock", "pytest-sugar", "typing-extensions"]
+
 [[package]]
 name = "gphoto2"
 version = "2.5.0"
@@ -434,402 +482,340 @@ files = [
 
 [[package]]
 name = "grpcio"
-version = "1.48.1"
+version = "1.66.1"
 description = "HTTP/2-based RPC framework"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.8"
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-protobuf = ">=3.20.1"
+aiogrpc = ">=1.8"
+grpcio = ">=1.50.0"
+protobuf = "<=3.20.1"
 
 [[package]]
 name = "mccabe"
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 [[package]]
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 version = "0.931"
@@ -893,24 +868,24 @@ python2 = ["typed-ast (>=1.4.0,<2)"]
 
 [[package]]
 name = "mypy-extensions"
-version = "0.4.3"
-description = "Experimental type system extensions for programs checked with the mypy typechecker."
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 [package.dependencies]
@@ -918,44 +893,54 @@ numpy = {version = ">=1.20.0,<2.0.0", markers = "python_version >= \"3.8\""}
 
 [package.extras]
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 [[package]]
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+    {version = ">=1.23.5", markers = "python_version >= \"3.11\" and python_version < \"3.12\""},
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+    {version = ">=1.21.2", markers = "platform_system != \"Darwin\" and python_version >= \"3.10\" and python_version < \"3.11\""},
 ]
 
-[package.dependencies]
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-typing-extensions = ">=3.7"
-
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-test = ["pytest (>=7.0,<8)"]
-
 [[package]]
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+version = "24.1"
 description = "Core utilities for Python packages"
 optional = false
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+python-versions = ">=3.8"
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-[package.dependencies]
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-
 [[package]]
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 version = "1.5.3"
@@ -1146,167 +1088,206 @@ test = ["hypothesis (>=5.5.3)", "pytest (>=6.0)", "pytest-xdist (>=1.31)"]
 
 [[package]]
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 ]
 
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 optional = false
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+python-versions = ">=3.8"
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 ]
 
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@@ -1314,19 +1295,22 @@ test = ["enum34", "ipaddress", "mock", "pywin32", "wmi"]
 
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 platformdirs = ">=2.2.0"
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 [[package]]
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 [package.extras]
@@ -1353,107 +1337,43 @@ diagrams = ["jinja2", "railroad-diagrams"]
 
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 charset-normalizer = ">=2,<4"
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 [package.extras]
 socks = ["PySocks (>=1.5.6,!=1.5.7)"]
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 [[package]]
@@ -1758,13 +1711,13 @@ files = [
 
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 [[package]]
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 [package.extras]
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+socks = ["pysocks (>=1.5.6,!=1.5.7,<2.0)"]
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 [[package]]
 name = "utm"
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 [[package]]
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 [package.extras]
-test = ["pytest (>=3.0.0)"]
+test = ["pytest (>=6.0.0)", "setuptools (>=65)"]
 
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 ]
 
 [metadata]
 lock-version = "2.0"
 python-versions = "^3.10"
-content-hash = "a20aeadc1f32627e0fa467905ceb7acf73d984330ea6b6d432ec695dccab7d04"
+content-hash = "b3a085cae9ec52086cf4107a0fa14214a5b0a25e88a66b9a083262419c5d1be5"
diff --git a/pyproject.toml b/pyproject.toml
index af905042..d2ba9179 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,18 +1,18 @@
 [tool.poetry]
-name = "suas-2023"
+name = "suas-2025"
 version = "0.1.0"
 description = ""
 authors = []
 license = "MIT"
+#package.mode = false
 
 [tool.poetry.dependencies]
 python = "^3.10"
 pip = "^22.0.4"
 mavsdk = "*"
 numpy = "^1.21.2"
-opencv-python = "^4.5.3.56"
+opencv-python = "^4.8.0.76"
 pytesseract = "^0.3.9"
-lxml = "^4.8.0"
 colorlog = "^6.6.0"
 pyproj = "^3.3.0"
 pyusb = "^1.2.1"
@@ -22,15 +22,12 @@ utm = "^0.7.0"
 Shapely = "^1.8.1"
 nptyping = "^2.3.1"
 scipy = "^1.9.3"
-ouster-sdk = {extras = ["examples"], version = "^0.7.1"}
 ticlib = "^0.2.2"
 torch = "^1.13.1"
 pandas = "^1.5.3"
-requests = "^2.28.2"
 psutil = "^5.9.4"
 torchvision = "^0.14.1"
 pyyaml = "^6.0"
-tqdm = "^4.64.1"
 seaborn = "^0.12.2"
 gitpython = "^3.1.31"
 setuptools = "^67.4.0"
diff --git a/vision/.DS_Store b/vision/.DS_Store
new file mode 100644
index 00000000..8d56551d
Binary files /dev/null and b/vision/.DS_Store differ
diff --git a/vision/standard_object/odlc_classify_shape.py b/vision/standard_object/odlc_classify_shape.py
index 6e9f85a4..d5a4759c 100644
--- a/vision/standard_object/odlc_classify_shape.py
+++ b/vision/standard_object/odlc_classify_shape.py
@@ -1,15 +1,13 @@
 """Takes the contour of an ODLC shape and determine which shape it is in the certain file path"""
 
 import json
-from typing import List, Tuple, TypeAlias
-
 import cv2
 import numpy as np
 import scipy
 from nptyping import NDArray, Shape, Float64
 from scipy import signal
 import scipy.interpolate
-
+from typing import List, Tuple, TypeAlias
 from vision.common import constants as consts
 from vision.common import odlc_characteristics as chars
 from vision.common.bounding_box import BoundingBox as bbox
diff --git a/vision/standard_object/odlc_contour_detection.py b/vision/standard_object/odlc_contour_detection.py
index 4d095575..453613af 100644
--- a/vision/standard_object/odlc_contour_detection.py
+++ b/vision/standard_object/odlc_contour_detection.py
@@ -29,7 +29,7 @@
 
 def fetch_shape_contours(
     image: Image, draw_contours: bool = False, resulting_file_name: str = ""
-) -> list[np.ndarray[np.dtype[np.uint8], np.dtype[np.uint8]]]:
+) -> list[Contour]:
     """
     Detects the boundaries of potential shapes based on a pixel or region's
     brightness and saturation, finding only the darkest, brightest, and
diff --git a/vision/unit_tests/photo_model_test.py b/vision/unit_tests/photo_model_test.py
index fb25a7a9..8772066c 100644
--- a/vision/unit_tests/photo_model_test.py
+++ b/vision/unit_tests/photo_model_test.py
@@ -50,7 +50,7 @@ def flyover_pipeline(camera_data_path: str) -> None:
     image_parameters: dict[str, consts.CameraParameters] = pipe_utils.read_parameter_json(
         camera_data_path
     )
-
+    print(image_parameters)
     # Loop through all images in the json - if it hasn't been processed, process it
     for image_path in image_parameters.keys():
         print(image_path)
@@ -108,4 +108,5 @@ def flyover_pipeline(camera_data_path: str) -> None:
 
 
 logging.basicConfig(filename="/dev/stdout", level=logging.INFO)
-flyover_pipeline("flight/data/camera.json")
+# flyover_pipeline("flight/data/camera.json")
+flyover_pipeline("camera.json")