diff --git a/.github/workflows/cpp-linter.yml b/.github/workflows/cpp-linter.yml
new file mode 100644
index 0000000..61d01ed
--- /dev/null
+++ b/.github/workflows/cpp-linter.yml
@@ -0,0 +1,68 @@
+name: C++ Lint and Auto-Fix
+
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+
+permissions:
+  contents: write  # Required for pushing auto-fix commits
+
+jobs:
+  lint:
+    name: Lint C++ Code
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout Repository
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ github.head_ref }}  # Checkout the correct branch
+          fetch-depth: 0  # Ensure full commit history for pushing changes
+
+      - name: Install clang-format and cppcheck
+        run: sudo apt-get install -y clang-format cppcheck
+
+      - name: Run clang-format and fix issues
+        run: |
+          FILES=$(find . -type f \( -name "*.cpp" -o -name "*.hpp" -o -name "*.h" \) | tr '\n' ' ')
+          if [ -z "$FILES" ]; then
+            echo "No C++ source files found. Skipping clang-format."
+            exit 0
+          fi
+
+          clang-format -i $FILES
+          git config --global user.name 'github-actions[bot]'
+          git config --global user.email 'github-actions[bot]@users.noreply.github.com'
+
+          # Ensure we are on the correct branch
+          git checkout ${{ github.head_ref }}
+
+          git add .
+          if ! git diff --cached --quiet; then
+            git commit -m "Auto-format C++ code using clang-format"
+            git push origin ${{ github.head_ref }}
+          fi
+
+      - name: Run cppcheck (C++ Mode)
+        run: |
+          FILES=$(find . -type f \( -name "*.cpp" -o -name "*.hpp" -o -name "*.h" \) | tr '\n' ' ')
+          if [ -z "$FILES" ]; then
+            echo "No C++ source files found. Skipping cppcheck."
+            exit 0
+          fi
+          
+          echo "Running cppcheck on: $FILES"
+          cppcheck --enable=all --error-exitcode=1 --inline-suppr --force --quiet --language=c++ \
+            --suppress=missingInclude \
+            --suppress=missingIncludeSystem \
+            --suppress=unusedStructMember \
+            --suppress=noExplicitConstructor \
+            --suppress=passedByValue \
+            --suppress=useInitializationList \
+            --suppress=cstyleCast \
+            --suppress=unusedFunction \
+            --suppress=unmatchedSuppression $FILES
diff --git a/src/BooleanValueSender.h b/src/BooleanValueSender.h
index 099bb5b..62d6f4a 100644
--- a/src/BooleanValueSender.h
+++ b/src/BooleanValueSender.h
@@ -8,11 +8,11 @@
 #include "networktables/NetworkTableInstance.h"
 
 class BooleanValueSender {
- private:
+private:
   nt::NetworkTableInstance inst_;
   nt::BooleanPublisher publisher_;
 
- public:
+public:
   // Constructor declaration
   BooleanValueSender(std::string key);
 
diff --git a/src/DoubleArraySender.h b/src/DoubleArraySender.h
index 69c5552..7258b34 100644
--- a/src/DoubleArraySender.h
+++ b/src/DoubleArraySender.h
@@ -9,11 +9,11 @@
 #include "networktables/NetworkTableInstance.h"
 
 class DoubleArraySender {
- private:
+private:
   nt::NetworkTableInstance inst_;
   nt::DoubleArrayPublisher publisher_;
 
- public:
+public:
   // Constructor declaration
   DoubleArraySender(std::string key);
 
diff --git a/src/DoubleValueSender.h b/src/DoubleValueSender.h
index 5fb901b..8e8c6a9 100644
--- a/src/DoubleValueSender.h
+++ b/src/DoubleValueSender.h
@@ -8,11 +8,11 @@
 #include "networktables/NetworkTableInstance.h"
 
 class DoubleValueSender {
- private:
+private:
   nt::NetworkTableInstance inst_;
   nt::DoublePublisher publisher_;
 
- public:
+public:
   // Constructor declaration
   DoubleValueSender(std::string key);
 
diff --git a/src/IntegerArraySender.h b/src/IntegerArraySender.h
index 895ffb2..bfabcf7 100644
--- a/src/IntegerArraySender.h
+++ b/src/IntegerArraySender.h
@@ -10,11 +10,11 @@
 #include "networktables/NetworkTableInstance.h"
 
 class IntegerArraySender {
- private:
+private:
   nt::NetworkTableInstance inst_;
   nt::IntegerArrayPublisher publisher_;
 
- public:
+public:
   // Constructor declaration
   IntegerArraySender(std::string key);
 
diff --git a/src/IntegerValueSender.h b/src/IntegerValueSender.h
index c884b3e..d1c27ad 100644
--- a/src/IntegerValueSender.h
+++ b/src/IntegerValueSender.h
@@ -8,11 +8,11 @@
 #include "networktables/NetworkTableInstance.h"
 
 class IntegerValueSender {
- private:
+private:
   nt::NetworkTableInstance inst_;
   nt::IntegerPublisher publisher_;
 
- public:
+public:
   // Constructor declaration
   IntegerValueSender(std::string key);
 
diff --git a/src/NetworkTablesConfig.h b/src/NetworkTablesConfig.h
index 95805b0..4b15dcf 100644
--- a/src/NetworkTablesConfig.h
+++ b/src/NetworkTablesConfig.h
@@ -1,7 +1,7 @@
 #ifndef NETWORK_TABLES_CONFIG_H_
 #define NETWORK_TABLES_CONFIG_H_
 
-inline const char* TABLE_ADDRESS = "10.7.66.2";
-inline const char* TABLE_NAME = "/SmartDashboard";
+inline const char *TABLE_ADDRESS = "10.7.66.2";
+inline const char *TABLE_NAME = "/SmartDashboard";
 
 #endif
diff --git a/src/NetworkTablesUtil.cpp b/src/NetworkTablesUtil.cpp
index 455a845..a2ba1d5 100644
--- a/src/NetworkTablesUtil.cpp
+++ b/src/NetworkTablesUtil.cpp
@@ -3,11 +3,9 @@
 #include "NetworkTablesConfig.h"
 
 NetworkTablesUtil::NetworkTablesUtil() {
-//   inst_ = nt::NetworkTableInstance::GetDefault();
-//   inst_.SetServer(TABLE_ADDRESS);
-//   inst_.StartClient4(TABLE_ADDRESS);
+  //   inst_ = nt::NetworkTableInstance::GetDefault();
+  //   inst_.SetServer(TABLE_ADDRESS);
+  //   inst_.StartClient4(TABLE_ADDRESS);
 }
 
-double NetworkTablesUtil::getTime() {
-  return wpi::GetSystemTime();
-}
+double NetworkTablesUtil::getTime() { return wpi::GetSystemTime(); }
diff --git a/src/NetworkTablesUtil.h b/src/NetworkTablesUtil.h
index 1ba1068..0914e39 100644
--- a/src/NetworkTablesUtil.h
+++ b/src/NetworkTablesUtil.h
@@ -1,16 +1,15 @@
 #ifndef NETWORKTABLESUTIL_H
 #define NETWORKTABLESUTIL_H
 
-
-//#include "networktables/NetworkTable.h"
-//#include "networktables/NetworkTableInstance.h"
+// #include "networktables/NetworkTable.h"
+// #include "networktables/NetworkTableInstance.h"
 #include "wpi/timestamp.h"
 
 class NetworkTablesUtil {
- //private:
-  //nt::NetworkTableInstance inst_;
+  // private:
+  // nt::NetworkTableInstance inst_;
 
- public:
+public:
   // Constructor declaration
   NetworkTablesUtil();
 
diff --git a/src/apriltag_gpu.h b/src/apriltag_gpu.h
index ac5a093..3a3f00d 100644
--- a/src/apriltag_gpu.h
+++ b/src/apriltag_gpu.h
@@ -15,7 +15,7 @@ namespace frc971::apriltag {
 
 // Class to find the blob index of a point in a point vector.
 class BlobExtentsIndexFinder {
- public:
+public:
   BlobExtentsIndexFinder(const MinMaxExtents *extents_device,
                          size_t num_extents)
       : extents_device_(extents_device), num_extents_(num_extents) {}
@@ -45,7 +45,7 @@ class BlobExtentsIndexFinder {
     return extents_device_[index];
   }
 
- private:
+private:
   const MinMaxExtents *extents_device_;
   size_t num_extents_;
 
@@ -75,7 +75,7 @@ struct DistCoeffs {
 
 // GPU based april tag detector.
 class GpuDetector {
- public:
+public:
   // The number of blobs we will consider when counting april tags.
   static constexpr size_t kMaxBlobs = IndexPoint::kMaxBlobs;
 
@@ -138,8 +138,8 @@ class GpuDetector {
     return extents_device_.Copy(NumQuads());
   }
 
-  std::vector<cub::KeyValuePair<long, MinMaxExtents>> CopySelectedExtents()
-      const {
+  std::vector<cub::KeyValuePair<long, MinMaxExtents>>
+  CopySelectedExtents() const {
     return selected_extents_device_.Copy(NumQuads());
   }
 
@@ -199,7 +199,7 @@ class GpuDetector {
   static bool UnDistort(double *u, double *v, const CameraMatrix *camera_matrix,
                         const DistCoeffs *distortion_coefficients);
 
- private:
+private:
   void UpdateFitQuads();
 
   void AdjustPixelCenters();
@@ -209,8 +209,7 @@ class GpuDetector {
   static void QuadDecodeTask(void *_u);
 
   // Creates a GPU image wrapped around the provided memory.
-  template <typename T>
-  GpuImage<T> ToGpuImage(GpuMemory<T> &memory) {
+  template <typename T> GpuImage<T> ToGpuImage(GpuMemory<T> &memory) {
     if (memory.size() == width_ * height_) {
       return GpuImage<T>{
           .data = memory.get(),
@@ -359,6 +358,6 @@ class GpuDetector {
   zarray_t *detections_ = nullptr;
 };
 
-}  // namespace frc971::apriltag
+} // namespace frc971::apriltag
 
-#endif  // FRC971_ORIN_APRILTAG_H_
+#endif // FRC971_ORIN_APRILTAG_H_
diff --git a/src/cameraexception.h b/src/cameraexception.h
index efb66e9..76e64d5 100644
--- a/src/cameraexception.h
+++ b/src/cameraexception.h
@@ -2,8 +2,8 @@
 #define CAMERAEXCEPTION_H_
 
 class CameraException : public std::exception {
- public:
-  const char* what() const noexcept override {
+public:
+  const char *what() const noexcept override {
     return "Error: No camera detected.";
   }
 };
diff --git a/src/cuda_frc971.h b/src/cuda_frc971.h
index 7873760..dd98f92 100644
--- a/src/cuda_frc971.h
+++ b/src/cuda_frc971.h
@@ -11,9 +11,9 @@
 // CHECKs that a cuda method returned success.
 // TODO(austin): This will not handle if and else statements quite right, fix if
 // we care.
-#define CHECK_CUDA(condition)                                             \
-  if (auto c = condition)                                                 \
-  LOG(FATAL) << "Check failed: " #condition " (" << cudaGetErrorString(c) \
+#define CHECK_CUDA(condition)                                                  \
+  if (auto c = condition)                                                      \
+  LOG(FATAL) << "Check failed: " #condition " (" << cudaGetErrorString(c)      \
              << ") "
 
 namespace frc971::apriltag {
@@ -21,7 +21,7 @@ namespace frc971::apriltag {
 // Class to manage the lifetime of a Cuda stream.  This is used to provide
 // relative ordering between kernels on the same stream.
 class CudaStream {
- public:
+public:
   CudaStream() { CHECK_CUDA(cudaStreamCreate(&stream_)); }
 
   CudaStream(const CudaStream &) = delete;
@@ -32,14 +32,14 @@ class CudaStream {
   // Returns the stream.
   cudaStream_t get() { return stream_; }
 
- private:
+private:
   cudaStream_t stream_;
 };
 
 // Class to manage the lifetime of a Cuda Event.  Cuda events are used for
 // timing events on a stream.
 class CudaEvent {
- public:
+public:
   CudaEvent() { CHECK_CUDA(cudaEventCreate(&event_)); }
 
   CudaEvent(const CudaEvent &) = delete;
@@ -64,15 +64,14 @@ class CudaEvent {
   // Waits until the event has been triggered.
   void Synchronize() { CHECK_CUDA(cudaEventSynchronize(event_)); }
 
- private:
+private:
   cudaEvent_t event_;
 };
 
 // Class to manage the lifetime of page locked host memory for fast copies back
 // to host memory.
-template <typename T>
-class HostMemory {
- public:
+template <typename T> class HostMemory {
+public:
   // Allocates a block of memory for holding up to size objects of type T.
   HostMemory(size_t size) {
     T *memory;
@@ -100,14 +99,13 @@ class HostMemory {
     memcpy(other, span_.data(), sizeof(T) * size());
   }
 
- private:
+private:
   std::span<T> span_;
 };
 
 // Class to manage the lifetime of device memory.
-template <typename T>
-class GpuMemory {
- public:
+template <typename T> class GpuMemory {
+public:
   // Allocates a block of memory for holding up to size objects of type T in
   // device memory.
   GpuMemory(size_t size) : size_(size) {
@@ -190,7 +188,7 @@ class GpuMemory {
   // it.
   std::vector<T> Copy() const { return Copy(size_); }
 
- private:
+private:
   T *memory_;
   const size_t size_;
 };
@@ -203,6 +201,6 @@ void CheckAndSynchronize(std::string_view message = "");
 void MaybeCheckAndSynchronize();
 void MaybeCheckAndSynchronize(std::string_view message);
 
-}  // namespace frc971::apriltag
+} // namespace frc971::apriltag
 
-#endif  // FRC971_ORIN_CUDA_H_
+#endif // FRC971_ORIN_CUDA_H_
diff --git a/src/gpu_image.h b/src/gpu_image.h
index 732b256..64def29 100644
--- a/src/gpu_image.h
+++ b/src/gpu_image.h
@@ -1,8 +1,7 @@
 #ifndef FRC971_ORIN_GPU_IMAGE_H_
 #define FRC971_ORIN_GPU_IMAGE_H_
 
-template <typename T>
-struct GpuImage {
+template <typename T> struct GpuImage {
   typedef T type;
   T *data;
   size_t rows;
@@ -11,4 +10,4 @@ struct GpuImage {
   size_t step;
 };
 
-#endif  // FRC971_ORIN_GPU_IMAGE_H_
+#endif // FRC971_ORIN_GPU_IMAGE_H_
diff --git a/src/json_test.cpp b/src/json_test.cpp
index 0802c42..93c01de 100644
--- a/src/json_test.cpp
+++ b/src/json_test.cpp
@@ -5,9 +5,8 @@
 #include <nlohmann/json.hpp>
 using json = nlohmann::json;
 int main(void) {
-  std::ifstream f(
-      "/home/nvidia/code/OrinVisionSystem/cameracalibration/"
-      "calibrationmatrix.json");
+  std::ifstream f("/home/nvidia/code/OrinVisionSystem/cameracalibration/"
+                  "calibrationmatrix.json");
   json data = json::parse(f);
   std::cout << "Matrix: " << std::endl;
   for (int i = 0; i < 3; ++i) {
diff --git a/src/labeling_allegretti_2019_BKE.h b/src/labeling_allegretti_2019_BKE.h
index d139c9d..99bebe4 100644
--- a/src/labeling_allegretti_2019_BKE.h
+++ b/src/labeling_allegretti_2019_BKE.h
@@ -10,4 +10,4 @@ void LabelImage(const GpuImage<uint8_t> input, GpuImage<uint32_t> output,
                 GpuImage<uint32_t> union_markers_size_device,
                 cudaStream_t stream);
 
-#endif  // FRC971_ORIN_LABELING_ALLEGRETTI_2019_BKE_H_
+#endif // FRC971_ORIN_LABELING_ALLEGRETTI_2019_BKE_H_
diff --git a/src/line_fit_filter.h b/src/line_fit_filter.h
index ce33d3b..e9410a6 100644
--- a/src/line_fit_filter.h
+++ b/src/line_fit_filter.h
@@ -90,7 +90,7 @@ struct LineFitMoments {
   int64_t Mxx;
   int64_t Myy;
   int64_t Mxy;
-  int N;  // how many points are included in the set?
+  int N; // how many points are included in the set?
 };
 
 std::ostream &operator<<(std::ostream &os,
@@ -113,8 +113,8 @@ struct PeakExtents {
 
 struct PeakDecomposer {
   static constexpr size_t kBitsInKey = 16 + 32;
-  __host__ __device__ ::cuda::std::tuple<uint16_t &, float &> operator()(
-      Peak &key) const {
+  __host__ __device__ ::cuda::std::tuple<uint16_t &, float &>
+  operator()(Peak &key) const {
     return {key.blob_index, key.error};
   }
 };
@@ -159,6 +159,6 @@ __host__ __device__ std::tuple<uint, uint, uint, uint> Unrank(uint i);
 // The max number of work elements for a max maxes of 10.
 constexpr size_t MaxRankedIndex() { return 210; }
 
-}  // namespace frc971::apriltag
+} // namespace frc971::apriltag
 
-#endif  // FRC971_ORIN_LINE_FIT_FILTER_H_
+#endif // FRC971_ORIN_LINE_FIT_FILTER_H_
diff --git a/src/points.h b/src/points.h
index 745e151..a6194da 100644
--- a/src/points.h
+++ b/src/points.h
@@ -82,14 +82,14 @@ struct QuadBoundaryPoint {
   // Returns the change in x derived from the search direction.
   __forceinline__ __host__ __device__ int32_t dx() const {
     switch (key & 0x3) {
-      case 0:
-        return 1;
-      case 1:
-        return 1;
-      case 2:
-        return 0;
-      case 3:
-        return -1;
+    case 0:
+      return 1;
+    case 1:
+      return 1;
+    case 2:
+      return 0;
+    case 3:
+      return -1;
     }
     return 0;
   }
@@ -97,12 +97,12 @@ struct QuadBoundaryPoint {
   // Returns the change in y derived from the search direction.
   __forceinline__ __host__ __device__ int32_t dy() const {
     switch (key & 0x3) {
-      case 0:
-        return 0;
-      case 1:
-      case 2:
-      case 3:
-        return 1;
+    case 0:
+      return 0;
+    case 1:
+    case 2:
+    case 3:
+      return 1;
     }
     return 0;
   }
@@ -125,8 +125,8 @@ struct QuadBoundaryPoint {
   }
 
   // Returns the black to white or white to black bit.
-  __forceinline__ __host__ __device__ void set_black_to_white(
-      bool black_to_white) {
+  __forceinline__ __host__ __device__ void
+  set_black_to_white(bool black_to_white) {
     key = (key & 0xfffffffffffffff7ull) |
           (static_cast<uint64_t>(black_to_white) << 3);
   }
@@ -135,16 +135,16 @@ struct QuadBoundaryPoint {
   }
 
   // Various operators to make it easy to compare points.
-  __forceinline__ __host__ __device__ bool operator!=(
-      const QuadBoundaryPoint other) const {
+  __forceinline__ __host__ __device__ bool
+  operator!=(const QuadBoundaryPoint other) const {
     return other.key != key;
   }
-  __forceinline__ __host__ __device__ bool operator==(
-      const QuadBoundaryPoint other) const {
+  __forceinline__ __host__ __device__ bool
+  operator==(const QuadBoundaryPoint other) const {
     return other.key == key;
   }
-  __forceinline__ __host__ __device__ bool operator<(
-      const QuadBoundaryPoint other) const {
+  __forceinline__ __host__ __device__ bool
+  operator<(const QuadBoundaryPoint other) const {
     return key < other.key;
   }
 
@@ -223,26 +223,26 @@ struct IndexPoint {
 
   __forceinline__ __host__ __device__ int32_t dx() const {
     switch (key & 0x3) {
-      case 0:
-        return 1;
-      case 1:
-        return 1;
-      case 2:
-        return 0;
-      case 3:
-        return -1;
+    case 0:
+      return 1;
+    case 1:
+      return 1;
+    case 2:
+      return 0;
+    case 3:
+      return -1;
     }
     return 0;
   }
 
   __forceinline__ __host__ __device__ int32_t dy() const {
     switch (key & 0x3) {
-      case 0:
-        return 0;
-      case 1:
-      case 2:
-      case 3:
-        return 1;
+    case 0:
+      return 0;
+    case 1:
+    case 2:
+    case 3:
+      return 1;
     }
     return 0;
   }
@@ -265,8 +265,8 @@ struct IndexPoint {
     return key & 0xffffff;
   }
 
-  __forceinline__ __host__ __device__ void set_black_to_white(
-      bool black_to_white) {
+  __forceinline__ __host__ __device__ void
+  set_black_to_white(bool black_to_white) {
     key = (key & 0xfffffffffffffff7ull) |
           (static_cast<uint64_t>(black_to_white) << 3);
   }
@@ -282,20 +282,20 @@ std::ostream &operator<<(std::ostream &os, const IndexPoint &point);
 
 // Decomposer for sorting which just returns the key.
 struct QuadBoundaryPointDecomposer {
-  __host__ __device__ ::cuda::std::tuple<uint64_t &> operator()(
-      QuadBoundaryPoint &key) const {
+  __host__ __device__ ::cuda::std::tuple<uint64_t &>
+  operator()(QuadBoundaryPoint &key) const {
     return {key.key};
   }
 };
 
 // Decomposer for sorting which just returns the key.
 struct QuadIndexPointDecomposer {
-  __host__ __device__ ::cuda::std::tuple<uint64_t &> operator()(
-      IndexPoint &key) const {
+  __host__ __device__ ::cuda::std::tuple<uint64_t &>
+  operator()(IndexPoint &key) const {
     return {key.key};
   }
 };
 
-}  // namespace frc971::apriltag
+} // namespace frc971::apriltag
 
-#endif  // FRC971_ORIN_POINTS_H_
+#endif // FRC971_ORIN_POINTS_H_
diff --git a/src/threshold.h b/src/threshold.h
index 56f2314..4eb5f30 100644
--- a/src/threshold.h
+++ b/src/threshold.h
@@ -15,6 +15,6 @@ void CudaToGreyscaleAndDecimateHalide(
     uint8_t *thresholded_image, size_t width, size_t height,
     size_t min_white_black_diff, CudaStream *stream);
 
-}  // namespace frc971::apriltag
+} // namespace frc971::apriltag
 
-#endif  // FRC971_ORIN_THRESHOLD_H_
+#endif // FRC971_ORIN_THRESHOLD_H_
diff --git a/src/transform_output_iterator.h b/src/transform_output_iterator.h
index cdda637..ca3c39e 100644
--- a/src/transform_output_iterator.h
+++ b/src/transform_output_iterator.h
@@ -7,7 +7,7 @@ namespace frc971::apriltag {
 template <typename InputType, typename OutputType, typename ConversionOp,
           typename OffsetT = ptrdiff_t>
 class TransformOutputIterator {
- private:
+private:
   // proxy object to be able to convert when assigning value
   struct Reference {
     OutputType *ptr;
@@ -20,7 +20,7 @@ class TransformOutputIterator {
     }
   };
 
- public:
+public:
   // typedefs may not be neeeded for iterator to work but is here to maintain
   // similarity to cub's CacheModifiedOutputIterator
   typedef TransformOutputIterator self_type;
@@ -69,22 +69,22 @@ class TransformOutputIterator {
   }
 
   // equal to
-  __host__ __device__ __forceinline__ bool operator==(
-      const TransformOutputIterator &rhs) const {
+  __host__ __device__ __forceinline__ bool
+  operator==(const TransformOutputIterator &rhs) const {
     return ptr == rhs.ptr;
   }
 
   // not equal to
-  __host__ __device__ __forceinline__ bool operator!=(
-      const TransformOutputIterator &rhs) const {
+  __host__ __device__ __forceinline__ bool
+  operator!=(const TransformOutputIterator &rhs) const {
     return ptr != rhs.ptr;
   }
 
- private:
+private:
   const ConversionOp convert_op;
   OutputType *ptr;
 };
 
-}  // namespace frc971::apriltag
+} // namespace frc971::apriltag
 
-#endif  // FRC971_TRANSFORM_OUTPUT_ITERATOR_
+#endif // FRC971_TRANSFORM_OUTPUT_ITERATOR_
diff --git a/src/video_processor.h b/src/video_processor.h
index c022665..1897082 100644
--- a/src/video_processor.h
+++ b/src/video_processor.h
@@ -11,10 +11,10 @@ using namespace std;
 using namespace cv;
 
 class VideoProcessor {
- public:
-  VideoProcessor(const int camera_index, const std::string& tag_family_name,
-                 const frc971::apriltag::CameraMatrix& camera_matrix,
-                 const frc971::apriltag::DistCoeffs& distortion_coefficients,
+public:
+  VideoProcessor(const int camera_index, const std::string &tag_family_name,
+                 const frc971::apriltag::CameraMatrix &camera_matrix,
+                 const frc971::apriltag::DistCoeffs &distortion_coefficients,
                  int nthreads = 4);
 
   ~VideoProcessor();
@@ -22,14 +22,14 @@ class VideoProcessor {
   bool initialize();
   bool process();
 
- private:
-  const std::string& tag_family_name_;
+private:
+  const std::string &tag_family_name_;
   int camera_index_;
-  const frc971::apriltag::CameraMatrix& camera_matrix_;
-  const frc971::apriltag::DistCoeffs& distortion_coefficients_;
+  const frc971::apriltag::CameraMatrix &camera_matrix_;
+  const frc971::apriltag::DistCoeffs &distortion_coefficients_;
   int nthreads_;
-  apriltag_family_t* tf_;
-  apriltag_detector_t* td_;
+  apriltag_family_t *tf_;
+  apriltag_detector_t *td_;
   std::unique_ptr<VideoCapture> cap_;
   std::unique_ptr<frc971::apriltag::GpuDetector> gpu_detector_;
   bool initialized_;
diff --git a/src/ws_test.cpp b/src/ws_test.cpp
index f9c8a59..13def02 100644
--- a/src/ws_test.cpp
+++ b/src/ws_test.cpp
@@ -48,19 +48,19 @@ using namespace cv;
 using namespace seasocks;
 
 class MyHandler : public WebSocket::Handler {
- public:
-  explicit MyHandler(Server* server) : _server(server) {}
+public:
+  explicit MyHandler(Server *server) : _server(server) {}
 
-  void onConnect(WebSocket* connection) override {
+  void onConnect(WebSocket *connection) override {
     _connections.insert(connection);
     std::cout << "Connected: " << connection->getRequestUri() << " : "
               << formatAddress(connection->getRemoteAddress())
               << "\nCredentials: " << *(connection->credentials()) << "\n";
   }
 
-  void onData(WebSocket* connection, const char* data) override {}
+  void onData(WebSocket *connection, const char *data) override {}
 
-  void sendImage(const cv::Mat& image) {
+  void sendImage(const cv::Mat &image) {
     for (auto c : _connections) {
       std::vector<uchar> buf;
       cv::imencode(".jpg", image, buf);
@@ -68,15 +68,15 @@ class MyHandler : public WebSocket::Handler {
     }
   }
 
-  void onDisconnect(WebSocket* connection) override {
+  void onDisconnect(WebSocket *connection) override {
     _connections.erase(connection);
     std::cout << "Disconnected: " << connection->getRequestUri() << " : "
               << formatAddress(connection->getRemoteAddress()) << "\n";
   }
 
- private:
-  std::set<WebSocket*> _connections;
-  Server* _server;
+private:
+  std::set<WebSocket *> _connections;
+  Server *_server;
 };
 
 void send_data(std::shared_ptr<MyHandler> handler) {
@@ -87,7 +87,7 @@ void send_data(std::shared_ptr<MyHandler> handler) {
   }
 }
 
-int main(int /*argc*/, const char* /*argv*/[]) {
+int main(int /*argc*/, const char * /*argv*/[]) {
   auto logger = std::make_shared<PrintfLogger>(Logger::Level::Debug);
 
   Server server(logger);