diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index cebbe965..a15fdb32 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -21,3 +21,7 @@ jobs:
       run: cargo build --verbose
     - name: Run tests
       run: cargo test --verbose
+    - name: Check Formating
+      run: cargo fmt -- --check
+    - name: Run Clippy
+      run: cargo clippy -- -D warnings
diff --git a/src/config.rs b/src/config.rs
index 05de2abb..15078e0f 100644
--- a/src/config.rs
+++ b/src/config.rs
@@ -134,7 +134,7 @@ pub struct CameraConfig {
     /// Camera far clipping plane in meters
     pub far: f32,
     /// Camera transform matrix for depth
-    pub rotation_transform: [f32; 9]
+    pub rotation_transform: [f32; 9],
 }
 
 #[derive(serde::Deserialize)]
diff --git a/src/lib.rs b/src/lib.rs
index 2b8d7568..b2107959 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -2603,28 +2603,29 @@ pub fn log_depth_image(
 /// let cam_position = Vector3::new(0.0,0.0,0.0);
 /// let cam_orientation = UnitQuaternion::identity();
 /// let cam_transform = [0.0, 0.0, 1.0, -1.0, 0.0, 0.0, 0.0, -1.0, 0.0];
-/// pinhole_depth(&rec, 128usize, 96usize, 90.0, cam_position, cam_orientation, cam_transform, &depth_image).unwrap();
+/// pinhole_depth(&rec, (128usize, 96usize), 90.0, cam_position, cam_orientation, cam_transform, &depth_image).unwrap();
 
 pub fn pinhole_depth(
     rec: &rerun::RecordingStream,
-    width: usize,
-    height: usize,
+    resolution: (usize, usize),
     fov: f32,
     cam_position: Vector3<f32>,
     cam_orientation: UnitQuaternion<f32>,
     cam_transform: [f32; 9],
     depth_image: &[f32],
 ) -> Result<(), SimulationError> {
+    let width = resolution.0;
+    let height = resolution.1;
     let fov_x = (width as f32 / height as f32 * (fov / 2.0).tan()).atan() * 2.0;
-    let horizontal_focal_length = (width as f32 / 2.0) / ((fov_x/ 2.0).tan());
+    let horizontal_focal_length = (width as f32 / 2.0) / ((fov_x / 2.0).tan());
     let vertical_focal_length = (height as f32 / 2.0) / ((fov / 2.0).tan());
     let pinhole_camera = rerun::Pinhole::from_focal_length_and_resolution(
         (horizontal_focal_length, vertical_focal_length),
         (width as f32, height as f32),
     )
-        .with_camera_xyz(rerun::components::ViewCoordinates::RDF)
-        .with_resolution((width as f32, height as f32))
-        .with_principal_point((width as f32 / 2.0, height as f32 / 2.0));
+    .with_camera_xyz(rerun::components::ViewCoordinates::RDF)
+    .with_resolution((width as f32, height as f32))
+    .with_principal_point((width as f32 / 2.0, height as f32 / 2.0));
     let rotated_camera_orientation = UnitQuaternion::from_rotation_matrix(
         &(cam_orientation.to_rotation_matrix()
             * Rotation3::from_matrix_unchecked(Matrix3::from_row_slice(&cam_transform))),
diff --git a/src/main.rs b/src/main.rs
index b64afc1a..712ef54a 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -163,8 +163,7 @@ fn main() -> Result<(), SimulationError> {
                     )?;
                     pinhole_depth(
                         rec,
-                        camera.resolution.0,
-                        camera.resolution.1,
+                        camera.resolution,
                         camera.fov,
                         quad.position,
                         quad.orientation,