diff --git a/change.txt b/change.txt
index 30b2b1d147..7d352fe32c 100644
--- a/change.txt
+++ b/change.txt
@@ -12,6 +12,8 @@ Version : 1.1.8
 
 - PackedArray
   * Added isEquals()
+  * Fixed bug where set(index, point) overwrite the value of `point`
+  * Added implementation specific variants of set( index , ... )
 
 ---------------------
 Date    : 2024/Oct/05
diff --git a/main/boofcv-types/src/main/java/boofcv/struct/packed/PackedArrayPoint2D_F64.java b/main/boofcv-types/src/main/java/boofcv/struct/packed/PackedArrayPoint2D_F64.java
index a115853cc1..231844ac44 100644
--- a/main/boofcv-types/src/main/java/boofcv/struct/packed/PackedArrayPoint2D_F64.java
+++ b/main/boofcv-types/src/main/java/boofcv/struct/packed/PackedArrayPoint2D_F64.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2025, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -39,6 +39,12 @@ public final void append( double x, double y ) {
 		array.add(y);
 	}
 
+	public void set( int index, double x, double y ) {
+		index *= 2;
+		array.data[index++] = x;
+		array.data[index] = y;
+	}
+
 	@Override public void append( Point2D_F64 element ) {
 		append(element.x, element.y);
 	}
diff --git a/main/boofcv-types/src/main/java/boofcv/struct/packed/PackedArrayPoint2D_I16.java b/main/boofcv-types/src/main/java/boofcv/struct/packed/PackedArrayPoint2D_I16.java
index c6e4bee2d2..1b75d875a0 100644
--- a/main/boofcv-types/src/main/java/boofcv/struct/packed/PackedArrayPoint2D_I16.java
+++ b/main/boofcv-types/src/main/java/boofcv/struct/packed/PackedArrayPoint2D_I16.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2025, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -56,6 +56,12 @@ public final void append( int x, int y ) {
 		array.add(y);
 	}
 
+	public void set( int index, int x, int y ) {
+		index *= 2;
+		array.data[index++] = (short)x;
+		array.data[index] = (short)y;
+	}
+
 	@Override public void append( Point2D_I16 element ) {
 		append(element.x, element.y);
 	}
diff --git a/main/boofcv-types/src/main/java/boofcv/struct/packed/PackedArrayPoint2D_I32.java b/main/boofcv-types/src/main/java/boofcv/struct/packed/PackedArrayPoint2D_I32.java
index f4f6deb0e3..f9798f52aa 100644
--- a/main/boofcv-types/src/main/java/boofcv/struct/packed/PackedArrayPoint2D_I32.java
+++ b/main/boofcv-types/src/main/java/boofcv/struct/packed/PackedArrayPoint2D_I32.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2025, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -56,6 +56,12 @@ public final void append( int x, int y ) {
 		array.add(y);
 	}
 
+	public void set( int index, int x, int y ) {
+		index *= 2;
+		array.data[index++] = x;
+		array.data[index] = y;
+	}
+
 	@Override public void append( Point2D_I32 element ) {
 		append(element.x, element.y);
 	}
diff --git a/main/boofcv-types/src/main/java/boofcv/struct/packed/PackedArrayPoint3D_F64.java b/main/boofcv-types/src/main/java/boofcv/struct/packed/PackedArrayPoint3D_F64.java
index bde56c68a2..373ac42c12 100644
--- a/main/boofcv-types/src/main/java/boofcv/struct/packed/PackedArrayPoint3D_F64.java
+++ b/main/boofcv-types/src/main/java/boofcv/struct/packed/PackedArrayPoint3D_F64.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2025, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -46,6 +46,13 @@ public void append( double x, double y, double z) {
 		array.add(z);
 	}
 
+	public void set( int index, double x, double y, double z ) {
+		index *= 3;
+		array.data[index++] = x;
+		array.data[index++] = y;
+		array.data[index] = z;
+	}
+
 	@Override public void set( int index, Point3D_F64 element ) {
 		index *= 3;
 		array.data[index++] = element.x;
diff --git a/main/boofcv-types/src/main/java/boofcv/struct/packed/PackedArrayPoint4D_F64.java b/main/boofcv-types/src/main/java/boofcv/struct/packed/PackedArrayPoint4D_F64.java
index 3bc721e1ad..24f39bbb38 100644
--- a/main/boofcv-types/src/main/java/boofcv/struct/packed/PackedArrayPoint4D_F64.java
+++ b/main/boofcv-types/src/main/java/boofcv/struct/packed/PackedArrayPoint4D_F64.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2025, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -56,6 +56,14 @@ public void append( double x, double y, double z, double w ) {
 		array.add(w);
 	}
 
+	public void set( int index, double x, double y, double z, double w ) {
+		index *= 4;
+		array.data[index++] = x;
+		array.data[index++] = y;
+		array.data[index++] = z;
+		array.data[index] = w;
+	}
+
 	@Override public void set( int index, Point4D_F64 element ) {
 		index *= 4;
 		array.data[index++] = element.x;
diff --git a/main/boofcv-types/src/main/java/boofcv/struct/packed/PackedBigArrayPoint2D_F64.java b/main/boofcv-types/src/main/java/boofcv/struct/packed/PackedBigArrayPoint2D_F64.java
index 2dc7008fb8..8c85f3b436 100644
--- a/main/boofcv-types/src/main/java/boofcv/struct/packed/PackedBigArrayPoint2D_F64.java
+++ b/main/boofcv-types/src/main/java/boofcv/struct/packed/PackedBigArrayPoint2D_F64.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2025, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -72,6 +72,14 @@ public void append( double x, double y ) {
 		array.add(y);
 	}
 
+	public void set( int index, double x, double y ) {
+		index *= DOF;
+		double[] block = array.getBlocks().get(index/array.getBlockSize());
+		int where = index%array.getBlockSize();
+		block[where] = x;
+		block[where + 1] = y;
+	}
+
 	@Override public void append( Point2D_F64 element ) {
 		array.add(element.x);
 		array.add(element.y);
@@ -81,8 +89,8 @@ public void append( double x, double y ) {
 		index *= DOF;
 		double[] block = array.getBlocks().get(index/array.getBlockSize());
 		int where = index%array.getBlockSize();
-		element.x = block[where];
-		element.y = block[where + 1];
+		block[where] = element.x;
+		block[where + 1] = element.y;
 	}
 
 	@Override public Point2D_F64 getTemp( int index ) {
diff --git a/main/boofcv-types/src/main/java/boofcv/struct/packed/PackedBigArrayPoint3D_F64.java b/main/boofcv-types/src/main/java/boofcv/struct/packed/PackedBigArrayPoint3D_F64.java
index 3c1163a798..8dd27882a4 100644
--- a/main/boofcv-types/src/main/java/boofcv/struct/packed/PackedBigArrayPoint3D_F64.java
+++ b/main/boofcv-types/src/main/java/boofcv/struct/packed/PackedBigArrayPoint3D_F64.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2025, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -82,13 +82,22 @@ public void append( GeoTuple3D_F64<?> element ) {
 		append(element.x, element.y, element.z);
 	}
 
+	public void set( int index, double x, double y, double z ) {
+		index *= DOF;
+		double[] block = array.getBlocks().get(index/array.getBlockSize());
+		int where = index%array.getBlockSize();
+		block[where] = x;
+		block[where + 1] = y;
+		block[where + 2] = z;
+	}
+
 	@Override public void set( int index, Point3D_F64 element ) {
 		index *= DOF;
 		double[] block = array.getBlocks().get(index/array.getBlockSize());
 		int where = index%array.getBlockSize();
-		element.x = block[where];
-		element.y = block[where + 1];
-		element.z = block[where + 2];
+		block[where] = element.x;
+		block[where + 1] = element.y;
+		block[where + 2] = element.z;
 	}
 
 	/**
diff --git a/main/boofcv-types/src/main/java/boofcv/struct/packed/PackedBigArrayPoint4D_F64.java b/main/boofcv-types/src/main/java/boofcv/struct/packed/PackedBigArrayPoint4D_F64.java
index 62dfab8146..d1337a10cd 100644
--- a/main/boofcv-types/src/main/java/boofcv/struct/packed/PackedBigArrayPoint4D_F64.java
+++ b/main/boofcv-types/src/main/java/boofcv/struct/packed/PackedBigArrayPoint4D_F64.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2025, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -77,6 +77,16 @@ public void append( double x, double y, double z, double w ) {
 		array.add(w);
 	}
 
+	public void set( int index, double x, double y, double z, double w ) {
+		index *= DOF;
+		double[] block = array.getBlocks().get(index/array.getBlockSize());
+		int where = index%array.getBlockSize();
+		block[where] = x;
+		block[where + 1] = y;
+		block[where + 2] = z;
+		block[where + 3] = w;
+	}
+
 	@Override public void append( Point4D_F64 element ) {
 		array.add(element.x);
 		array.add(element.y);
@@ -88,10 +98,10 @@ public void append( double x, double y, double z, double w ) {
 		index *= DOF;
 		double[] block = array.getBlocks().get(index/array.getBlockSize());
 		int where = index%array.getBlockSize();
-		element.x = block[where];
-		element.y = block[where + 1];
-		element.z = block[where + 2];
-		element.w = block[where + 3];
+		block[where] = element.x;
+		block[where + 1] = element.y;
+		block[where + 2] = element.z;
+		block[where + 3] = element.w;
 	}
 
 	@Override public Point4D_F64 getTemp( int index ) {
diff --git a/main/boofcv-types/src/test/java/boofcv/struct/packed/GenericPackedArrayChecks.java b/main/boofcv-types/src/test/java/boofcv/struct/packed/GenericPackedArrayChecks.java
index 70e46cf860..ede6329265 100644
--- a/main/boofcv-types/src/test/java/boofcv/struct/packed/GenericPackedArrayChecks.java
+++ b/main/boofcv-types/src/test/java/boofcv/struct/packed/GenericPackedArrayChecks.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2025, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -156,7 +156,15 @@ public abstract class GenericPackedArrayChecks<T> extends BoofStandardJUnit {
 		alg.append(createRandomPoint());
 
 		var p = createRandomPoint();
+		var copy = createRandomPoint();
+		alg.copy(p, copy);
+
 		alg.set(1, p);
+
+		// make sure set isn't writing to 'p'. yes this was a bug
+		checkEquals(p, copy);
+
+		// Retrieve the value and see if it's the same
 		T found = alg.getTemp(1);
 		checkEquals(p, found);
 	}
diff --git a/main/boofcv-types/src/test/java/boofcv/struct/packed/TestPackedArrayPoint2D_F64.java b/main/boofcv-types/src/test/java/boofcv/struct/packed/TestPackedArrayPoint2D_F64.java
index ce38bb53de..5f3e714f33 100644
--- a/main/boofcv-types/src/test/java/boofcv/struct/packed/TestPackedArrayPoint2D_F64.java
+++ b/main/boofcv-types/src/test/java/boofcv/struct/packed/TestPackedArrayPoint2D_F64.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2025, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -23,8 +23,7 @@
 import org.ejml.UtilEjml;
 import org.junit.jupiter.api.Test;
 
-import static org.junit.jupiter.api.Assertions.assertEquals;
-import static org.junit.jupiter.api.Assertions.assertNotEquals;
+import static org.junit.jupiter.api.Assertions.*;
 
 public class TestPackedArrayPoint2D_F64 extends GenericPackedArrayChecks<Point2D_F64> {
 
@@ -34,8 +33,8 @@ public class TestPackedArrayPoint2D_F64 extends GenericPackedArrayChecks<Point2D
 
 	@Override protected Point2D_F64 createRandomPoint() {
 		var point = new Point2D_F64();
-		point.x = (double) rand.nextGaussian();
-		point.y = (double) rand.nextGaussian();
+		point.x = (double)rand.nextGaussian();
+		point.y = (double)rand.nextGaussian();
 		return point;
 	}
 
@@ -47,6 +46,14 @@ public class TestPackedArrayPoint2D_F64 extends GenericPackedArrayChecks<Point2D
 		assertNotEquals(0.0, a.distance(b), UtilEjml.TEST_F64);
 	}
 
+	@Test void setIndex_values() {
+		var alg = new PackedArrayPoint2D_F64();
+		alg.append(1, 2);
+		alg.append(2, 3);
+		alg.set(1, -1, -2);
+		assertTrue(alg.getTemp(1).isIdentical(-1, -2));
+	}
+
 	@Test void appendValues() {
 		var alg = new PackedArrayPoint2D_F64();
 		assertEquals(0, alg.size());
diff --git a/main/boofcv-types/src/test/java/boofcv/struct/packed/TestPackedArrayPoint3D_F64.java b/main/boofcv-types/src/test/java/boofcv/struct/packed/TestPackedArrayPoint3D_F64.java
index 4e5d0a259b..4018b50c97 100644
--- a/main/boofcv-types/src/test/java/boofcv/struct/packed/TestPackedArrayPoint3D_F64.java
+++ b/main/boofcv-types/src/test/java/boofcv/struct/packed/TestPackedArrayPoint3D_F64.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2025, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -23,8 +23,7 @@
 import org.ejml.UtilEjml;
 import org.junit.jupiter.api.Test;
 
-import static org.junit.jupiter.api.Assertions.assertEquals;
-import static org.junit.jupiter.api.Assertions.assertNotEquals;
+import static org.junit.jupiter.api.Assertions.*;
 
 public class TestPackedArrayPoint3D_F64 extends GenericPackedArrayChecks<Point3D_F64> {
 
@@ -48,6 +47,14 @@ public class TestPackedArrayPoint3D_F64 extends GenericPackedArrayChecks<Point3D
 		assertNotEquals(0.0, a.distance(b), UtilEjml.TEST_F64);
 	}
 
+	@Test void setIndex_values() {
+		var alg = new PackedArrayPoint3D_F64();
+		alg.append(1, 2, 3);
+		alg.append(2, 3, 4);
+		alg.set(1, -1, -2, -3);
+		assertTrue(alg.getTemp(1).isIdentical(-1, -2, -3));
+	}
+
 	@Test void appendValues() {
 		var alg = new PackedArrayPoint3D_F64();
 		assertEquals(0, alg.size());
diff --git a/main/boofcv-types/src/test/java/boofcv/struct/packed/TestPackedArrayPoint4D_F64.java b/main/boofcv-types/src/test/java/boofcv/struct/packed/TestPackedArrayPoint4D_F64.java
index 2c7f74b6e2..1ff284b93f 100644
--- a/main/boofcv-types/src/test/java/boofcv/struct/packed/TestPackedArrayPoint4D_F64.java
+++ b/main/boofcv-types/src/test/java/boofcv/struct/packed/TestPackedArrayPoint4D_F64.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2025, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -23,8 +23,7 @@
 import org.ejml.UtilEjml;
 import org.junit.jupiter.api.Test;
 
-import static org.junit.jupiter.api.Assertions.assertEquals;
-import static org.junit.jupiter.api.Assertions.assertNotEquals;
+import static org.junit.jupiter.api.Assertions.*;
 
 public class TestPackedArrayPoint4D_F64 extends GenericPackedArrayChecks<Point4D_F64> {
 
@@ -49,6 +48,14 @@ public class TestPackedArrayPoint4D_F64 extends GenericPackedArrayChecks<Point4D
 		assertNotEquals(0.0, a.distance(b), UtilEjml.TEST_F64);
 	}
 
+	@Test void setIndex_values() {
+		var alg = new PackedArrayPoint4D_F64();
+		alg.append(1, 2, 3, 4);
+		alg.append(2, 3, 4, 5);
+		alg.set(1, -1, -2, -3, -4);
+		assertTrue(alg.getTemp(1).isIdentical(-1, -2, -3, -4));
+	}
+
 	@Test void appendValues() {
 		var alg = new PackedArrayPoint4D_F64();
 		assertEquals(0, alg.size());
diff --git a/main/boofcv-types/src/test/java/boofcv/struct/packed/TestPackedBigArrayPoint2D_F64.java b/main/boofcv-types/src/test/java/boofcv/struct/packed/TestPackedBigArrayPoint2D_F64.java
index b9a8c711f4..6ebd13f530 100644
--- a/main/boofcv-types/src/test/java/boofcv/struct/packed/TestPackedBigArrayPoint2D_F64.java
+++ b/main/boofcv-types/src/test/java/boofcv/struct/packed/TestPackedBigArrayPoint2D_F64.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2025, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -24,8 +24,7 @@
 import org.ejml.UtilEjml;
 import org.junit.jupiter.api.Test;
 
-import static org.junit.jupiter.api.Assertions.assertEquals;
-import static org.junit.jupiter.api.Assertions.assertNotEquals;
+import static org.junit.jupiter.api.Assertions.*;
 
 public class TestPackedBigArrayPoint2D_F64 extends GenericPackedArrayChecks<Point2D_F64> {
 
@@ -48,6 +47,14 @@ public class TestPackedBigArrayPoint2D_F64 extends GenericPackedArrayChecks<Poin
 		assertNotEquals(0.0, a.distance(b), UtilEjml.TEST_F64);
 	}
 
+	@Test void setIndex_values() {
+		var alg = new PackedBigArrayPoint2D_F64();
+		alg.append(1, 2);
+		alg.append(2, 3);
+		alg.set(1, -1, -2);
+		assertTrue(alg.getTemp(1).isIdentical(-1, -2));
+	}
+
 	@Test void appendValues() {
 		var alg = new PackedBigArrayPoint2D_F64();
 		assertEquals(0, alg.size());
diff --git a/main/boofcv-types/src/test/java/boofcv/struct/packed/TestPackedBigArrayPoint3D_F64.java b/main/boofcv-types/src/test/java/boofcv/struct/packed/TestPackedBigArrayPoint3D_F64.java
index 0b7e82475d..946a636732 100644
--- a/main/boofcv-types/src/test/java/boofcv/struct/packed/TestPackedBigArrayPoint3D_F64.java
+++ b/main/boofcv-types/src/test/java/boofcv/struct/packed/TestPackedBigArrayPoint3D_F64.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2025, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -26,8 +26,7 @@
 
 import java.util.ArrayList;
 
-import static org.junit.jupiter.api.Assertions.assertEquals;
-import static org.junit.jupiter.api.Assertions.assertNotEquals;
+import static org.junit.jupiter.api.Assertions.*;
 
 public class TestPackedBigArrayPoint3D_F64 extends GenericPackedArrayChecks<Point3D_F64> {
 
@@ -51,6 +50,14 @@ public class TestPackedBigArrayPoint3D_F64 extends GenericPackedArrayChecks<Poin
 		assertNotEquals(0.0, a.distance(b), UtilEjml.TEST_F64);
 	}
 
+	@Test void setIndex_values() {
+		var alg = new PackedBigArrayPoint3D_F64();
+		alg.append(1, 2, 3);
+		alg.append(2, 3, 4);
+		alg.set(1, -1, -2, -3);
+		assertTrue(alg.getTemp(1).isIdentical(-1, -2, -3));
+	}
+
 	@Test public void appendAll() {
 		var points = new ArrayList<Point3D_F64>();
 		points.add(new Point3D_F64(1, 2, 3));
diff --git a/main/boofcv-types/src/test/java/boofcv/struct/packed/TestPackedBigArrayPoint4D_F64.java b/main/boofcv-types/src/test/java/boofcv/struct/packed/TestPackedBigArrayPoint4D_F64.java
index a38e49c986..9674c0ed41 100644
--- a/main/boofcv-types/src/test/java/boofcv/struct/packed/TestPackedBigArrayPoint4D_F64.java
+++ b/main/boofcv-types/src/test/java/boofcv/struct/packed/TestPackedBigArrayPoint4D_F64.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2025, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -24,8 +24,7 @@
 import org.ejml.UtilEjml;
 import org.junit.jupiter.api.Test;
 
-import static org.junit.jupiter.api.Assertions.assertEquals;
-import static org.junit.jupiter.api.Assertions.assertNotEquals;
+import static org.junit.jupiter.api.Assertions.*;
 
 public class TestPackedBigArrayPoint4D_F64 extends GenericPackedArrayChecks<Point4D_F64> {
 
@@ -50,6 +49,14 @@ public class TestPackedBigArrayPoint4D_F64 extends GenericPackedArrayChecks<Poin
 		assertNotEquals(0.0, a.distance(b), UtilEjml.TEST_F64);
 	}
 
+	@Test void setIndex_values() {
+		var alg = new PackedBigArrayPoint4D_F64();
+		alg.append(1, 2, 3, 4);
+		alg.append(2, 3, 4, 5);
+		alg.set(1, -1, -2, -3, -4);
+		assertTrue(alg.getTemp(1).isIdentical(-1, -2, -3, -4));
+	}
+
 	@Test void appendValues() {
 		var alg = new PackedBigArrayPoint4D_F64(3, 11, BigDogGrowth.GROW_FIRST);
 		assertEquals(0, alg.size());