diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index a6de08e..6b7395a 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -8,10 +8,6 @@ on:
   pull_request:
     branches: [ "main" ]
 
-env:
-  # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
-  BUILD_TYPE: Release
-
 jobs:
   build-host:
     strategy:
@@ -20,9 +16,15 @@ jobs:
         include:
           - os: ubuntu-22.04
             arch-name: linuxx86-64
+            BUILD_TYPE: Release
+            publish-type: ""
+          - os: ubuntu-22.04
+            arch-name: linuxx86-64
+            BUILD_TYPE: Debug
+            publish-type: "debug"
 
     runs-on: ${{ matrix.os }}
-    name: "mrcal-jni - Build - ${{ matrix.arch-name }}"
+    name: "mrcal-jni - Build - ${{ matrix.arch-name }}/${{matrix.publish-type}}"
 
     steps:
     - uses: actions/checkout@v3
@@ -52,17 +54,17 @@ jobs:
     - name: Configure CMake
       # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
       # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
-      run: cmake -B ${{github.workspace}}/cmake_build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DOPENCV_ARCH=${{ matrix.arch-name }}
+      run: cmake -B ${{github.workspace}}/cmake_build -DCMAKE_BUILD_TYPE=${{matrix.BUILD_TYPE}} -DOPENCV_ARCH=${{ matrix.arch-name }}
 
     - name: Build shared mrcal_jni
       # Build your program with the given configuration
-      run: cmake --build ${{github.workspace}}/cmake_build --config ${{env.BUILD_TYPE}} ${{ (startsWith(matrix.arch-name, 'windowx86-64') && '--config Release') || '' }} -j --target mrcal_jni
+      run: cmake --build ${{github.workspace}}/cmake_build --config ${{matrix.BUILD_TYPE}} ${{ (startsWith(matrix.arch-name, 'windowx86-64') && '--config Release') || '' }} -j --target mrcal_jni
 
     - name: Gradle build
       # Build your program with the given configuration
       run: ./gradlew build
 
-    - run: ./gradlew publish
+    - run: ./gradlew publish -PPublishType=${{ matrix.publish-type }} 
       name: Publish
       env:
         ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
@@ -70,12 +72,24 @@ jobs:
 
     - uses: actions/upload-artifact@master
       with:
-        name: libmrcal-jar-${{ matrix.arch-name }}
+        name: libmrcal-jar-${{ matrix.arch-name }}-${{matrix.BUILD_TYPE}}
         path: |
           ${{ github.workspace }}/build/libs/*.jar
 
   build-raspi:
     runs-on: ubuntu-latest
+    
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - BUILD_TYPE: Release
+            publish-type: ""
+          - BUILD_TYPE: Debug
+            publish-type: "debug"
+
+    name: "mrcal-jni - Build - ${{ matrix.BUILD_TYPE }}/${{ matrix.publish-type }}"
+
     steps:
 
     - uses: actions/checkout@v3
@@ -95,27 +109,34 @@ jobs:
           sudo bash -c "echo 'deb [trusted=yes] http://mrcal.secretsauce.net/packages/jammy/public/ jammy main' >> /etc/apt/sources.list"
           sudo apt update
           sudo apt install cmake default-jdk default-jre git gcc g++ libmrcal-dev mrbuild libsuitesparse-dev liblist-moreutils-perl -y
-          cmake -B cmake_build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DOPENCV_ARCH=linuxarm64
-          cmake --build cmake_build --config ${{env.BUILD_TYPE}} -j --target mrcal_jni
+          cmake -B cmake_build -DCMAKE_BUILD_TYPE=${{matrix.BUILD_TYPE}} -DOPENCV_ARCH=linuxarm64
+          cmake --build cmake_build --config ${{matrix.BUILD_TYPE}} -j --target mrcal_jni
 
     - run: |
-        ./gradlew build ${{ (startsWith(github.event_name, 'push') && 'publish') || '' }} -PArchOverride=linuxarm64
+        ./gradlew build ${{ (startsWith(github.event_name, 'push') && 'publish') || '' }} -PArchOverride=linuxarm64 -PPublishType=${{ matrix.publish-type }}
       env:
         ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
 
     - uses: actions/upload-artifact@v3
       name: Upload jar
       with:
-        name: libmrcal-jar-pi
+        name: libmrcal-jar-pi-${{matrix.BUILD_TYPE}}
         path: ${{ github.workspace }}/build/libs/*.jar
 
   build-windows:
-    runs-on: windows-latest
 
-    name: "mrcal-jni - Build - Windows"
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - BUILD_TYPE: Release
+            publish-type: ""
+          - BUILD_TYPE: Debug
+            publish-type: "debug"
+
+    name: "mrcal-jni - Build Windows - ${{ matrix.BUILD_TYPE }}/${{matrix.publish-type}}"
 
-    env:
-      BUILD_TYPE: "Release"
+    runs-on: windows-latest
 
     steps:
     - uses: actions/checkout@v3
@@ -144,17 +165,17 @@ jobs:
         runVcpkgInstall: true
 
     - name: Configure CMake
-      run: cmake -B ${{github.workspace}}/cmake_build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DOPENCV_ARCH=windowsx86-64 -T ClangCl -A x64 -G "Visual Studio 17 2022" -DCMAKE_TOOLCHAIN_FILE="vcpkg/scripts/buildsystems/vcpkg.cmake"
+      run: cmake -B ${{github.workspace}}/cmake_build -DCMAKE_BUILD_TYPE=${{matrix.BUILD_TYPE}} -DOPENCV_ARCH=windowsx86-64 -T ClangCl -A x64 -G "Visual Studio 17 2022" -DCMAKE_TOOLCHAIN_FILE="vcpkg/scripts/buildsystems/vcpkg.cmake"
 
     - name: Build shared mrcal_jni
       # Build your program with the given configuration
-      run: cmake --build ${{github.workspace}}/cmake_build --config ${{env.BUILD_TYPE}} -j --target mrcal_jni
+      run: cmake --build ${{github.workspace}}/cmake_build --config ${{matrix.BUILD_TYPE}} -j --target mrcal_jni
 
     - name: Gradle build
       # Build your program with the given configuration
       run: ./gradlew build
 
-    - run: ./gradlew publish
+    - run: ./gradlew publish -PPublishType=${{ matrix.publish-type }}
       name: Publish
       env:
         ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
@@ -162,7 +183,7 @@ jobs:
 
     - uses: actions/upload-artifact@master
       with:
-        name: libmrcal-jar-windowsx64
+        name: libmrcal-jar-windowsx64-${{matrix.BUILD_TYPE}}
         path: ${{ github.workspace }}/build/libs/*.jar
 
   release:
diff --git a/publish.gradle b/publish.gradle
index 94042f0..0d84487 100644
--- a/publish.gradle
+++ b/publish.gradle
@@ -4,8 +4,11 @@ def nativeName = wpilibTools.platformMapper.currentPlatform.platformName;
 def artifactGroupId = 'org.photonvision'
 def baseArtifactId = "photon-mrcal"
 
+def jniType = project.findProperty("PublishType") ?: "";
+println("Building with JNI publish type: " + jniType);
+
 task nativeLibraryJar(type: Jar, dependsOn: copyNativeLibrary) {
-    archiveClassifier = nativeName
+    archiveClassifier = nativeName + jniType
     from outputsFolder
 }
 build.dependsOn nativeLibraryJar