diff --git a/MarkerMovie.MP4 b/MarkerMovie.MP4
new file mode 100644
index 0000000..7670bf2
Binary files /dev/null and b/MarkerMovie.MP4 differ
diff --git a/MarkerTracking.cpp b/MarkerTracking.cpp
index ace8b05..e9b707d 100644
--- a/MarkerTracking.cpp
+++ b/MarkerTracking.cpp
@@ -36,8 +36,8 @@ int main() {
   const string contoursWindow = "Contours";
   const string thresholdWindow = "Threshold";
 
-  namedWindow(contoursWindow, WINDOW_FREERATIO);
-  namedWindow(thresholdWindow, WINDOW_FREERATIO);
+  namedWindow(contoursWindow, WINDOW_AUTOSIZE);
+  namedWindow(thresholdWindow, WINDOW_AUTOSIZE);
 
   const string UI = "Threshold";
   int threshold = 65;
@@ -47,6 +47,11 @@ int main() {
   Mat imgFiltered;
   Detector detector;
 
+  //VIDEO
+  //VideoWriter threshOut("threshold.avi", VideoWriter::fourcc('M', 'J', 'P', 'G'), 24, Size(cap.get(3), cap.get(4)));
+  //VideoWriter imgOut("makerDetection.avi", VideoWriter::fourcc('M', 'J', 'P', 'G'), 24, Size(cap.get(3), cap.get(4)));
+
+
   while (cap.read(frame)) {
 
     // --- Process Frame ---
@@ -63,11 +68,21 @@ int main() {
     imshow(contoursWindow, imgFiltered);
     imshow(thresholdWindow, videoStreamFrameGray);
 
+    //VIDEO
+    //threshOut.write(videoStreamFrameGray);
+    //imgOut.write(imgFiltered);
+
     if (waitKey(10) == 27) {
       break;
     }
   }
 
+  cap.release();
+
+  //VIDEO
+  //threshOut.release();
+  //imgOut.release();
+
   destroyAllWindows();
 
   return (0);
diff --git a/preview/makerDetection.avi b/preview/makerDetection.avi
new file mode 100644
index 0000000..73602ee
Binary files /dev/null and b/preview/makerDetection.avi differ
diff --git a/src/Detector.cpp b/src/Detector.cpp
index f76e728..b2bd199 100644
--- a/src/Detector.cpp
+++ b/src/Detector.cpp
@@ -78,7 +78,7 @@ void Detector::drawRectangle(Mat &output, contour_t contour){
           correction.y += p.y;
 
           circle(output, correction, 3, Scalar(255,0,0), -1);
-          circle(output, p, 1, CV_RGB(0, 0, 255), -1);
+          //circle(output, p, 3, CV_RGB(0, 0, 255));
         }
 
         sobelFilter.drawStrips(output);
diff --git a/src/SobelFilter.cpp b/src/SobelFilter.cpp
index 247499f..8430356 100644
--- a/src/SobelFilter.cpp
+++ b/src/SobelFilter.cpp
@@ -38,8 +38,6 @@ cv::Point2d SobelFilter::getSubPixelPoint(float dx, float dy, cv::Point edge, cv
             subPixel.x += delimiter.x;
             subPixel.y += delimiter.y;
 
-
-            //cv::circle(input, subPixel, 2, cv::Scalar(0,0,255), -1);
             int pixel = samplePixel(input, subPixel);
             int w = m + 1;
             int h = n + (stripeLength >> 1);
@@ -48,9 +46,7 @@ cv::Point2d SobelFilter::getSubPixelPoint(float dx, float dy, cv::Point edge, cv
         }
     }
 
-    //std::cout << p1.x << "||" << std::fabs(p1.x) << std::endl;
-
-    cv::Sobel(iplStripe, iplStripe, CV_8U, 0, 1);
+    cv::Sobel(iplStripe, iplStripe, CV_8U, 1, 0);
 
     return findSubPixelPoint(iplStripe, sample);
 }
@@ -113,8 +109,8 @@ cv::Point2d SobelFilter::findSubPixelPoint(cv::Mat iplStripe, SampleStrip strip)
         return edgeCenter;
     }
 
-    edgeCenter.x = pos * (strip.vecX.x + strip.vecY.x);
-    edgeCenter.y = pos * (strip.vecX.y + strip.vecY.y);
+    edgeCenter.x = pos + (strip.vecX.x + strip.vecY.x);
+    edgeCenter.y = pos + (strip.vecX.y + strip.vecY.y);
 
     return edgeCenter;
 }