diff --git a/chameleon-client/package-lock.json b/chameleon-client/package-lock.json
index e6ac4932c..1036d3f31 100644
--- a/chameleon-client/package-lock.json
+++ b/chameleon-client/package-lock.json
@@ -3915,7 +3915,8 @@
       "version": "4.6.0",
       "resolved": "https://registry.npmjs.org/co/-/co-4.6.0.tgz",
       "integrity": "sha1-bqa989hTrlTMuOR7+gvz+QMfsYQ=",
-      "dev": true
+      "dev": true,
+      "optional": true
     },
     "coa": {
       "version": "2.0.2",
@@ -6308,7 +6309,8 @@
         "ansi-regex": {
           "version": "2.1.1",
           "bundled": true,
-          "dev": true
+          "dev": true,
+          "optional": true
         },
         "aproba": {
           "version": "1.2.0",
@@ -6517,7 +6519,8 @@
         "minimist": {
           "version": "0.0.8",
           "bundled": true,
-          "dev": true
+          "dev": true,
+          "optional": true
         },
         "minipass": {
           "version": "2.9.0",
@@ -6542,6 +6545,7 @@
           "version": "0.5.1",
           "bundled": true,
           "dev": true,
+          "optional": true,
           "requires": {
             "minimist": "0.0.8"
           }
@@ -6730,7 +6734,8 @@
         "safe-buffer": {
           "version": "5.1.2",
           "bundled": true,
-          "dev": true
+          "dev": true,
+          "optional": true
         },
         "safer-buffer": {
           "version": "2.1.2",
@@ -6786,6 +6791,7 @@
           "version": "3.0.1",
           "bundled": true,
           "dev": true,
+          "optional": true,
           "requires": {
             "ansi-regex": "^2.0.0"
           }
@@ -6829,12 +6835,14 @@
         "wrappy": {
           "version": "1.0.2",
           "bundled": true,
-          "dev": true
+          "dev": true,
+          "optional": true
         },
         "yallist": {
           "version": "3.1.1",
           "bundled": true,
-          "dev": true
+          "dev": true,
+          "optional": true
         }
       }
     },
@@ -10639,7 +10647,8 @@
       "version": "4.0.8",
       "resolved": "https://registry.npmjs.org/rx-lite/-/rx-lite-4.0.8.tgz",
       "integrity": "sha1-Cx4Rr4vESDbwSmQH6S2kJGe3lEQ=",
-      "dev": true
+      "dev": true,
+      "optional": true
     },
     "rx-lite-aggregates": {
       "version": "4.0.8",
@@ -14743,7 +14752,8 @@
             },
             "ansi-regex": {
               "version": "2.1.1",
-              "bundled": true
+              "bundled": true,
+              "optional": true
             },
             "aproba": {
               "version": "1.2.0",
@@ -14780,7 +14790,8 @@
             },
             "code-point-at": {
               "version": "1.1.0",
-              "bundled": true
+              "bundled": true,
+              "optional": true
             },
             "concat-map": {
               "version": "0.0.1",
@@ -14789,7 +14800,8 @@
             },
             "console-control-strings": {
               "version": "1.1.0",
-              "bundled": true
+              "bundled": true,
+              "optional": true
             },
             "core-util-is": {
               "version": "1.0.2",
@@ -14892,7 +14904,8 @@
             },
             "inherits": {
               "version": "2.0.3",
-              "bundled": true
+              "bundled": true,
+              "optional": true
             },
             "ini": {
               "version": "1.3.5",
@@ -14902,6 +14915,7 @@
             "is-fullwidth-code-point": {
               "version": "1.0.0",
               "bundled": true,
+              "optional": true,
               "requires": {
                 "number-is-nan": "^1.0.0"
               }
@@ -14921,11 +14935,13 @@
             },
             "minimist": {
               "version": "0.0.8",
-              "bundled": true
+              "bundled": true,
+              "optional": true
             },
             "minipass": {
               "version": "2.2.4",
               "bundled": true,
+              "optional": true,
               "requires": {
                 "safe-buffer": "^5.1.1",
                 "yallist": "^3.0.0"
@@ -14942,6 +14958,7 @@
             "mkdirp": {
               "version": "0.5.1",
               "bundled": true,
+              "optional": true,
               "requires": {
                 "minimist": "0.0.8"
               }
@@ -15014,7 +15031,8 @@
             },
             "number-is-nan": {
               "version": "1.0.1",
-              "bundled": true
+              "bundled": true,
+              "optional": true
             },
             "object-assign": {
               "version": "4.1.1",
@@ -15024,6 +15042,7 @@
             "once": {
               "version": "1.4.0",
               "bundled": true,
+              "optional": true,
               "requires": {
                 "wrappy": "1"
               }
@@ -15099,7 +15118,8 @@
             },
             "safe-buffer": {
               "version": "5.1.1",
-              "bundled": true
+              "bundled": true,
+              "optional": true
             },
             "safer-buffer": {
               "version": "2.1.2",
@@ -15129,6 +15149,7 @@
             "string-width": {
               "version": "1.0.2",
               "bundled": true,
+              "optional": true,
               "requires": {
                 "code-point-at": "^1.0.0",
                 "is-fullwidth-code-point": "^1.0.0",
@@ -15146,6 +15167,7 @@
             "strip-ansi": {
               "version": "3.0.1",
               "bundled": true,
+              "optional": true,
               "requires": {
                 "ansi-regex": "^2.0.0"
               }
@@ -15184,11 +15206,13 @@
             },
             "wrappy": {
               "version": "1.0.2",
-              "bundled": true
+              "bundled": true,
+              "optional": true
             },
             "yallist": {
               "version": "3.0.2",
-              "bundled": true
+              "bundled": true,
+              "optional": true
             }
           }
         },
diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java
index 373c1a41c..821cc7bff 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java
@@ -170,9 +170,9 @@ public class SolvePNPPipe implements Pipe<Pair<List<StandardCVPipeline.TrackedTa
         // Ramer–Douglas–Peucker algorithm
         Imgproc.approxPolyDP(target.rawContour, polyOutput, 0.01 * peri, true);
 
-        if(polyOutput.toList().size() != 8) {
-            return null;
-        }
+//        if(polyOutput.toList().size() != 8) {
+//            return null;
+//        }
 
         var area = Imgproc.moments(polyOutput);
 
@@ -196,17 +196,17 @@ public class SolvePNPPipe implements Pipe<Pair<List<StandardCVPipeline.TrackedTa
             var bl = polyList.stream().filter(point -> point.x < centroid.x && point.y > centroid.y).max(distanceProvider).get();
             var br = polyList.stream().filter(point -> point.x > centroid.x && point.y > centroid.y).max(distanceProvider).get();
 
-            polyList = new ArrayList<>(polyList);
-            polyList.removeAll(List.of(tl, tr, bl, br));
-
-            var tl2 = polyList.stream().min(Comparator.comparingDouble((Point p) -> distanceBetween(p, boundingBoxCorners.get(0)))).get();
-            var tr2 = polyList.stream().min(Comparator.comparingDouble((Point p) -> distanceBetween(p, boundingBoxCorners.get(3)))).get();
-
-            var bl2 = polyList.stream().filter(point -> point.x < centroid.x && point.y > centroid.y).max(distanceProvider).get();
-            var br2 = polyList.stream().filter(point -> point.x > centroid.x && point.y > centroid.y).max(distanceProvider).get();
+//            polyList = new ArrayList<>(polyList);
+//            polyList.removeAll(List.of(tl, tr, bl, br));
+//
+//            var tl2 = polyList.stream().min(Comparator.comparingDouble((Point p) -> distanceBetween(p, boundingBoxCorners.get(0)))).get();
+//            var tr2 = polyList.stream().min(Comparator.comparingDouble((Point p) -> distanceBetween(p, boundingBoxCorners.get(3)))).get();
+//
+//            var bl2 = polyList.stream().filter(point -> point.x < centroid.x && point.y > centroid.y).max(distanceProvider).get();
+//            var br2 = polyList.stream().filter(point -> point.x > centroid.x && point.y > centroid.y).max(distanceProvider).get();
 
             target2020ResultMat.release();
-            target2020ResultMat.fromList(List.of(tl, bl, br, tr, tr2, br2, bl2, tl2));
+            target2020ResultMat.fromList(List.of(tl, bl, br, tr));//, tr2, br2, bl2, tl2));
 
             return target2020ResultMat;
         } catch (NoSuchElementException e) {