diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/DrawSolvePNPPipe.java b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/DrawSolvePNPPipe.java
index 8a8fed749..92abe3a8a 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/DrawSolvePNPPipe.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/DrawSolvePNPPipe.java
@@ -34,7 +34,7 @@ public class DrawSolvePNPPipe implements Pipe<Pair<Mat, List<StandardCVPipeline.
     private void setBox(MatOfPoint3f mat) {
         boxCornerMat.release();
         var list = mat.toList();
-        var auxList = list.stream().map(it -> new Point3(it.x, it.y, it.z - 6)).collect(Collectors.toList());
+        var auxList = list.stream().map(it -> new Point3(it.x, it.y, it.z + 6)).collect(Collectors.toList());
         var finalList = new ArrayList<>(list);
         finalList.addAll(auxList);
         boxCornerMat.fromList(finalList);
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 821cc7bff..88e969184 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
@@ -170,10 +170,6 @@ 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;
-//        }
-
         var area = Imgproc.moments(polyOutput);
 
         if (area.get_m00() < 200) {
diff --git a/chameleon-server/testimages/2020/image.png b/chameleon-server/testimages/2020/image.png
new file mode 100644
index 000000000..0e137e860
Binary files /dev/null and b/chameleon-server/testimages/2020/image.png differ