diff --git a/Main/pom.xml b/Main/pom.xml
index 8512fd210..25a606544 100644
--- a/Main/pom.xml
+++ b/Main/pom.xml
@@ -5,7 +5,7 @@
     <modelVersion>4.0.0</modelVersion>
     <groupId>org.chameleon-vision.main</groupId>
     <artifactId>chameleon-vision</artifactId>
-    <version>1.0.2</version>
+    <version>1.0.2-BETA</version>
     <build>
         <plugins>
             <!--setup for java jdk 12-->
diff --git a/Main/src/main/java/com/chameleonvision/vision/process/CVProcess.java b/Main/src/main/java/com/chameleonvision/vision/process/CVProcess.java
index bf48abdcf..52b9d7f23 100644
--- a/Main/src/main/java/com/chameleonvision/vision/process/CVProcess.java
+++ b/Main/src/main/java/com/chameleonvision/vision/process/CVProcess.java
@@ -56,16 +56,18 @@ public class CVProcess {
     List<MatOfPoint> FilterContours(List<MatOfPoint> InputContours, List<Integer> area, List<Double> ratio, List<Integer> extent) {
         for (MatOfPoint Contour : InputContours) {
             try {
-                double contourArea = Imgproc.contourArea(Contour); //TODO change scaling
-                double targetArea = (contourArea / CamVals.ImageArea) * 100;
-                double minArea = Math.pow(area.get(0), 4);
-                double maxArea = Math.pow(area.get(1), 4);
-                if (targetArea < minArea || targetArea > maxArea) {
+                double contourArea = Imgproc.contourArea(Contour);
+                double minArea = (area.get(0) * CamVals.ImageArea) / 100;
+                double maxArea = (area.get(1) * CamVals.ImageArea) / 100;
+                if (contourArea <= minArea || contourArea >= maxArea) {
                     continue;
                 }
                 var rect = Imgproc.minAreaRect(new MatOfPoint2f(Contour.toArray()));
-                var targetFullness = (contourArea / rect.size.area()) * 100;
-                if (targetFullness < extent.get(0) || targetArea > extent.get(1)) {
+
+                var targetFullness = contourArea;
+                double minExtent = (double) (extent.get(0) * rect.size.area())/ 100;
+                double maxExtent = (double) (extent.get(1) * rect.size.area()) / 100;
+                if (targetFullness <= minExtent || contourArea >= maxExtent) {
                     continue;
                 }
                 double aspectRatio = rect.size.width / rect.size.height;//TODO i think aspectRatio is inverted
diff --git a/Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java b/Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
index 0d1ef3ec8..fbb04a1b9 100644
--- a/Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
+++ b/Main/src/main/java/com/chameleonvision/vision/process/VisionProcess.java
@@ -146,6 +146,7 @@ public class VisionProcess implements Runnable {
 				GroupedContours = cvProcess.GroupTargets(FilteredContours, currentPipeline.target_intersection, currentPipeline.target_group);
 				if (GroupedContours.size() > 0) {
 					var finalRect = cvProcess.SortTargetsToOne(GroupedContours, currentPipeline.sort_mode);
+//					System.out.printf("Largest Contour Area: %.2f\n", finalRect.size.area());
 					pipelineResult.RawPoint = finalRect;
 					pipelineResult.IsValid = true;
 					if (!currentPipeline.is_calibrated) {
@@ -153,7 +154,7 @@ public class VisionProcess implements Runnable {
 						pipelineResult.CalibratedY = camera.getCamVals().CenterY;
 					} else {
 						pipelineResult.CalibratedX = (finalRect.center.y - currentPipeline.B) / currentPipeline.M;
-						pipelineResult.CalibratedY = finalRect.center.x * currentPipeline.M + currentPipeline.B;
+						pipelineResult.CalibratedY = (finalRect.center.x * currentPipeline.M) + currentPipeline.B;
 					}
 					pipelineResult.Pitch = camera.getCamVals().CalculatePitch(finalRect.center.y, pipelineResult.CalibratedY);
 					pipelineResult.Yaw = camera.getCamVals().CalculateYaw(finalRect.center.x, pipelineResult.CalibratedX);