diff --git a/Main/src/main/java/com/chameleonvision/config/CameraJsonConfig.java b/Main/src/main/java/com/chameleonvision/config/CameraJsonConfig.java
index ebd9e6b56..4f654e7d0 100644
--- a/Main/src/main/java/com/chameleonvision/config/CameraJsonConfig.java
+++ b/Main/src/main/java/com/chameleonvision/config/CameraJsonConfig.java
@@ -32,6 +32,6 @@ public class CameraJsonConfig {
 
     public static CameraJsonConfig fromUSBCameraProcess(USBCameraCapture process) {
         USBCameraProperties camProps = process.getProperties();
-        return new CameraJsonConfig(camProps.FOV, camProps.name, camProps.path, camProps.getNickname());
+        return new CameraJsonConfig(camProps.getFOV(), camProps.name, camProps.path, camProps.getNickname());
     }
 }
diff --git a/Main/src/main/java/com/chameleonvision/vision/camera/CameraStreamer.java b/Main/src/main/java/com/chameleonvision/vision/camera/CameraStreamer.java
index fb678d505..8d9e4d749 100644
--- a/Main/src/main/java/com/chameleonvision/vision/camera/CameraStreamer.java
+++ b/Main/src/main/java/com/chameleonvision/vision/camera/CameraStreamer.java
@@ -27,18 +27,20 @@ public class CameraStreamer {
     }
 
     public void setDivisor(StreamDivisor newDivisor, boolean updateUI) {
-        this.divisor = newDivisor;
-        var camValues = cameraCapture.getProperties();
-        var newWidth = camValues.getStaticProperties().imageWidth / newDivisor.value;
-        var newHeight = camValues.getStaticProperties().imageHeight / newDivisor.value;
-        synchronized (streamBufferLock) {
-            this.streamBuffer = new Mat(newWidth, newHeight, CvType.CV_8UC3);
-            this.cvSource = CameraServer.getInstance().putVideo(this.name,
-                    cameraCapture.getProperties().getStaticProperties().imageWidth / divisor.value,
-                    cameraCapture.getProperties().getStaticProperties().imageHeight / divisor.value);
-        }
-        if (updateUI) {
-            SocketHandler.sendFullSettings();
+        if (divisor != newDivisor) {
+            this.divisor = newDivisor;
+            var camValues = cameraCapture.getProperties();
+            var newWidth = camValues.getStaticProperties().imageWidth / newDivisor.value;
+            var newHeight = camValues.getStaticProperties().imageHeight / newDivisor.value;
+            synchronized (streamBufferLock) {
+                this.streamBuffer = new Mat(newWidth, newHeight, CvType.CV_8UC3);
+                this.cvSource = CameraServer.getInstance().putVideo(this.name,
+                        cameraCapture.getProperties().getStaticProperties().imageWidth / divisor.value,
+                        cameraCapture.getProperties().getStaticProperties().imageHeight / divisor.value);
+            }
+            if (updateUI) {
+                SocketHandler.sendFullSettings();
+            }
         }
     }
 
diff --git a/Main/src/main/java/com/chameleonvision/vision/camera/USBCameraProperties.java b/Main/src/main/java/com/chameleonvision/vision/camera/USBCameraProperties.java
index d98e221ba..7d8d10327 100644
--- a/Main/src/main/java/com/chameleonvision/vision/camera/USBCameraProperties.java
+++ b/Main/src/main/java/com/chameleonvision/vision/camera/USBCameraProperties.java
@@ -38,7 +38,7 @@ public class USBCameraProperties extends CaptureProperties {
     public final boolean isPS3Eye;
 
     private String nickname;
-    public double FOV;
+    private double FOV;
 
     USBCameraProperties(UsbCamera baseCamera, CameraJsonConfig config) {
         FOV = config.fov;
@@ -67,6 +67,15 @@ public class USBCameraProperties extends CaptureProperties {
         videoModes = filterVideoModes(baseCamera.enumerateVideoModes());
     }
 
+    public void setFOV(double FOV) {
+        this.FOV = FOV;
+        staticProperties = new CaptureStaticProperties(staticProperties.imageWidth, staticProperties.imageHeight, FOV);
+    }
+
+    public double getFOV() {
+        return FOV;
+    }
+
     public void setNickname(String nickname) {
         this.nickname = nickname;
     }
diff --git a/Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java b/Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
index bea4c9b8e..74cdd6a05 100644
--- a/Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
+++ b/Main/src/main/java/com/chameleonvision/vision/pipeline/CVPipeline2d.java
@@ -143,7 +143,7 @@ public class CVPipeline2d extends CVPipeline<CVPipeline2dResult, CVPipeline2dSet
         totalPipelineTimeNanos += collect2dTargetsResult.getRight();
 
         // takes pair of (Mat of original camera image (8UC3), Mat of HSV thresholded image(8UC1))
-        Pair<Mat, Long> outputMatResult = outputMatPipe.run(Pair.of(rawCameraMat, hsvResult.getLeft()));
+        Pair<Mat, Long> outputMatResult = outputMatPipe.run(Pair.of(rotateFlipResult.getLeft(), hsvResult.getLeft()));
         totalPipelineTimeNanos += outputMatResult.getRight();
 
         // takes pair of (Mat to draw on, List<RotatedRect> of sorted contours)
diff --git a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/GroupContoursPipe.java b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/GroupContoursPipe.java
index b2d3df9aa..d44f0f1ff 100644
--- a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/GroupContoursPipe.java
+++ b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/GroupContoursPipe.java
@@ -41,7 +41,7 @@ public class GroupContoursPipe implements Pipe<List<MatOfPoint>, List<RotatedRec
 
         groupedContours.clear();
 
-        if (input.size() > 0) {
+        if (input.size() > (group.equals(TargetGroup.Single) ? 0 : 1)) {
 
             List<MatOfPoint> sorted = new ArrayList<>(input);
             sorted.sort(sortByMomentsX);
@@ -88,7 +88,6 @@ public class GroupContoursPipe implements Pipe<List<MatOfPoint>, List<RotatedRec
                                 groupedContours.add(rect);
                             }
                         } catch (IndexOutOfBoundsException e) {
-                            System.err.println("GroupContours: WTF");
                             finalContourList.clear();
                         }
                     }
diff --git a/Main/src/main/java/com/chameleonvision/web/RequestHandler.java b/Main/src/main/java/com/chameleonvision/web/RequestHandler.java
new file mode 100644
index 000000000..e29852a14
--- /dev/null
+++ b/Main/src/main/java/com/chameleonvision/web/RequestHandler.java
@@ -0,0 +1,68 @@
+package com.chameleonvision.web;
+
+import com.chameleonvision.config.ConfigManager;
+import com.chameleonvision.network.NetworkIPMode;
+import com.chameleonvision.vision.VisionManager;
+import com.chameleonvision.vision.VisionProcess;
+import com.chameleonvision.vision.camera.CameraCapture;
+import com.chameleonvision.vision.enums.StreamDivisor;
+import com.fasterxml.jackson.core.JsonProcessingException;
+import com.fasterxml.jackson.databind.ObjectMapper;
+import io.javalin.http.Context;
+
+import java.util.Map;
+
+public class RequestHandler {
+
+    public static void onGeneralSettings(Context ctx) {
+        ObjectMapper objectMapper = new ObjectMapper();
+        try {
+            Map map = objectMapper.readValue(ctx.body(), Map.class);
+
+            // TODO: change to function, to restart NetworkTables
+            ConfigManager.settings.teamNumber = (int) map.get("teamNumber");
+
+            ConfigManager.settings.connectionType = NetworkIPMode.values()[(int) map.get("connectionType")];
+            ConfigManager.settings.ip = (String) map.get("ip");
+            ConfigManager.settings.netmask = (String) map.get("netmask");
+            ConfigManager.settings.gateway = (String) map.get("gateway");
+            ConfigManager.settings.hostname = (String) map.get("hostname");
+            ConfigManager.saveGeneralSettings();
+            SocketHandler.sendFullSettings();
+            ctx.status(200);
+        } catch (JsonProcessingException e) {
+            ctx.status(500);
+        }
+    }
+
+    public static void onCameraSettings(Context ctx) {
+        ObjectMapper objectMapper = new ObjectMapper();
+        try {
+            Map camSettings = objectMapper.readValue(ctx.body(), Map.class);
+
+            VisionProcess currentVisionProcess = VisionManager.getCurrentUIVisionProcess();
+            CameraCapture currentCamera = currentVisionProcess.getCamera();
+
+            Number newFOV = (Number) camSettings.get("fov");
+            Integer newStreamDivisor = (Integer) camSettings.get("streamDivisor");
+            Integer newResolution = (Integer) camSettings.get("resolution");
+
+            currentCamera.getProperties().setFOV((double) newFOV);
+
+            currentVisionProcess.cameraStreamer.setDivisor(StreamDivisor.values()[newStreamDivisor], true);
+
+            // TODO: Video Mode Index!!!!
+//            var currentResolutionIndex = curCam.getVideoModeIndex();
+//            if (currentResolutionIndex != newResolution) {
+//                curCam.setCamVideoMode(newResolution, true);
+//            }
+
+            VisionManager.saveAllCameras();
+            SocketHandler.sendFullSettings();
+            ctx.status(200);
+        } catch (JsonProcessingException e) {
+            e.printStackTrace();
+            ctx.status(500);
+        }
+    }
+}
diff --git a/Main/src/main/java/com/chameleonvision/web/Requesthandler.java b/Main/src/main/java/com/chameleonvision/web/Requesthandler.java
deleted file mode 100644
index e4fc89d9d..000000000
--- a/Main/src/main/java/com/chameleonvision/web/Requesthandler.java
+++ /dev/null
@@ -1,66 +0,0 @@
-package com.chameleonvision.web;
-
-import com.chameleonvision.network.NetworkIPMode;
-import com.chameleonvision.settings.GeneralSettings;
-import com.chameleonvision.settings.SettingsManager;
-import com.chameleonvision.vision.camera.CameraException;
-import com.chameleonvision.vision.camera.CameraManager;
-import com.fasterxml.jackson.core.JsonProcessingException;
-import com.fasterxml.jackson.databind.JsonMappingException;
-import com.fasterxml.jackson.databind.ObjectMapper;
-import io.javalin.http.Context;
-
-import java.util.HashMap;
-import java.util.Map;
-
-public class Requesthandler {
-
-    public static void onGeneralSettings(Context ctx) {
-        ObjectMapper objectMapper = new ObjectMapper();
-        try {
-            Map map = objectMapper.readValue(ctx.body(), Map.class);
-            SettingsManager.GeneralSettings.teamNumber = (int) map.get("teamNumber");
-            SettingsManager.GeneralSettings.connectionType = NetworkIPMode.values()[(int) map.get("connectionType")];
-            SettingsManager.GeneralSettings.ip = (String) map.get("ip");
-            SettingsManager.GeneralSettings.netmask = (String) map.get("netmask");
-            SettingsManager.GeneralSettings.gateway = (String) map.get("gateway");
-            SettingsManager.GeneralSettings.hostname = (String) map.get("hostname");
-            SettingsManager.saveSettings();
-            SocketHandler.sendFullSettings();
-            ctx.status(200);
-        } catch (JsonProcessingException e) {
-            ctx.status(500);
-        }
-    }
-
-    public static void onCameraSettings(Context ctx) {
-        ObjectMapper objectMapper = new ObjectMapper();
-        try {
-            Map camSettings = objectMapper.readValue(ctx.body(), Map.class);
-            var curCam = CameraManager.getCurrentCamera();
-
-            Number newFOV = (Number) camSettings.get("fov");
-            Integer newStreamDivisor = (Integer) camSettings.get("streamDivisor");
-            Integer newResolution = (Integer) camSettings.get("resolution");
-
-            curCam.setFOV(newFOV);
-
-            var currentStreamDivisorOrdinal = curCam.getStreamDivisor().ordinal();
-            if (currentStreamDivisorOrdinal != newStreamDivisor) {
-                curCam.setStreamDivisor(newStreamDivisor, true);
-            }
-
-            var currentResolutionIndex = curCam.getVideoModeIndex();
-            if (currentResolutionIndex != newResolution) {
-                curCam.setCamVideoMode(newResolution, true);
-            }
-
-            CameraManager.saveCameras();
-            SocketHandler.sendFullSettings();
-            ctx.status(200);
-        } catch (JsonProcessingException | CameraException e) {
-            e.printStackTrace();
-            ctx.status(500);
-        }
-    }
-}
diff --git a/Main/src/main/java/com/chameleonvision/web/Server.java b/Main/src/main/java/com/chameleonvision/web/Server.java
index d17aadc9c..b37393b39 100644
--- a/Main/src/main/java/com/chameleonvision/web/Server.java
+++ b/Main/src/main/java/com/chameleonvision/web/Server.java
@@ -28,8 +28,8 @@ public class Server {
                 socketHandler.onBinaryMessage(ctx);
             });
         });
-        app.post("/api/settings/general", Requesthandler::onGeneralSettings);
-        app.post("/api/settings/camera", Requesthandler::onCameraSettings);
+        app.post("/api/settings/general", RequestHandler::onGeneralSettings);
+        app.post("/api/settings/camera", RequestHandler::onCameraSettings);
         app.start(port);
     }
 }
diff --git a/Main/src/main/java/com/chameleonvision/web/SocketHandler.java b/Main/src/main/java/com/chameleonvision/web/SocketHandler.java
index 1c75d88de..eee4e5e5c 100644
--- a/Main/src/main/java/com/chameleonvision/web/SocketHandler.java
+++ b/Main/src/main/java/com/chameleonvision/web/SocketHandler.java
@@ -217,7 +217,7 @@ public class SocketHandler {
         HashMap<String, Object> tmp = new HashMap<>();
         VisionProcess currentVisionProcess = VisionManager.getCurrentUIVisionProcess();
         CameraCapture currentCamera = VisionManager.getCurrentUIVisionProcess().getCamera();
-        tmp.put("fov", currentCamera.getProperties().FOV);
+        tmp.put("fov", currentCamera.getProperties().getFOV());
         tmp.put("streamDivisor", currentVisionProcess.cameraStreamer.getDivisor().ordinal());
         // TODO: (HIGH) get videomode index!
 //            tmp.put("resolution", currentCamera.getVideoModeIndex());
diff --git a/chameleon-client/src/views/Camera.vue b/chameleon-client/src/views/Camera.vue
index 04011a568..1044efebd 100644
--- a/chameleon-client/src/views/Camera.vue
+++ b/chameleon-client/src/views/Camera.vue
@@ -269,7 +269,7 @@
                     let p = this.$store.state.point.calculated;
                     let fps = this.$store.state.point.fps;
                     if (p !== undefined) {
-                        return ("Pitch: " + parseFloat(p['pitch']).toFixed(2) + " Yaw: " + parseFloat(p['yaw']).toFixed(2) + " FPS: " + fps.toFixed(2))
+                        return `Pitch: ${parseFloat(p['pitch']).toFixed(2)}, Yaw: ${parseFloat(p['yaw']).toFixed(2)}, Area: ${p['area'].toFixed(2)}, FPS: ${fps.toFixed(2)}`
                     } else {
                         return undefined;
                     }
diff --git a/chameleon-client/src/views/CameraViewes/InputTab.vue b/chameleon-client/src/views/CameraViewes/InputTab.vue
index c872e0109..13f187cb4 100644
--- a/chameleon-client/src/views/CameraViewes/InputTab.vue
+++ b/chameleon-client/src/views/CameraViewes/InputTab.vue
@@ -2,8 +2,8 @@
     <div>
         <CVslider name="Exposure" v-model="value.exposure" :min="0" :max="100" @input="handleData('exposure')"/>
         <CVslider name="Brightness" v-model="value.brightness" :min="0" :max="100" @input="handleData('brightness')"/>
-        <CVselect name="Orientation" v-model="value.flipMode" :list="['Normal','Inverted']"
-                  @input="handleData('orientation')"/>
+        <CVselect name="Orientation" v-model="value.rotationMode" :list="['Normal','90°','180°','270°']"
+                  @input="handleData('flipMode')"/>
     </div>
 </template>
 
diff --git a/tets/src/main/java/com/animal.java b/tets/src/main/java/com/animal.java
deleted file mode 100644
index dc4ec5401..000000000
--- a/tets/src/main/java/com/animal.java
+++ /dev/null
@@ -1,4 +0,0 @@
-public class animal{
-    String name;
-}
-
diff --git a/tets/src/main/java/com/cat.java b/tets/src/main/java/com/cat.java
deleted file mode 100644
index 820e617d9..000000000
--- a/tets/src/main/java/com/cat.java
+++ /dev/null
@@ -1,3 +0,0 @@
-public class cat extends animal{
-    String meow = "mowe";
-}
diff --git a/tets/src/main/java/com/cow.java b/tets/src/main/java/com/cow.java
deleted file mode 100644
index 4c7c70c16..000000000
--- a/tets/src/main/java/com/cow.java
+++ /dev/null
@@ -1,3 +0,0 @@
-public class cow extends animal{
-    String moo = "mooo";
-}
diff --git a/tets/src/main/java/main.java b/tets/src/main/java/main.java
deleted file mode 100644
index ede4beca3..000000000
--- a/tets/src/main/java/main.java
+++ /dev/null
@@ -1,4 +0,0 @@
-package PACKAGE_NAME;
-
-public class main {
-}