diff --git a/20240814_043333.jpg b/20240814_043333.jpg
deleted file mode 100644
index 0cc35ba..0000000
Binary files a/20240814_043333.jpg and /dev/null differ
diff --git a/FRC_Fiducial_Tracking/April_PNP_Live.py b/FRC_Fiducial_Tracking/April_PNP_Live.py
index 50ce63d..1924029 100644
--- a/FRC_Fiducial_Tracking/April_PNP_Live.py
+++ b/FRC_Fiducial_Tracking/April_PNP_Live.py
@@ -22,7 +22,6 @@ RAD2DEG = 180*pi
 parser = argparse.ArgumentParser(description="Select display")
 parser.add_argument("--display", action='store_true', help="enable a display of the camera")
 parser.add_argument("--high_res", action='store_true', help="enable resolution 1088x720 vs 640x480")
-parser.add_argument("--wide_low", action='store_true', help="estimate with wide pi 3 camera 640x480")
 parser.add_argument("--pose_estimation", action='store_true', help="estimate pose based on detected tags")
 parser.add_argument("--ip_add", type=str, required=True)
 args = parser.parse_args()
@@ -38,8 +37,8 @@ camera_matrix = np.array([[FOCAL_LEN_PIXELS, 0., 308.94165115],
 
 # from Camera_Calibration.py
 dist = np.array([ 2.32929183e-01, -1.35534844e+00, -1.51912733e-03, -2.17960810e-03, 2.25537289e+00])
- 
-camera_res = (640, 480)
+
+camera_res = (1536, 864)
 
 if args.high_res:
     FOCAL_LEN_PIXELS = 991.5391539
@@ -48,16 +47,7 @@ if args.high_res:
     [0.00000000, 0.00000000, 1.00000000]])
     dist = np.array([[ 2.52081760e-01, -1.34794418e+00,  1.24975695e-03, -7.77510823e-04,
     2.29608398e+00]])
-    camera_res = (1088, 720)
-
-if args.wide_low:
-    FOCAL_LEN_PIXELS = 976.16482142
-    camera_matrix = np.array([[FOCAL_LEN_PIXELS,   0.,         771.05155174],
-    [  0.,         FOCAL_LEN_PIXELS, 408.52081949],
-    [  0.,           0.,           1.        ]])
-    
-    dist = np.array([[-0.04790604,  0.08489533, -0.00387366,  0.00616192, -0.03875398]])
-    camera_res = (1536, 864)
+    camera_res = (2304, 1296)
 
 b=6.5
 # 3d object array. The points of the 3d april tag that coresponds to tag_points which we detect
@@ -135,10 +125,14 @@ def display_features(image, imgpts, totalDist):
     return image
 
 # setting up apriltag detection. Make sure this is OUTSIDE the loop next time
-options = apriltag.DetectorOptions(families='tag36h11', border=1, nthreads=1,
-quad_decimate=2.0, quad_blur=0.0, refine_edges=True,
-refine_decode=False, refine_pose=False, debug=True, quad_contours=True)
-detector = apriltag.Detector(options)
+detector = dt_apriltags.Detector(searchpath=['apriltags'],
+                       families='tag36h11',
+                       nthreads=2,
+                       quad_decimate=2,
+                       quad_sigma=0,
+                       refine_edges=1,
+                       decode_sharpening=0.25,
+                       debug=0)
 
 # main vision processing code
 time.sleep(0.1)
@@ -153,6 +147,7 @@ while True:
     tagFrame = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
     
     output = detector.detect(tagFrame)
+
     print(output)
 
     for det in output:
diff --git a/FRC_Fiducial_Tracking/Aruco_Detection.py b/FRC_Fiducial_Tracking/Aruco_Detection.py
index f17e4cc..57254a8 100644
--- a/FRC_Fiducial_Tracking/Aruco_Detection.py
+++ b/FRC_Fiducial_Tracking/Aruco_Detection.py
@@ -15,6 +15,7 @@ while True:
 
     stream.update()
     frame = stream.read()
+    frame = cv2.flip(frame, 1)
 
     grey = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
 
diff --git a/FRC_Fiducial_Tracking/Picam2Vid.py b/FRC_Fiducial_Tracking/Picam2Vid.py
index 89c2388..7d4e92e 100644
--- a/FRC_Fiducial_Tracking/Picam2Vid.py
+++ b/FRC_Fiducial_Tracking/Picam2Vid.py
@@ -1,5 +1,6 @@
 from picamera2 import Picamera2
 from libcamera import Transform
+import cv2
 
 # class for allocating a thread to only updating the camera stream,
 # the other thread is used for detection processing
@@ -24,6 +25,7 @@ class Picam2Vid:
             self.camera.stop()
             return
         self.frame=self.camera.capture_array('main')
+        self.frame = cv2.flip(self.frame, 1)
         #print(self.frame.dtype)
         #print("debug threading")
     
diff --git a/FRC_Fiducial_Tracking/Static_Apriltag_Test.py b/FRC_Fiducial_Tracking/Static_Apriltag_Test.py
index ecc0fcc..ee6f45a 100644
--- a/FRC_Fiducial_Tracking/Static_Apriltag_Test.py
+++ b/FRC_Fiducial_Tracking/Static_Apriltag_Test.py
@@ -2,7 +2,6 @@ import dt_apriltags
 import numpy as np
 import cv2
 
-
 FOCAL_LEN_PIXELS = 976.16482142
 camera_matrix = np.array([[FOCAL_LEN_PIXELS,   0.,         771.05155174],
     [  0.,         FOCAL_LEN_PIXELS, 408.52081949],
@@ -13,9 +12,9 @@ dist = np.array([[-0.04790604,  0.08489533, -0.00387366,  0.00616192, -0.0387539
 detector = dt_apriltags.Detector(searchpath=['apriltags'],
                        families='tag36h11',
                        nthreads=2,
-                       quad_decimate=2,
-                       quad_sigma=1,
-                       refine_edges=3,
+                       quad_decimate=1,
+                       quad_sigma=0,
+                       refine_edges=1,
                        decode_sharpening=0.25,
                        debug=1)
 
@@ -41,6 +40,6 @@ print(smaller)
 cv2.imshow("frame", smaller)
 cv2.waitKey(0)
 
-output = detector.detect(smaller, estimate_tag_pose=False, camera_params=None, tag_size=None)
+output = detector.detect(smaller, estimate_tag_pose=True, camera_params=None, tag_size=None)
 
 print(output)
\ No newline at end of file
diff --git a/FRC_Fiducial_Tracking/Static_Tag_Pics/1.jpg b/FRC_Fiducial_Tracking/Static_Tag_Pics/1.jpg
deleted file mode 100644
index 5094003..0000000
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diff --git a/FRC_Fiducial_Tracking/Static_Tag_Pics/10.jpg b/FRC_Fiducial_Tracking/Static_Tag_Pics/10.jpg
deleted file mode 100644
index 88f769f..0000000
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diff --git a/FRC_Fiducial_Tracking/Static_Tag_Pics/11.jpg b/FRC_Fiducial_Tracking/Static_Tag_Pics/11.jpg
deleted file mode 100644
index f896f27..0000000
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diff --git a/FRC_Fiducial_Tracking/Static_Tag_Pics/14.jpg b/FRC_Fiducial_Tracking/Static_Tag_Pics/14.jpg
deleted file mode 100644
index 5493b4c..0000000
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diff --git a/FRC_Fiducial_Tracking/Static_Tag_Pics/2.jpg b/FRC_Fiducial_Tracking/Static_Tag_Pics/2.jpg
deleted file mode 100644
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diff --git a/FRC_Fiducial_Tracking/Static_Tag_Pics/3.jpg b/FRC_Fiducial_Tracking/Static_Tag_Pics/3.jpg
deleted file mode 100644
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diff --git a/FRC_Fiducial_Tracking/Static_Tag_Pics/4.png b/FRC_Fiducial_Tracking/Static_Tag_Pics/4.png
deleted file mode 100644
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diff --git a/FRC_Fiducial_Tracking/Static_Tag_Pics/5.png b/FRC_Fiducial_Tracking/Static_Tag_Pics/5.png
deleted file mode 100644
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diff --git a/FRC_Fiducial_Tracking/Static_Tag_Pics/7.png b/FRC_Fiducial_Tracking/Static_Tag_Pics/7.png
deleted file mode 100644
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deleted file mode 100644
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diff --git a/FRC_Fiducial_Tracking/Static_Tag_Pics/apriltagrobots_overlay.jpg b/FRC_Fiducial_Tracking/Static_Tag_Pics/apriltagrobots_overlay.jpg
deleted file mode 100644
index 478f435..0000000
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diff --git a/FRC_Fiducial_Tracking/Static_Tag_Pics/bw_img.png b/FRC_Fiducial_Tracking/Static_Tag_Pics/bw_img.png
deleted file mode 100644
index 30eb598..0000000
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diff --git a/FRC_Fiducial_Tracking/__pycache__/Picam2Vid.cpython-311.pyc b/FRC_Fiducial_Tracking/__pycache__/Picam2Vid.cpython-311.pyc
index 78b1ac2..f0f50dc 100644
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diff --git a/FRC_Fiducial_Tracking/__pycache__/TagObj.cpython-311.pyc b/FRC_Fiducial_Tracking/__pycache__/TagObj.cpython-311.pyc
new file mode 100644
index 0000000..dde7ffa
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diff --git a/debug_clusters.pnm b/debug_clusters.pnm
deleted file mode 100644
index f89791c..0000000
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diff --git a/debug_lines.ps b/debug_lines.ps
deleted file mode 100644
index a105c07..0000000
--- a/debug_lines.ps
+++ /dev/null
@@ -1,1822 +0,0 @@
-%!PS
-
-1.912500000000000 1.912500000000000 scale
-0 180 translate
-1 -1 scale
-/picstr 320 string def
-320 180 8 [1 0 0 1 0 0]
-{currentfile picstr readhexstring pop}
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$$$555777888888888777###



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###?????????>>>?????????::::::===?????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????<<<?????????===999666111000:::888,,,)))))))))))))))))))))(((((((((((((((((((((((('''''''''''''''&&&'''&&&&&&&&&%%%&&&$$$$$$%%%$$$$$$###############"""!!!!!!         !!!""""""###$$$%%%''''''((((((((()))))))))***************+++++++++++++++++++++++++++++++++,,,++++++++++++,,,+++++++++++++++++++++++++++***+++++++++***++++++***++++++++++++***+++************+++******************+++***+++***************************,,,++++++***+++******++++++******++++++******+++*********++++++++++++++++++++++++******+++++++++++++++***+++++++++,,,+++++++++,,,+++,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,---,,,,,,,,,,,,,,,,,,,,,,,,,,,+++)))																		
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!!!   !!!   !!!!!!"""!!!"""###"""""""""###"""###$$$#########$$$######$$$$$$$$$$$$%%%$$$$$$$$$$$$$$$$$$%%%%%%$$$%%%$$$$$$%%%%%%$$$%%%$$$%%%%%%$$$&&&%%%%%%%%%%%%&&&&&&%%%%%%%%%%%%&&&&&&&&&%%%&&&&&&&&&&&&'''&&&&&&''''''''''''''''''''''''''''''(((''''''((('''(((((((((((((((***)))))))))*********))))))******+++***++++++***,,,,,,+++++++++---,,,---,,,,,,------...------//////------......000000...111///000000111111...000000///222111////////////111111111111...///////////////......///---...------------------,,,---...------,,,,,,,,,,,,,,,,,,++++++++++++++++++++++++************************)))***))))))*********)))))))))''''''&&&"""


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"""






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(((?????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????>>>888?????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????;;;????????????????????????:::999:::<<<;;;:::888000)))************))))))))))))((()))(((((((((((((((((('''((('''&&&&&&&&&&&&&&&&&&&&&%%%%%%%%%%%%%%%%%%$$$##################"""!!!!!!      !!!!!!   !!!!!!"""###$$$$$$%%%&&&&&&'''(((((())))))******************+++++++++++++++,,,,,,+++,,,,,,,,,,,,,,,,,,+++,,,+++,,,,,,,,,,,,+++++++++++++++++++++++++++++++++++++++***+++++++++***+++++++++***+++***++++++******+++***+++++++++++++++***++++++++++++***+++++++++++++++***+++***+++***++++++***+++***++++++++++++++++++++++++++++++++++++,,,+++++++++++++++++++++++++++,,,++++++++++++,,,+++,,,,,,,,,,,,,,,+++,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,---,,,,,,---------------,,,,,,,,,,,,,,,!!!															
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111??????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????===??????????????????????????????????????????????????????????????????????????????????????????????????????>>>?????????===???????????????;;;999888555:::555)))+++***************))))))))))))))))))((((((((((((((()))((('''''''''&&&&&&&&&'''&&&&&&&&&&&&%%%&&&%%%%%%%%%$$$$$$$$$#########"""""""""""""""#########$$$$$$%%%&&&&&&''''''((())))))******++++++++++++++++++,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,+++,,,,,,+++,,,,,,++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++,,,+++,,,++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++,,,++++++,,,++++++,,,++++++++++++,,,++++++,,,,,,,,,+++,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,---,,,,,,,,,---,,,,,,,,,,,,---,,,,,,,,,,,,+++)))!!!(((555:::999:::999999999999999888777777666666666222,,,"""%%%%%%$$$###         """!!!!!!"""!!!""""""!!!"""###"""###$$$$$$#########$$$""""""#########$$$######$$$###$$$$$$$$$$$$###%%%$$$$$$%%%###$$$$$$%%%%%%%%%$$$%%%%%%%%%%%%$$$%%%$$$%%%%%%&&&&&&%%%%%%%%%&&&&&&%%%&&&%%%&&&'''&&&&&&'''&&&&&&&&&&&&&&&&&&((('''''''''''')))((((((((((((((('''+++)))(((((((((((()))***---''')))***)))***+++***++++++,,,,,,,,,,,,***...,,,---...---...,,,.../////////.........///000222000///000000---222111222222111111222111111111111000222000222111333444222222222222222111444222111000222000000///111///222000...//////...///---......,,,------,,,,,,---+++,,,,,,,,,,,,+++,,,+++++++++++++++++++++++++++***+++*********))))))(((''''''


111??????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????:::??????????????????????????????????????????????????????????????????????????????????????????????????????<<<??????===??????????????????===;;;888222;;;555(((************)))))))))))))))))))))))))))((((((((('''(((((((((((((((''''''''''''&&&''''''&&&&&&&&&&&&%%%$$$$$$$$$$$$############"""######"""############$$$%%%&&&&&&'''((((((*********++++++++++++++++++,,,+++,,,,,,,,,,,,,,,,,,,,,------,,,,,,---,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,+++,,,,,,,,,,,,++++++,,,,,,++++++++++++++++++++++++,,,+++++++++++++++++++++++++++++++++++++++,,,++++++++++++,,,++++++++++++++++++++++++,,,++++++++++++,,,+++++++++,,,++++++++++++,,,+++++++++,,,+++,,,+++,,,+++++++++,,,,,,++++++++++++,,,+++,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,+++,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,---,,,,,,,,,,,,,,,,,,,,,,,,---+++***"""---999::::::;;;888888777666555666555555444222,,,%%%'''%%%###!!!         !!!""""""!!!###!!!""""""""""""""""""###############$$$$$$###$$$###$$$#########$$$$$$######$$$############%%%###%%%%%%$$$$$$%%%%%%$$$%%%%%%%%%$$$%%%%%%&&&%%%%%%&&&%%%&&&&&&%%%%%%&&&%%%&&&&&&&&&'''&&&&&&&&&&&&%%%'''&&&'''&&&'''&&&(((&&&'''''''''''''''(((((((((((((((''')))+++(((((()))***+++***+++(((***+++)))***+++***+++,,,---,,,---,,,------.........///...//////...//////222000111111000000222222111000444///111111111222222000111222///222000111111111111333111222222333111111///000///111000000000...///////////////............///------------------,,,,,,+++,,,,,,+++++++++***++++++++++++***+++***************)))******)))&&&'''


000??????????????????????????????????????????????????????>>>??????????????????????????????????????????????????????????????????????????????????????????????????????????????????===??????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????>>>>>>???????????????????????????>>>:::999111;;;555(((***************)))))))))))))))))))))((((((((((((((((((''''''((('''''''''''''''&&&&&&&&&&&&&&&&&&%%%%%%%%%%%%%%%$$$$$$#########""""""###############$$$%%%%%%&&&&&&'''((())))))*********++++++++++++++++++,,,,,,,,,,,,,,,,,,,,,---,,,---,,,,,,,,,---,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,+++,,,+++++++++,,,++++++++++++,,,+++++++++,,,++++++++++++++++++++++++,,,+++,,,++++++,,,++++++++++++,,,+++,,,+++,,,+++++++++++++++++++++++++++++++++++++++,,,,,,+++,,,+++,,,,,,,,,+++++++++++++++,,,+++,,,,,,,,,,,,+++,,,+++,,,+++,,,+++,,,,,,,,,,,,,,,,,,,,,,,,+++,,,,,,,,,,,,,,,,,,---,,,------,,,---,,,------------,,,,,,,,,,,,)))						!!!)))444999::::::999777666666666333222000+++'''%%%###'''+++"""


                  !!!!!!!!!!!!"""!!!!!!""""""######""""""#########$$$######$$$$$$###$$$######$$$$$$###%%%###$$$###%%%$$$%%%###$$$$$$$$$$$$$$$%%%$$$%%%%%%%%%$$$%%%%%%&&&$$$&&&%%%&&&%%%&&&&&&&&&%%%&&&&&&&&&&&&&&&&&&'''&&&''''''&&&&&&&&&''''''''''''(((''''''''''''(((((((((''')))((((((((((((&&&(((((('''************)))++++++,,,++++++++++++,,,++++++---***---,,,///***.........///---...//////111...///000000333...111222000000000000111111000222000222///333222222111333000222222222111222222444222333333111111000///000///111...////////////---///------------------,,,---,,,,,,+++,,,,,,+++++++++++++++++++++***+++******+++******************((('''&&&000???????????????????????????????????????????????????>>>???????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????>>>????????????????????????????????????999999111;;;666(((************************))))))))))))((()))(((((((((((((((((('''''''''&&&'''''''''&&&&&&&&&&&&&&&%%%%%%$$$%%%$$$$$$$$$############"""#########$$$###$$$%%%&&&&&&&&&'''((())))))******+++++++++,,,,,,+++,,,,,,,,,,,,,,,,,,,,,,,,,,,---,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,+++,,,,,,,,,,,,+++++++++++++++,,,,,,+++,,,+++++++++,,,++++++++++++++++++,,,,,,,,,++++++,,,,,,++++++,,,++++++,,,+++,,,,,,,,,++++++++++++,,,++++++,,,+++++++++,,,+++,,,+++,,,++++++++++++,,,+++,,,++++++++++++++++++++++++,,,,,,+++,,,,,,,,,,,,+++,,,,,,+++,,,+++,,,+++,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,------,,,------------------,,,,,,,,,,,,,,,+++   
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111????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????>>>?????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????;;;888000<<<666(((***+++***************))))))))))))((()))(((((()))(((((((((((('''''''''''''''&&&'''''''''&&&&&&&&&%%%&&&%%%$$$$$$%%%$$$$$$#########"""#########$$$$$$$$$%%%%%%'''&&&((((((((()))******++++++++++++,,,,,,+++,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,---,,,------,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,++++++,,,+++++++++,,,+++++++++++++++++++++++++++,,,++++++,,,,,,,,,,,,+++++++++,,,+++++++++,,,+++,,,+++,,,+++,,,,,,++++++,,,,,,,,,,,,++++++,,,,,,,,,,,,,,,+++++++++,,,,,,+++,,,,,,,,,++++++++++++++++++,,,,,,,,,++++++++++++,,,,,,+++,,,++++++,,,+++,,,,,,+++,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,---------,,,,,,,,,,,,+++
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333??????;;;===????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????===666666<<<666(((***+++************))))))))))))))))))))))))))))))(((((((((((('''''''''(((''''''''''''&&&&&&&&&&&&&&&%%%%%%%%%%%%$$$$$$$$$$$$######"""############$$$%%%%%%&&&&&&''''''((((((*********++++++++++++,,,,,,,,,,,,,,,,,,---,,,,,,---------,,,---,,,,,,,,,,,,,,,---,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,+++++++++,,,++++++++++++++++++,,,+++++++++++++++,,,+++,,,++++++,,,,,,,,,+++++++++,,,,,,++++++,,,++++++,,,+++,,,,,,+++++++++++++++++++++,,,,,,,,,,,,++++++++++++,,,++++++,,,+++,,,++++++++++++++++++,,,++++++,,,++++++,,,,,,+++,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,---,,,---,,,---------,,,---,,,,,,,,,,,,,,,			%%%######&&&...666888::::::777666555444...&&&%%%))),,,...,,,,,,))))))###
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888???>>>======>>>??????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????<<<???????????????????????????????????????????????????????????????>>>??????????????????>>>?????????????????????:::<<<777999777(((***+++***+++************)))))))))***((()))((()))((()))(((((('''(((''''''''''''''''''&&&&&&&&&&&&&&&&&&&&&%%%%%%$$$$$$%%%#########"""######$$$$$$$$$$$$%%%&&&'''''')))((()))******++++++***+++,,,+++,,,,,,,,,,,,,,,,,,,,,------------------,,,,,,,,,,,,,,,,,,,,,,,,+++,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,+++,,,,,,,,,++++++,,,+++,,,,,,,,,+++++++++++++++,,,,,,+++++++++,,,,,,++++++,,,,,,,,,,,,+++,,,,,,+++++++++,,,++++++++++++,,,++++++,,,,,,,,,,,,,,,++++++++++++***,,,,,,++++++++++++++++++,,,+++++++++++++++++++++++++++,,,,,,++++++,,,,,,,,,+++,,,+++++++++,,,,,,,,,,,,---+++,,,,,,,,,,,,,,,,,,,,,,,,---------,,,,,,---,,,,,,,,,+++!!!			
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666??????????????????????????????????????????;;;??????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????>>>?????????????????????;;;?????????????????????>>>===???????????????;;;<<<999888666)))***+++***************************)))))))))))))))(((((((((((((((((((((''''''''''''''''''''''''&&&&&&&&&%%%%%%%%%%%%$$$$$$$$$$$$###"""###$$$$$$$$$$$$%%%%%%&&&''''''((()))))))))+++++++++,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,---,,,---,,,---------,,,,,,---,,,,,,,,,,,,,,,,,,,,,,,,---,,,,,,,,,,,,,,,+++,,,,,,,,,,,,,,,+++,,,,,,,,,++++++,,,+++,,,,,,+++,,,++++++++++++,,,+++,,,+++,,,,,,,,,,,,+++,,,+++++++++++++++,,,,,,+++,,,+++++++++,,,++++++,,,,,,++++++++++++,,,,,,+++++++++++++++++++++++++++++++++++++++,,,++++++++++++++++++,,,,,,,,,+++++++++,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,---,,,,,,,,,---,,,---,,,,,,---,,,------,,,+++,,,,,,"""
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\ No newline at end of file
diff --git a/debug_quads_raw.pnm b/debug_quads_raw.pnm
deleted file mode 100644
index 9f438f8..0000000
--- a/debug_quads_raw.pnm
+++ /dev/null
@@ -1,4812 +0,0 @@
-P5
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