diff --git a/remote_control/opencv_viewer_example.py b/remote_control/opencv_viewer_example.py
index aea563d..372fe12 100644
--- a/remote_control/opencv_viewer_example.py
+++ b/remote_control/opencv_viewer_example.py
@@ -38,7 +38,7 @@ class ArucoEstimator:
             self.pipeline = rs.pipeline()
             config = rs.config()
             # config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
-            # config.enable_stream(rs.stream.color, 1920, 1080, rs.format.bgr8, 30)
+            #config.enable_stream(rs.stream.color, 1920, 1080, rs.format.bgr8, 30)
             config.enable_stream(rs.stream.color, 1280, 720, rs.format.bgr8, 30)
             # config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
 
@@ -107,36 +107,30 @@ class ArucoEstimator:
 
                 gray = cv2.cvtColor(color_image, cv2.COLOR_BGR2GRAY)
 
-                # aruco_dict = aruco.Dictionary_get(aruco.DICT_5X5_250)
-                aruco_dict = aruco.Dictionary_get(aruco.DICT_ARUCO_ORIGINAL)
+                #aruco_dict = aruco.Dictionary_get(aruco.DICT_APRILTAG_16H5)
+                #aruco_dict = aruco.Dictionary_get(aruco.DICT_7X7_50)
+                #aruco_dict = aruco.Dictionary_get(aruco.DICT_4X4_50)
+                aruco_dict = aruco.Dictionary_get(aruco.DICT_5X5_1000)
+                #aruco_dict = aruco.Dictionary_get(aruco.DICT_ARUCO_ORIGINAL) # fast
                 parameters = aruco.DetectorParameters_create()
                 corners, ids, rejectedImgPoints = aruco.detectMarkers(gray, aruco_dict, parameters=parameters)
                 frame = aruco.drawDetectedMarkers(color_image.copy(), corners, ids)
 
                 if ids is not None:
                     for id, corner in zip(ids, corners):
+                        if id in self.corner_marker_ids.values():
+                            marker_size = 0.1
+                        else:
+                            marker_size = 0.07
                         corner_pixel_coord = np.mean(corner[0], axis=0)
-                        res = aruco.estimatePoseSingleMarkers(corner, 0.10, self.camera_matrix, self.dist_coeffs)
-                        rvecs = res[0][0][0]
-                        tvecs = res[1][0][0]
-
-                        self.update_estimate(id[0], corner_pixel_coord, rvecs, tvecs)
+                        # res = aruco.estimatePoseSingleMarkers(corner, marker_size, self.camera_matrix, self.dist_coeffs)
+                        # rvecs = res[0][0][0]
+                        # tvecs = res[1][0][0]
+                        #
+                        # self.update_estimate(id[0], corner_pixel_coord, rvecs, tvecs)
 
                     frame = self.draw_grid_lines(frame, corners, ids)
                     frame = self.draw_robot_pos(frame, corners, ids)
-                else:
-                    # pretent we detected some markers
-                    pass
-                    self.update_estimate(0, rvec=np.array([0, 0, 0]), tvec=np.array([-1, 1, 0]))
-                    self.update_estimate(1, rvec=np.array([0, 0, 0]), tvec=np.array([1, 1.5, 0]))
-                    self.update_estimate(2, rvec=np.array([0, 0, 0]), tvec=np.array([1, -1.5, 0]))
-                    self.update_estimate(3, rvec=np.array([0, 0, 0]), tvec=np.array([-1, -1, 0]))
-                    #import random
-                    #self.update_estimate(12, rvec=np.array([0.0, 0.0, 0.0]), tvec=np.array([-1.0 + random.random() * 2, -1.0 + random.random() * 2, 0]))
-                    self.update_estimate(12, rvec=np.array([0.0, 0.0, 0.0]),
-                                         tvec=np.array([1.2, 0.42, 0]))
-                    self.update_estimate(13, rvec=np.array([0.0, 0.0, 0.0]),
-                                         tvec=np.array([-1.2, -0.42, 0]))
 
                 # Show images
                 cv2.imshow('RoboRally', frame)
@@ -344,6 +338,6 @@ class ArucoEstimator:
 
 
 if __name__ == "__main__":
-    estimator = ArucoEstimator()
+    estimator = ArucoEstimator(use_realsense=False)
 
     estimator.run_tracking()