diff --git a/remote_control/aruco_estimator.py b/remote_control/aruco_estimator.py
index 55e04c9..edd7471 100644
--- a/remote_control/aruco_estimator.py
+++ b/remote_control/aruco_estimator.py
@@ -61,7 +61,7 @@ class CornerMarkerGroup(parameterTypes.GroupParameter):
 
 
 class ArucoEstimator:
-    def __init__(self, robot_marker_ids=None, use_realsense=True, grid_columns=8, grid_rows=8):
+    def __init__(self, robot_marker_ids=None, use_realsense=True, grid_columns=7, grid_rows=4):
         self.app = QtGui.QApplication([])
 
         ## Create window with GraphicsView widget
@@ -91,8 +91,8 @@ class ArucoEstimator:
         self.fps_overlay = pg.TextItem('fps = 0', color=(255, 255, 0), anchor=(0,1))
         self.plotwidget.addItem(self.fps_overlay)
 
-        self.invert_grayscale = True
-        self.draw_grid = False
+        self.invert_grayscale = False
+        self.draw_grid = True
         self.draw_markers = True
         self.draw_marker_coordinate_system = False
         self.corner_marker_size = 0.075