diff --git a/aruco/ArucoDetector.cpp b/aruco/ArucoDetector.cpp
index 01ed71e..6377ae7 100644
--- a/aruco/ArucoDetector.cpp
+++ b/aruco/ArucoDetector.cpp
@@ -23,7 +23,7 @@ ArucoDetector::ArucoDetector(Type::RobotPose* pose, const std::string& calibrati
     this->cam = new lccv::PiCamera;
     cam->options->video_width=1920;
     cam->options->video_height=1080;
-    cam->options->framerate=10;
+    cam->options->framerate=5;
     cam->options->verbose=true;
 
     started = true;
@@ -105,7 +105,7 @@ std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> Ar
     std::vector<std::vector<cv::Point2f>> markerCorners;
 
     // 4.6
-    cv::aruco::detectMarkers(frame, this->dictionary, markerCorners, markerIds, );
+    cv::aruco::detectMarkers(frame, this->dictionary, markerCorners, markerIds, this->parameters);
 
     // opencv 4.8
     // detector.detectMarkers(frame, markerCorners, markerIds);
diff --git a/aruco/ArucoTag.h b/aruco/ArucoTag.h
index 8c71c78..33a8a8b 100644
--- a/aruco/ArucoTag.h
+++ b/aruco/ArucoTag.h
@@ -31,9 +31,9 @@ public:
     void setFlowerObjectRepresentation()
     {
         this->objectRepresenation = cv::Mat(4, 1, CV_32FC3);
-        this->objectRepresenation.ptr<cv::Vec3f>(0)[0] = cv::Vec3f(-19/2.f, 19/2.f, 0);
-        this->objectRepresenation.ptr<cv::Vec3f>(0)[1] = cv::Vec3f(19/2.f, 19/2.f, 0);
-        this->objectRepresenation.ptr<cv::Vec3f>(0)[2] = cv::Vec3f(18.7f/2.f, -19/2.f, 0);
-        this->objectRepresenation.ptr<cv::Vec3f>(0)[3] = cv::Vec3f(-18.7f/2.f, -19/2.f, 0);
+        this->objectRepresenation.ptr<cv::Vec3f>(0)[0] = cv::Vec3f(-19.5/2.f, 20/2.f, 0);
+        this->objectRepresenation.ptr<cv::Vec3f>(0)[1] = cv::Vec3f(19.5/2.f, 20/2.f, 0);
+        this->objectRepresenation.ptr<cv::Vec3f>(0)[2] = cv::Vec3f(19f/2.f, -20/2.f, 0);
+        this->objectRepresenation.ptr<cv::Vec3f>(0)[3] = cv::Vec3f(-19f/2.f, -20/2.f, 0);
     }
 };