diff --git a/src/main/java/object_detection/ObjectDetector.java b/src/main/java/object_detection/ObjectDetector.java
index 220c76676517e709b31a4c971940c83187148952..8e2cd2c0fd918fb02ee5d1e7a4b737caefef65c5 100644
--- a/src/main/java/object_detection/ObjectDetector.java
+++ b/src/main/java/object_detection/ObjectDetector.java
@@ -58,6 +58,7 @@ public class ObjectDetector {
 
         // printing final object set for sanity
         System.out.println(objSet);
+        System.out.println("====> Finished Object Mapping");
     }
 
     /**
diff --git a/src/main/java/object_detection/types/ObjectSet.java b/src/main/java/object_detection/types/ObjectSet.java
index 2b7898e1ed338d1cdb2cbe74f7e1d0608fc02ee6..1dccaa7c8c783edf2ccc3588cee642aa5c09c3c7 100644
--- a/src/main/java/object_detection/types/ObjectSet.java
+++ b/src/main/java/object_detection/types/ObjectSet.java
@@ -42,24 +42,21 @@ public class ObjectSet {
         Point[] r1 = this.objects.get(i).getPoints();
         Point[] r2 = this.objects.get(j).getPoints();
 
-        // O(n)
-        Set<Point> s = new HashSet<>();
-        for(Point r : r1){
-            if(r != null){
-                s.add(r);
-            }
-        }
-
-        // O(n)
         int count = 0;
-        for(Point p : r2){
-            if(p!=null && s.contains(p)){
-                count++;
+
+        // O(n^2)
+        for (Point point : r1) {
+            for (Point value : r2) {
+                if (point.equals(value)) {
+                    // we found point r1[x], now find next, and so on
+                    count++;
+                    break;
+                }
             }
         }
 
-        // in this line, if the reps are 80% similar, assume this is the same set.
-        return (count) > (r1.length*0.8);
+        // in this line, if the reps are 20% similar, assume this is the same set.
+        return (count) > (Math.max(r1.length, r2.length)*0.1);
     }
 
     /**
@@ -88,7 +85,7 @@ public class ObjectSet {
     
     public List<ArrayList<Point>> processFrame(File featCsv, File bboxCsv) throws FileNotFoundException {
         // Print the name of the file being processed
-        System.out.println("Processing " + featCsv.getName() + " and " + bboxCsv.getName());
+        //System.out.println("Processing " + featCsv.getName() + " and " + bboxCsv.getName());
 
         // Read bounding boxes
         List<BoundingBox> boundingBoxes = readBoundingBoxes(bboxCsv);
@@ -145,7 +142,6 @@ public class ObjectSet {
                     continue;
                 }
                 if (compareObjects(objIdx, j)) {
-                    System.out.println("COMBINING");
                     combineObjects(j, objIdx);
                     break;
                 }
@@ -188,11 +184,6 @@ public class ObjectSet {
      */
     @Override
     public String toString(){
-        StringBuilder res = new StringBuilder("ObjectSet:");
-        for(PointSet p : this.objects){
-            res.append("\n\t - Object with ").append(p.pset.size()).append(" points");
-        }
-
-        return res.toString();
+        return "ObjectSet of : " + this.objects.size() + " objects";
     }
 }
\ No newline at end of file
diff --git a/src/main/java/object_detection/types/Point.java b/src/main/java/object_detection/types/Point.java
index 3f80abdf0c467b86a498a41a42cc4b4ad5dd0fae..506cea3c2f647ba9509a3398cb880018e1fe9f81 100644
--- a/src/main/java/object_detection/types/Point.java
+++ b/src/main/java/object_detection/types/Point.java
@@ -31,7 +31,7 @@ public class Point {
      * @return true if points are close enough
      */
     public static boolean equals(Point aa, Point bb, float err){
-        return (aa.x - bb.x < err) && (aa.y - bb.y < err) && (aa.z - bb.z < err);
+        return (Math.abs(aa.x - bb.x) < err) && (Math.abs(aa.y - bb.y) < err) && (Math.abs(aa.z - bb.z) < err);
     }
 
     @Override
@@ -40,7 +40,7 @@ public class Point {
             return false;
         }
         Point p = (Point) o;
-        return Point.equals(this, p, (float) 0.05);
+        return Point.equals(this, p, (float) 2);
     }
 
     @Override
diff --git a/target/classes/object_detection/ObjectDetector.class b/target/classes/object_detection/ObjectDetector.class
index 24629bf2dab10220a81351c5c3bc78fd41947d4a..8d453240c05f8f3297412c07d90bb3e9a23d91f3 100644
Binary files a/target/classes/object_detection/ObjectDetector.class and b/target/classes/object_detection/ObjectDetector.class differ
diff --git a/target/classes/object_detection/types/ObjectSet.class b/target/classes/object_detection/types/ObjectSet.class
index 7bd7a712f2cc5b4d5c2952ca6245711f65843f00..1a4a499f1a7cf6b98a659a25cd4ce2957ea7211b 100644
Binary files a/target/classes/object_detection/types/ObjectSet.class and b/target/classes/object_detection/types/ObjectSet.class differ
diff --git a/target/classes/object_detection/types/Point.class b/target/classes/object_detection/types/Point.class
index 38546151261ece1810059816a872c6aa68dc1381..e87a155236fa4ddaea6679413bf22f9bf261a2e8 100644
Binary files a/target/classes/object_detection/types/Point.class and b/target/classes/object_detection/types/Point.class differ