diff --git a/.idea/modules.xml b/.idea/modules.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0ae1d5fcbe86f87f6a9f4b59ff5a27e76c0b2267
--- /dev/null
+++ b/.idea/modules.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/group8.iml" filepath="$PROJECT_DIR$/.idea/group8.iml" />
+    </modules>
+  </component>
+</project>
\ No newline at end of file
diff --git a/pom.xml b/pom.xml
index da625952e0300d1092c113ec9e7519b325bb07da..6c1e921d4910ca40b170ff6fe9fab74cf555acb1 100644
--- a/pom.xml
+++ b/pom.xml
@@ -12,7 +12,7 @@
         <maven.compiler.source>17</maven.compiler.source>
         <maven.compiler.target>17</maven.compiler.target>
         <project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
-        <exec.mainClass>top.BackendJava</exec.mainClass>
+        <exec.mainClass>object_detection.ObjectDetector</exec.mainClass>
     </properties>
 
     <build>
diff --git a/src/main/java/object_detection/ObjectDetector.java b/src/main/java/object_detection/ObjectDetector.java
index a9c5f7978c75cd8abdc5801f373615ff8eb08bc7..dcbd1886d08a3fa75dc38079122a1bc1de15fb39 100644
--- a/src/main/java/object_detection/ObjectDetector.java
+++ b/src/main/java/object_detection/ObjectDetector.java
@@ -61,8 +61,8 @@ public class ObjectDetector {
         System.out.println(objSet);
         System.out.println("====> Finished Object Mapping");
 
-        MongoDBInteraction mdbi = new MongoDBInteraction();
-        mdbi.updateObjectSet(5, objSet);
+        //MongoDBInteraction mdbi = new MongoDBInteraction();
+        //mdbi.updateObjectSet(5, objSet);
     }
 
     /**
diff --git a/src/main/java/object_detection/types/ObjectSet.java b/src/main/java/object_detection/types/ObjectSet.java
index 06b2871296e056301a60fcb0670cdfe7a8c1f384..1e4098aa56bdcb00ff86c8730c80c47cb6ad1b79 100644
--- a/src/main/java/object_detection/types/ObjectSet.java
+++ b/src/main/java/object_detection/types/ObjectSet.java
@@ -56,7 +56,7 @@ public class ObjectSet {
         }
 
         // 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);
+        return (count) > (Math.max(r1.length, r2.length)*0.2);
     }
 
     /**
@@ -184,6 +184,12 @@ public class ObjectSet {
      */
     @Override
     public String toString(){
-        return "ObjectSet of : " + this.objects.size() + " objects";
+        StringBuilder res = new StringBuilder("ObjectSet of : " + this.objects.size() + " objects:");
+
+        for(PointSet p : this.objects){
+            res.append(p).append("\n");
+        }
+
+        return res.toString();
     }
 }
\ 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 3d6205db4d4260f432874afcc4f9bb68b88251d0..eefeef06f18a0aae616ec20aa4a2feb6efe2b113 100644
--- a/src/main/java/object_detection/types/Point.java
+++ b/src/main/java/object_detection/types/Point.java
@@ -39,7 +39,7 @@ public class Point {
             return false;
         }
         Point p = (Point) o;
-        return Point.equals(this, p, (float) 2);
+        return Point.equals(this, p, (float) 6);
     }
 
     @Override
diff --git a/src/main/java/object_detection/types/PointSet.java b/src/main/java/object_detection/types/PointSet.java
index e2da81200724394aab6cf32f297e0446d6fbf066..3a42b9d45e643423c4043720bdb4d697e7d2402a 100644
--- a/src/main/java/object_detection/types/PointSet.java
+++ b/src/main/java/object_detection/types/PointSet.java
@@ -10,6 +10,8 @@ public class PointSet {
     Set<Point> pset;
     Point[] reps;
 
+    Point centroid;
+
     final int IDX;
 
     /**
@@ -21,6 +23,7 @@ public class PointSet {
 
         // add every point blankly to pointset
         pset.addAll(Arrays.asList(pp));
+        centroid = new Point(0,0,0, 0);
         reps = new Point[NUM_REPS];
         IDX = id;
     }
diff --git a/src/main/resources/templates/html/index.html b/src/main/resources/templates/html/index.html
index ad5e2250be45958d30e7ab77662db567cb059800..ad4a36d45fdd57432ac830eb245a9ac8de8b3a45 100644
--- a/src/main/resources/templates/html/index.html
+++ b/src/main/resources/templates/html/index.html
@@ -16,9 +16,6 @@
     <div id="loading"></div>
 
     <div class="container" id="resultContainer">
-        <div class="image-container" id="imageContainer">
-            <!-- Placeholder for image -->
-        </div>
         <div class="objects-container" id="objectsContainer">
             <h4 style="margin: 0;">Select An Object To View Point Cloud With That Object Highlighted</h4>
             <p style="margin: 0;"><em>point cloud can be manipulated through rotate and zoom</em></p>
diff --git a/src/main/resources/templates/js/app.js b/src/main/resources/templates/js/app.js
index 2c8743b8c790e402a180fe41bfbf2d19d28d47c8..37fea7d24708ed45c40a37df85717bfe60b95b69 100644
--- a/src/main/resources/templates/js/app.js
+++ b/src/main/resources/templates/js/app.js
@@ -5,25 +5,17 @@ async function fetchImageAndObjects() {
             throw new Error('Failed to fetch image and objects');
         }
         const data = await response.json();
-        console.log(data)
-        displayImageAndObjects(data.imageUrl, data.objects);
+
+        displayImageAndObjects(data.objects);
     } catch (error) {
         console.error(error);
     }
 }
 
-function displayImageAndObjects(imageUrl, objects) {
-    const imageContainer = document.getElementById('imageContainer');
+function displayImageAndObjects(objects) {
     const objectsContainer = document.getElementById('objectsContainer');
     const container = document.getElementById('resultContainer');
 
-    // Create an image element
-    const imageElement = document.createElement('img');
-    console.log(imageUrl);
-    imageElement.src = 'http://127.0.0.1:5555/' + imageUrl;
-    imageElement.alt = 'Image';
-    imageContainer.appendChild(imageElement);
-
     // Create a list for objects
     const objectsList = document.createElement('ul');
     objects.forEach(object => {
@@ -58,19 +50,22 @@ function displayLoading() {
 function hideLoading() {
     loader.classList.remove("display");
 }
+
 async function startWorkflow(){
     const startButton = document.getElementById("process");
     startButton.style.display = "none";
     displayLoading();
     try {
-        const response = await fetch('http://127.0.0.1:5555/runProcess');
+        const response = await fetch('http://127.0.0.1:5000/runProcess');
         if (!response.ok) {
             throw new Error('Failed to fetch image and objects');
         }
         const data = await response;
+        console.log(data);
         hideLoading();
     } catch (error) {
         console.error(error);
     }
-    await fetchImageAndObjects();
-}
+    fetchImageAndObjects();
+    
+}
\ No newline at end of file
diff --git a/src/main/resources/templates/js/pointCloud.js b/src/main/resources/templates/js/pointCloud.js
index 6a3eadf88364f87dc2930ae97b2e25b6c95244da..308687971ada84925dc77d653afae1c687e5ab10 100644
--- a/src/main/resources/templates/js/pointCloud.js
+++ b/src/main/resources/templates/js/pointCloud.js
@@ -1,14 +1,9 @@
 async function drawPointCloud(object) {
-  var button = document.getElementById("drawPC");
-  button.style.display = 'none';
-
   await fetch('http://127.0.0.1:5555/getJSON')
     .then(response => response.json())
     .then(responseText => {
       let pointCloudData = parseJSONToPointCloud(responseText, object);
 
-      console.log(responseText)
-
       // Use three.js to render the point cloud
       let scene = new THREE.Scene();
       let camera = new THREE.PerspectiveCamera(75, window.innerWidth / window.innerHeight, 0.1, 1000);
@@ -102,16 +97,16 @@ async function drawPointCloud(object) {
         if (target in jsonObject || target == null) {
           
           for (let objectKey in jsonObject) {
-            let object = jsonObject[objectKey];
-            
+            let object = jsonObject[objectKey]['pset'];
+
             // Loop through each coordinate in the object
             for (let i = 0; i < object.length; i++) {
               let coordinate = object[i];
               
               // Extract x, y, z values
-              let x = coordinate[0];
-              let y = coordinate[1];
-              let z = coordinate[2];
+              let x = coordinate['x'];
+              let y = coordinate['y'];
+              let z = coordinate['z'];
               let r,g,b;
               
               if(objectKey == target){
@@ -141,4 +136,4 @@ async function drawPointCloud(object) {
     .catch(error => {
       console.error('Error loading JSON:', error);
     });
-}
+}
\ No newline at end of file
diff --git a/target/classes/object_detection/ObjectDetector.class b/target/classes/object_detection/ObjectDetector.class
index 26831dd84c259632daeb892229a30a8a0bc1fe55..ddacf361e166cadf631b21a9b6f4c39f14aadac6 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 433f54da882da3826ff47b2199e78c1a75510480..0a4ffd7ed9817123696385db572e8859d62c69d5 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 6678f02bb179677df5bfbc31e645e558bfc3b130..a6592cfc516f14642a288dffe40173a0567a95cd 100644
Binary files a/target/classes/object_detection/types/Point.class and b/target/classes/object_detection/types/Point.class differ
diff --git a/target/classes/templates/html/index.html b/target/classes/templates/html/index.html
index ad5e2250be45958d30e7ab77662db567cb059800..ad4a36d45fdd57432ac830eb245a9ac8de8b3a45 100644
--- a/target/classes/templates/html/index.html
+++ b/target/classes/templates/html/index.html
@@ -16,9 +16,6 @@
     <div id="loading"></div>
 
     <div class="container" id="resultContainer">
-        <div class="image-container" id="imageContainer">
-            <!-- Placeholder for image -->
-        </div>
         <div class="objects-container" id="objectsContainer">
             <h4 style="margin: 0;">Select An Object To View Point Cloud With That Object Highlighted</h4>
             <p style="margin: 0;"><em>point cloud can be manipulated through rotate and zoom</em></p>
diff --git a/target/classes/templates/js/app.js b/target/classes/templates/js/app.js
index 2c8743b8c790e402a180fe41bfbf2d19d28d47c8..d17ff58ebe52b79ae48868cd2717a90232e8d375 100644
--- a/target/classes/templates/js/app.js
+++ b/target/classes/templates/js/app.js
@@ -5,25 +5,19 @@ async function fetchImageAndObjects() {
             throw new Error('Failed to fetch image and objects');
         }
         const data = await response.json();
+
         console.log(data)
-        displayImageAndObjects(data.imageUrl, data.objects);
+
+        displayImageAndObjects(data.objects);
     } catch (error) {
         console.error(error);
     }
 }
 
-function displayImageAndObjects(imageUrl, objects) {
-    const imageContainer = document.getElementById('imageContainer');
+function displayImageAndObjects(objects) {
     const objectsContainer = document.getElementById('objectsContainer');
     const container = document.getElementById('resultContainer');
 
-    // Create an image element
-    const imageElement = document.createElement('img');
-    console.log(imageUrl);
-    imageElement.src = 'http://127.0.0.1:5555/' + imageUrl;
-    imageElement.alt = 'Image';
-    imageContainer.appendChild(imageElement);
-
     // Create a list for objects
     const objectsList = document.createElement('ul');
     objects.forEach(object => {
@@ -58,6 +52,7 @@ function displayLoading() {
 function hideLoading() {
     loader.classList.remove("display");
 }
+
 async function startWorkflow(){
     const startButton = document.getElementById("process");
     startButton.style.display = "none";
@@ -68,9 +63,11 @@ async function startWorkflow(){
             throw new Error('Failed to fetch image and objects');
         }
         const data = await response;
+        console.log(data);
         hideLoading();
     } catch (error) {
         console.error(error);
     }
-    await fetchImageAndObjects();
-}
+    fetchImageAndObjects();
+    
+}
\ No newline at end of file
diff --git a/target/classes/templates/js/pointCloud.js b/target/classes/templates/js/pointCloud.js
index 6a3eadf88364f87dc2930ae97b2e25b6c95244da..308687971ada84925dc77d653afae1c687e5ab10 100644
--- a/target/classes/templates/js/pointCloud.js
+++ b/target/classes/templates/js/pointCloud.js
@@ -1,14 +1,9 @@
 async function drawPointCloud(object) {
-  var button = document.getElementById("drawPC");
-  button.style.display = 'none';
-
   await fetch('http://127.0.0.1:5555/getJSON')
     .then(response => response.json())
     .then(responseText => {
       let pointCloudData = parseJSONToPointCloud(responseText, object);
 
-      console.log(responseText)
-
       // Use three.js to render the point cloud
       let scene = new THREE.Scene();
       let camera = new THREE.PerspectiveCamera(75, window.innerWidth / window.innerHeight, 0.1, 1000);
@@ -102,16 +97,16 @@ async function drawPointCloud(object) {
         if (target in jsonObject || target == null) {
           
           for (let objectKey in jsonObject) {
-            let object = jsonObject[objectKey];
-            
+            let object = jsonObject[objectKey]['pset'];
+
             // Loop through each coordinate in the object
             for (let i = 0; i < object.length; i++) {
               let coordinate = object[i];
               
               // Extract x, y, z values
-              let x = coordinate[0];
-              let y = coordinate[1];
-              let z = coordinate[2];
+              let x = coordinate['x'];
+              let y = coordinate['y'];
+              let z = coordinate['z'];
               let r,g,b;
               
               if(objectKey == target){
@@ -141,4 +136,4 @@ async function drawPointCloud(object) {
     .catch(error => {
       console.error('Error loading JSON:', error);
     });
-}
+}
\ No newline at end of file