diff --git a/trap/renderer.py b/trap/renderer.py
index d2b64cc..b3324cd 100644
--- a/trap/renderer.py
+++ b/trap/renderer.py
@@ -30,9 +30,9 @@ class Renderer:
         self.frame_sock.connect(config.zmq_frame_addr)
 
     
-        H = np.loadtxt(self.config.homography, delimiter=',')
+        self.H = np.loadtxt(self.config.homography, delimiter=',')
 
-        self.inv_H = np.linalg.pinv(H)
+        self.inv_H = np.linalg.pinv(self.H)
 
         if not self.config.output_dir.exists():
             raise FileNotFoundError("Path does not exist")
@@ -57,8 +57,19 @@ class Renderer:
                 predictions = self.prediction_sock.recv_json(zmq.NOBLOCK)
             except zmq.ZMQError as e:
                 logger.debug(f'reuse prediction')
-            
+
             img = frame.img
+
+            # all not working:
+            # if i == 1:
+            #     # thanks to GpG for fixing scaling issue: https://stackoverflow.com/a/39668864
+            #     scale_factor = 1./20 # from 10m to 1000px
+            #     S = np.array([[scale_factor, 0,0],[0,scale_factor,0 ],[ 0,0,1 ]])
+            #     new_H = S * self.H * np.linalg.inv(S)
+            #     warpedFrame = cv2.warpPerspective(img, new_H, (1000,1000))
+            #     cv2.imwrite(str(self.config.output_dir / "orig.png"), warpedFrame)
+
+            
             for track_id, prediction in predictions.items():
                 if not 'history' in prediction or not len(prediction['history']):
                     continue
@@ -94,7 +105,9 @@ class Renderer:
             # cv2.imwrite(str(img_path), img)
             self.out.write(img)
         logger.info('Stopping')
-        self.out.release() 
+
+        if i>2:
+            self.out.release()