diff --git a/export.sh b/export.sh
index 9798966432b23ae8ea1575d4dc2a7358b335606b..e8758b05a40084eb3575fe21532259fe3fa7f41c 100644
--- a/export.sh
+++ b/export.sh
@@ -1,7 +1,7 @@
 #!/bin/bash
 
-## Unsable script for now
-## LD_LIBRARY_PATH must contains dir's path to libsandbox.so
+## Usable script for now
+## LD_LIBRARY_PATH must contain dir's path to libsandbox.so
 ## Do the cmd in your terminal
 
 REALTIVE_PATH_TO_SO=../ar_sandbox_lib && \
diff --git a/includes/calibrate.h b/includes/calibrate.h
index b4e690c12e452feff35676211adf54f734c9ac8c..0715824ff217aabeac3260387f278ed3dc55f434 100644
--- a/includes/calibrate.h
+++ b/includes/calibrate.h
@@ -21,6 +21,9 @@ public:
     {
         matRotation = matrix.clone();
     }
+    cv::Mat getMatrixRotation(){
+        return matRotation.clone();
+    }
     void setDistancePlan(float distance)
     {
         distancePlan = distance;
diff --git a/src/core/components/camera.cpp b/src/core/components/camera.cpp
index ce694e1dd7bb908241bec2f8702698d412bf03af..0e98056e84811acf5597bc287803578f41099c47 100644
--- a/src/core/components/camera.cpp
+++ b/src/core/components/camera.cpp
@@ -71,7 +71,7 @@ void Camera::captureFramesAlign()
     // Trying to get color and aligned depth frames
     rs2::video_frame color_frame = frameset.get_color_frame();
     rs2::depth_frame depth_frame = frameset.get_depth_frame();
-    //filterDepthFrame(depth_frame);
+    filterDepthFrame(depth_frame);
     matDepth = Mat(Size(depth_frame.get_width(), depth_frame.get_height()), CV_16UC1, (void *)depth_frame.get_data(), Mat::AUTO_STEP);
     Mat(Size(color_frame.get_width(), color_frame.get_height()), CV_8UC3, (void *)color_frame.get_data(), Mat::AUTO_STEP).copyTo(matRGB);
 }
diff --git a/src/sandbox.cpp b/src/sandbox.cpp
index 040ccfe2c6f611bcb0f16df0014fed8ac6c6aa91..25f0a6e80f5522cbb8eaebf7d4c847f0eed392b3 100644
--- a/src/sandbox.cpp
+++ b/src/sandbox.cpp
@@ -1,7 +1,7 @@
 #include "../includes/sandbox.h"
 
 Sandbox::Sandbox(){
-    //controller = Controller();
+    controller = Controller();
 }
 
 cv::Mat Sandbox::getRGBFrame(){