diff --git a/.dockerignore b/.dockerignore
new file mode 100644
index 0000000..6cb7243
--- /dev/null
+++ b/.dockerignore
@@ -0,0 +1,8 @@
+**/*.jpg
+**/*.png
+tests
+MotorControl
+Messaging
+Web
+**/*.mdj
+**/*.pdf
\ No newline at end of file
diff --git a/DecisionSystem/CentralisedDecision/centralisedinstance.py b/DecisionSystem/CentralisedDecision/centralisedinstance.py
index 9dde509..923124e 100644
--- a/DecisionSystem/CentralisedDecision/centralisedinstance.py
+++ b/DecisionSystem/CentralisedDecision/centralisedinstance.py
@@ -2,6 +2,7 @@
 
 from queue import Queue
 import json
+import argparse
 
 import numpy as np
 import cv2
@@ -97,7 +98,9 @@ class Instance:
             self.kaleid = False
 
 
+parser = argparse.ArgumentParser(description="An instance of CAIDE")
+
 if __name__ == "__main__":
-    instance = Instance()
+    instance = Instance(video_file="/Users/piv/Documents/Projects/Experiments/Camera1/video.mp4")
     instance.start()
         
\ No newline at end of file
diff --git a/GestureRecognition/kaleidoscope.py b/GestureRecognition/kaleidoscope.py
new file mode 100644
index 0000000..3af817a
--- /dev/null
+++ b/GestureRecognition/kaleidoscope.py
@@ -0,0 +1,73 @@
+import numpy as np
+import cv2
+
+def make_triangle(start_img):
+    h, w, d = start_img.shape
+    
+    #crop square
+    inset = int((max(w,h) - min(w,h)) / 2)
+    # sqrimg = start_img.crop(inset, inset, h-inset, w-inset)
+    insetW = inset if w > h else 0
+    insetH = inset if h > w else 0
+    sqrimg = start_img[insetH:h-insetH, insetW:w-insetW]
+    
+    #solve equilateral triangle
+    w, h, d = sqrimg.shape
+    print((w,h))
+    
+    mask = np.zeros((w,h,d))
+    
+    t_height = w/2 * np.tan(60)
+    pts = np.array([[0,w],[h/2,t_height],[h,w]], np.int32)
+    pts = pts.reshape((-1,1,2))
+    mask = cv2.fillPoly(mask, [pts], (255,0,0))
+
+    # With mask, get the triangle from the original image.
+    sqrimg[:,:,0] = np.where(mask[:,:,0] == 255, sqrimg[:,:,0], 0)
+    sqrimg[:,:,1] = np.where(mask[:,:,0] == 255, sqrimg[:,:,1], 0)
+    sqrimg[:,:,2] = np.where(mask[:,:,0] == 255, sqrimg[:,:,2], 0)
+    return sqrimg
+
+def rotate(im, rotation):
+    M = cv2.getRotationMatrix2D((im.shape[1]/2,im.shape[0]/2),rotation,1)
+    im[:,:,0] = cv2.warpAffine(im[:,:,0],M,(im.shape[1],im.shape[0]))
+    im[:,:,1] = cv2.warpAffine(im[:,:,1],M,(im.shape[1],im.shape[0]))
+    im[:,:,2] = cv2.warpAffine(im[:,:,2],M,(im.shape[1],im.shape[0]))
+    return im
+
+def make_kaleidoscope(img):
+    triangle = make_triangle(img)
+
+def make_trapezoid(triangle, save=False):
+    
+    w, h = triangle.size
+    can_w, can_h = w*3, h
+    output = np.array((can_w, can_h, 3))
+    output = Image.new('RGBA', (can_w, can_h), color=255)
+    
+    def mirror_paste(last_img, coords):
+        mirror = rotate(cv2.flip(last_img, 1), 60)
+        output.paste(mirror, (coords), mirror)
+        return mirror, coords
+    
+    #paste in bottom left corner
+    output.paste(triangle,(0, can_h-h), triangle)
+    
+    last_img, coords = mirror_paste(triangle, (int(w/4.4), -int(h/2.125)))
+    last_img, coords = mirror_paste(rotateIm(last_img, 120), (int(can_w/7.3), -228))
+    
+    output = output.crop((0,15, w*2-22, h))
+    if save:
+        path = 'output/trapezoid_{}'.format(filename.split('/')[1])
+        output.save(path)
+        return output, path
+    return output
+
+if __name__ == "__main__":
+    img = cv2.imread("/Users/piv/Documents/Projects/car/GestureRecognition/IMG_0818.png")
+    triangle = make_triangle(img)
+    triangle = cv2.resize(triangle, None, fx=0.3, fy=0.3, interpolation = cv2.INTER_AREA)
+    triangle = rotate(triangle, 180)
+    cv2.imshow("", triangle)
+    cv2.waitKey(0)
+    cv2.destroyAllWindows()
\ No newline at end of file
diff --git a/GestureRecognition/opencvtensorflowex.py b/GestureRecognition/opencvtensorflowex.py
new file mode 100644
index 0000000..27b5354
--- /dev/null
+++ b/GestureRecognition/opencvtensorflowex.py
@@ -0,0 +1,23 @@
+import cv2 as cv
+
+cvNet = cv.dnn.readNetFromTensorflow('frozen_inference_graph.pb', 'graph.pbtxt')
+
+img = cv.imread('IMG_0825.jpg')
+img = cv.resize(img, None, fx=0.1, fy=0.1, interpolation = cv.INTER_AREA)
+rows = img.shape[0]
+cols = img.shape[1]
+print(str(rows) + " " + str(cols))
+cvNet.setInput(cv.dnn.blobFromImage(img, size=(300, 300), swapRB=True, crop=False))
+cvOut = cvNet.forward()
+
+for detection in cvOut[0,0,:,:]:
+    score = float(detection[2])
+    if score > 0.6:
+        left = detection[3] * cols
+        top = detection[4] * rows
+        right = detection[5] * cols
+        bottom = detection[6] * rows
+        cv.rectangle(img, (int(left), int(top)), (int(right), int(bottom)), (23, 230, 210), thickness=2)
+
+cv.imshow('img', img)
+cv.waitKey()
\ No newline at end of file
diff --git a/requirements.txt b/requirements.txt
new file mode 100644
index 0000000..94714bb
--- /dev/null
+++ b/requirements.txt
@@ -0,0 +1,5 @@
+numpy
+opencv-python
+six
+paho-mqtt
+u-msgpack-python
\ No newline at end of file
diff --git a/tests/test_hand_recogniser.py b/tests/test_hand_recogniser.py
index bc9e4ed..caaa834 100644
--- a/tests/test_hand_recogniser.py
+++ b/tests/test_hand_recogniser.py
@@ -22,9 +22,9 @@ class TestSimpleHandRecogniser(unittest.TestCase):
         img_5 = cv2.resize(img_5, None, fx=0.1, fy=0.1, interpolation = cv2.INTER_AREA)
         self.recogniser_5 = SimpleHandRecogniser(img_5)
 
-        img_s = cv2.imread("/Users/piv/Documents/Projects/car/GestureRecognition/Screen Shot hand.png")
-        img_s = cv2.resize(img_s, None, fx=0.5, fy=0.5, interpolation = cv2.INTER_AREA)
-        self.recogniser_s = SimpleHandRecogniser(img_s)
+        # img_s = cv2.imread("/Users/piv/Documents/Projects/car/GestureRecognition/Screen Shot hand.png")
+        # img_s = cv2.resize(img_s, None, fx=0.5, fy=0.5, interpolation = cv2.INTER_AREA)
+        # self.recogniser_s = SimpleHandRecogniser(img_s)
 
 if __name__ == '__main__':
     unittest.main()
\ No newline at end of file