diff --git a/AR-2b/Assets/Homo_script.cs b/AR-2b/Assets/Homo_script.cs
index 8e58c6d..c3a8a86 100644
--- a/AR-2b/Assets/Homo_script.cs
+++ b/AR-2b/Assets/Homo_script.cs
@@ -5,6 +5,7 @@ using OpenCVForUnity.UnityUtils;
 using OpenCVForUnity.UtilsModule;
 using UnityEngine;
 using OpenCVForUnity.Calib3dModule;
+using System.Linq;
 using Vuforia;
 
 public class Homo_script : MonoBehaviour
@@ -38,6 +39,8 @@ public class Homo_script : MonoBehaviour
     
     private GameObject pls;
 
+    private bool manualComputation = true;
+
     void Start()
     {
 
@@ -55,8 +58,8 @@ public class Homo_script : MonoBehaviour
         rend = pls.GetComponent<Renderer>();
 
         // Debugging
-        //pls = GameObject.Find("pls");
-        //rend = pls.GetComponent<Renderer>();
+        pls = GameObject.Find("pls");
+        rend = pls.GetComponent<Renderer>();
 
     }
 
@@ -127,13 +130,27 @@ public class Homo_script : MonoBehaviour
             Point imgPnt4 = new Point(imagePoints.get(3, 0));
             Mat camImgCopy = camImageMat.clone();
             Mat outputMat = camImgCopy.clone();
-            Imgproc.circle(camImageMat, imgPnt1, 5, new Scalar(255, 0, 0, 255));
-            Imgproc.circle(camImageMat, imgPnt2, 5, new Scalar(0, 255, 0, 255));
-            Imgproc.circle(camImageMat, imgPnt3, 5, new Scalar(0, 0, 255, 255));
-            Imgproc.circle(camImageMat, imgPnt4, 5, new Scalar(255, 255, 0, 255));
 
 
-            Mat homo = Calib3d.findHomography(imagePoints, dstPoints);
+            if (false)
+            {
+                Imgproc.circle(camImageMat, imgPnt1, 5, new Scalar(255, 0, 0, 255));
+                Imgproc.circle(camImageMat, imgPnt2, 5, new Scalar(0, 255, 0, 255));
+                Imgproc.circle(camImageMat, imgPnt3, 5, new Scalar(0, 0, 255, 255));
+                Imgproc.circle(camImageMat, imgPnt4, 5, new Scalar(255, 255, 0, 255));
+            }
+
+
+
+            Mat homo = new Mat();
+            if (manualComputation)
+            {
+                homo = ComputeHomo(imagePoints, dstPoints);
+            }
+            else
+            {
+                homo = Calib3d.findHomography(imagePoints, dstPoints);
+            }
 
             Imgproc.warpPerspective(camImgCopy, outputMat, homo, new Size(outputMat.width(), outputMat.height()));
 
@@ -155,5 +172,40 @@ public class Homo_script : MonoBehaviour
         }
     }
 
+    Mat ComputeHomo(MatOfPoint2f imgPoints, MatOfPoint2f destPoints)
+    {
+
+
+        Mat H = new Mat(8, 1, CvType.CV_32FC1);
+        Mat A = new Mat(8, 8, CvType.CV_32FC1);
+        Mat b = new Mat(8, 1, CvType.CV_32FC1);
+
+
+        for (int i = 0; i < 4; i++)
+        {
+            var u = destPoints.get(i, 0)[0];
+            var v = destPoints.get(i, 0)[1];
+
+            b.put(i * 2, 0, u);
+            b.put((i * 2)+1, 0, v);
+
+            var x = imgPoints.get(i, 0)[0];
+            var y = imgPoints.get(i, 0)[1];
+            
+            A.put(i*2, 0, x, y, 1, 0, 0, 0, -u*x, -u*y);
+            A.put((i * 2)+1, 0, 0, 0, 0, x, y, 1, -v*x, -v*y);
+
+        }
+
+        Core.solve(A, b, H);
+
+        Mat ShitsReal = new Mat(3, 3, CvType.CV_32FC1);
+        ShitsReal.put(0, 0, H.get(0,0)[0], H.get(1,0)[0], H.get(2,0)[0]);
+        ShitsReal.put(1, 0, H.get(3,0)[0], H.get(4,0)[0], H.get(5,0)[0]);
+        ShitsReal.put(2, 0, H.get(6,0)[0], H.get(7,0)[0], 1);
+
+        return ShitsReal;
+    }
+
 }