diff --git a/common/polystar/common/pipeline/debug_pipeline.py b/common/polystar/common/pipeline/debug_pipeline.py
index c5822a53d6a664f6e40fd8af1adcc40dc88dcfd7..869e171fb581e28be598595064853ea00ecb4ece 100644
--- a/common/polystar/common/pipeline/debug_pipeline.py
+++ b/common/polystar/common/pipeline/debug_pipeline.py
@@ -11,6 +11,7 @@ from polystar.common.pipeline.pipeline import Pipeline
 
 @dataclass
 class DebugInfo:
+    success: bool = False
     detected_objects: List[Object] = field(init=False)
     validated_objects: List[Object] = field(init=False)
     selected_object: Object = field(init=False)
@@ -24,9 +25,10 @@ class DebugPipeline(Pipeline):
     debug_info_: DebugInfo = field(init=False, default_factory=DebugInfo)
 
     def predict_target(self, image: Image) -> TargetABC:
-        self.debug_info_ = DebugInfo()
+        #self.debug_info_ = DebugInfo()
         target = super().predict_target(image)
         self.debug_info_.target = target
+        self.debug_info_.success = True
 
     def predict_best_object(self, image: Image) -> Object:
         best_object = super().predict_best_object(image)
diff --git a/common/polystar/common/view/cv2_results_viewer.py b/common/polystar/common/view/cv2_results_viewer.py
index 3894982d9c1ee40a93830b744fdd76e99826b222..30218d2d750e6ee0653997b9b088ff5304c0b91f 100644
--- a/common/polystar/common/view/cv2_results_viewer.py
+++ b/common/polystar/common/view/cv2_results_viewer.py
@@ -33,6 +33,11 @@ class CV2ResultViewer(ResultViewerABC):
         self.finished = False
         super().__init__(COLORS)
 
+    def __enter__(self):
+        cv2.namedWindow(self.name, cv2.WINDOW_NORMAL)
+        cv2.resizeWindow(self.name, 720, 480)
+        return self
+
     def __exit__(self, exc_type, exc_val, exc_tb):
         cv2.destroyWindow(self.name)
 
diff --git a/robots-at-robots/config/settings.toml b/robots-at-robots/config/settings.toml
index fe532b09ae715c1a30b4413411f26bbc6bf32145..ec0e56336a1b027e475734bae33f5b8b31469a78 100644
--- a/robots-at-robots/config/settings.toml
+++ b/robots-at-robots/config/settings.toml
@@ -1,5 +1,5 @@
 [default]
-MODEL_NAME = 'robots/TRT_ssd_mobilenet_v2_roco.bin'
+MODEL_NAME = 'robots/TRT_ssd_mobilenet_v2_roco_2018_03_29_20200314_015411_TWITCH_TEMP_733_IMGS_29595steps.bin'
 
 [development]
 
diff --git a/robots-at-robots/research/demos/demo_pipeline_camera.py b/robots-at-robots/research/demos/demo_pipeline_camera.py
index b340ec28cab67f8d1ebb581fb00a4871db7d88aa..8e0abd45a640ad44d27904ccb5cfc5edf3caa26d 100644
--- a/robots-at-robots/research/demos/demo_pipeline_camera.py
+++ b/robots-at-robots/research/demos/demo_pipeline_camera.py
@@ -38,7 +38,7 @@ if __name__ == "__main__":
         objects_validators=[ConfidenceObjectValidator(0.6), TypeObjectValidator(ObjectType.Armor)],
         object_selector=ClosestObjectSelector(),
         target_factory=RatioSimpleTargetFactory(injector.get(Camera), 300, 100),
-        target_sender=FileDescriptorTargetSender(int(sys.argv[1])),
+        target_sender=PrintTargetSender(),  # FileDescriptorTargetSender(int(sys.argv[1])),
     )
 
     fps = 0
@@ -48,18 +48,15 @@ if __name__ == "__main__":
             viewer.new(image)
             previous_time = time()
             try:
-                # inference
                 pipeline.predict_target(image)
-
-                # display
+            except NoTargetFound:
+                pass
+            if pipeline.debug_info_.success:
                 viewer.add_objects(pipeline.debug_info_.validated_objects, forced_color=(0.6, 0.6, 0.6))
                 viewer.add_object(pipeline.debug_info_.selected_object)
+            fps = 0.9 * fps + 0.1 / (time() - previous_time)
+            viewer.add_text(f"FPS: {fps:.1f}", 10, 10, (0, 0, 0))
+            viewer.display()
 
-                if viewer.finished:
-                    break
-            except NoTargetFound:
-                pass
-            finally:
-                fps = 0.9 * fps + 0.1 / (time() - previous_time)
-                viewer.add_text(f"FPS: {fps:.1f}", 10, 10, (0, 0, 0))
-                viewer.display()
+            if viewer.finished:
+                break