diff --git a/Input/input.cpp b/Input/input.cpp
index a85139b..728583a 100644
--- a/Input/input.cpp
+++ b/Input/input.cpp
@@ -1,9 +1,9 @@
 #include "input.h"
 
-Input::Input(int video_height, int video_width) : cap(0), video_height(video_height), video_width(video_width)
+Input::Input(int videoHeight, int videoWidth) : cap(0), videoHeight(videoHeight), videoWidth(videoWidth)
 {
-    this->cap.set(CAP_PROP_FRAME_HEIGHT, video_height);
-    this->cap.set(CAP_PROP_FRAME_WIDTH, video_width);
+    this->cap.set(CAP_PROP_FRAME_HEIGHT, videoHeight);
+    this->cap.set(CAP_PROP_FRAME_WIDTH, videoWidth);
 }
 
 Input::~Input()
diff --git a/Input/input.h b/Input/input.h
index 1fc1e32..c4accac 100644
--- a/Input/input.h
+++ b/Input/input.h
@@ -17,9 +17,9 @@ private:
     VideoCapture cap;
 
 public:
-    int video_height;
-    int video_width;
-    Input(int video_height, int video_width);
+    int videoHeight;
+    int videoWidth;
+    Input(int videoHeight, int videoWidth);
     Input() = delete;
     ~Input();
     Mat readFile(String filePath);
diff --git a/Processing/processing.cpp b/Processing/processing.cpp
index d130cb3..9d57e4a 100644
--- a/Processing/processing.cpp
+++ b/Processing/processing.cpp
@@ -8,15 +8,17 @@ Processing::~Processing()
 {
 }
 
-Mat Processing::calculate_binaray(Mat& inputPicture, int thresholdValue)
+void Processing::processImage(Mat& inputPicture, int thresholdValue, int gaussKernelSize)
 {
-    //Mat &outputPicture;
+    //Idea here is: Processing module consists of two methods:
+    // One (this) to do all kinds of stuff to the picture (grayscale conversion, threshold, gauss etc etc)
+    // And one (the other one) to segment the lines.
+    // No return value here as the input is passed by reference -> directly modified.
     cvtColor(inputPicture, inputPicture, COLOR_BGR2GRAY);
     threshold(inputPicture, inputPicture, thresholdValue, 255, THRESH_BINARY);
-    return inputPicture;
 }
 
-std::vector<LFRLine> Processing::calculate_line_segments(const Mat& inputPicture)
+std::vector<LFRLine> Processing::calculateLineSegments(const Mat& inputPicture)
 {
     return std::vector<LFRLine>();
 }
diff --git a/Processing/processing.h b/Processing/processing.h
index c04f2a2..48aadf6 100644
--- a/Processing/processing.h
+++ b/Processing/processing.h
@@ -17,7 +17,7 @@ public:
     // End und Anfangspunkt analysieren und Winkel und Ausrichtung der Linie extrahieren (Abstand des untersten Punktes von der Mitte)
     ~Processing();
 
-    Mat calculate_binaray(Mat& inputPicture, int thresholdValue);
+    void processImage(Mat& inputPicture, int thresholdValue, int gaussKernelSize);
 
-    std::vector<LFRLine> calculate_line_segments(const Mat& inputPicture);
+    std::vector<LFRLine> calculateLineSegments(const Mat& inputPicture);
 };
\ No newline at end of file
diff --git a/autonomous_mode_main.cpp b/autonomous_mode_main.cpp
index 19139d0..7f9834f 100644
--- a/autonomous_mode_main.cpp
+++ b/autonomous_mode_main.cpp
@@ -6,11 +6,12 @@ int main(void)
     //Disable opencv logging messages
     cv::utils::logging::setLogLevel(cv::utils::logging::LOG_LEVEL_WARNING);
 
-    const int threshold_binary = 110;
-    const int video_height = 240;
-    const int video_width = 320;
+    const int thresholdBinary = 110;
+    const int videoHeight = 240;
+    const int videoWidth = 320;
+    const int gaussKernelSize = 5;
 
-    LFR lfr(video_height, video_width, threshold_binary);
+    LFR lfr(videoHeight, videoWidth, thresholdBinary, gaussKernelSize);
     lfr.startLoop();
     //To end the video stream, write any char in the console.
     char a;
diff --git a/lfr.cpp b/lfr.cpp
index b53ad93..0161fcb 100644
--- a/lfr.cpp
+++ b/lfr.cpp
@@ -1,12 +1,12 @@
 #include "lfr.h"
 
-const int threshold_binary = 110;
 
-LFR::LFR(int video_height, int video_width, int threshold_binary)
-    : iAmLooping(false), input(video_height, video_width), processing(), controlModule(), interpreter(), intersectionHandler()
+LFR::LFR(int videoHeight, int videoWidth, int thresholdBinary, int gaussKernelSize)
+    : iAmLooping(false), input(videoHeight, videoWidth), processing(), controlModule(), interpreter(), intersectionHandler()
 {
     this->iAmLooping = false;
-    this->threshold_binary = threshold_binary;
+    this->thresholdBinary = thresholdBinary;
+    this->gaussKernelSize = gaussKernelSize;
 }
 
 LFR::~LFR()
@@ -23,8 +23,8 @@ void LFR::loop()
     while(iAmLooping)
     {
         Mat image = input.readWebcam();
-        processing.calculate_binaray(image, this->threshold_binary);
-        std::vector<LFRLine> lines = processing.calculate_line_segments(image);
+        processing.processImage(image, this->thresholdBinary, this->gaussKernelSize);
+        std::vector<LFRLine> lines = processing.calculateLineSegments(image);
         imshow("Display window", image);
         char c = (char)waitKey(1);
     }
diff --git a/lfr.h b/lfr.h
index 7d7d432..5daf4ca 100644
--- a/lfr.h
+++ b/lfr.h
@@ -25,12 +25,13 @@ class LFR
     volatile bool iAmLooping;
     void loop();
     thread loopThread;
-    int threshold_binary;
+    int thresholdBinary;
+    int gaussKernelSize;
 
 public:
 
     LFR() = delete;
-    LFR(int video_height, int video_width, int threshold_binary);
+    LFR(int videoHeight, int videoWidth, int thresholdBinary, int gaussKernelSize);
     ~LFR();
 
     void startLoop();