diff --git a/Spielwiese/spielwiese.cpp b/Spielwiese/spielwiese.cpp
index dbd4843..5b27b5b 100644
--- a/Spielwiese/spielwiese.cpp
+++ b/Spielwiese/spielwiese.cpp
@@ -9,28 +9,15 @@
 #include <interpreter.h>
 #include <intersection_handler.h>
 
-int main(void)
+void sweep_em_all(int thresholdBinary, int videoHeight, int videoWidth, int gaussKernelSize, int thresholdCanny1, int thresholdCanny2, int apertureSizeCanny)
 {
-    //Disable opencv logging messages
-    cv::utils::logging::setLogLevel(cv::utils::logging::LOG_LEVEL_WARNING);
-
-    const int thresholdBinary = 140;
-    const int videoHeight = 720;
-    const int videoWidth = 960;
-    const int gaussKernelSize = 21;
-    const int thresholdCanny1 = 50;
-    const int thresholdCanny2 = 100;
-    const int apertureSizeCanny = 3;
-
-
-
     Input input(videoHeight, videoWidth);
     Processing processing;
 
 	namedWindow("Display window");
     while(true)
     {
-        Mat image = input.readFile("Der\\Pfad\\zum\\Input\\Bilder\\Ordner\\auf\\deinem\\System");
+        Mat image = input.readFile("C:\\Users\\User\\Desktop\\Studium\\02_Master_MSY\\2. Semester  Winter 22 23\\Projekt\\Line-Following-Robot\\Test_data");
         Mat processedImage = image;
         processing.processImage(processedImage, thresholdBinary, gaussKernelSize, thresholdCanny1, thresholdCanny2 ,apertureSizeCanny);
         std::vector<Vec4i> lines = processing.calculateLineSegments(processedImage);
@@ -43,5 +30,40 @@ int main(void)
         char c = (char)waitKey(1);
     }
     destroyWindow("Display window");
-    input.freeWebcam();
+}
+
+void in_depth_processing_chain(int thresholdBinary, int videoHeight, int videoWidth, int gaussKernelSize, int thresholdCanny1, int thresholdCanny2, int apertureSizeCanny)
+{
+    std::string outputFolder = "C:\\Users\\User\\Desktop\\temp";
+    Input input(videoHeight, videoWidth);
+
+    Mat image = input.readFile("C:\\Users\\User\\Desktop\\Studium\\02_Master_MSY\\2. Semester  Winter 22 23\\Projekt\\Line-Following-Robot\\Test_data");
+    imwrite(outputFolder + "\\01_input.jpg", image);
+    cvtColor(image, image, COLOR_BGR2GRAY);
+    imwrite(outputFolder + "\\02_color_convert.jpg", image);
+    GaussianBlur(image, image, Size(gaussKernelSize, gaussKernelSize), 0); 
+    imwrite(outputFolder + "\\03_gauss.jpg", image);
+    threshold(image, image, thresholdBinary, 255, THRESH_BINARY);
+    imwrite(outputFolder + "\\04_threshold.jpg", image);
+    Canny(image, image, thresholdCanny1, thresholdCanny2, apertureSizeCanny);
+    imwrite(outputFolder + "\\05_canny.jpg", image);
+
+}
+
+
+int main(void)
+{
+    //Disable opencv logging messages
+    cv::utils::logging::setLogLevel(cv::utils::logging::LOG_LEVEL_WARNING);
+
+    const int thresholdBinary = 140;
+    const int videoHeight = 720;
+    const int videoWidth = 960;
+    const int gaussKernelSize = 11;
+    const int thresholdCanny1 = 50;
+    const int thresholdCanny2 = 100;
+    const int apertureSizeCanny = 3;
+
+    //sweep_em_all(thresholdBinary, videoHeight, videoWidth, gaussKernelSize, thresholdCanny1, thresholdCanny2, apertureSizeCanny);
+    in_depth_processing_chain(thresholdBinary, videoHeight, videoWidth, gaussKernelSize, thresholdCanny1, thresholdCanny2, apertureSizeCanny);
 }
\ No newline at end of file