diff --git a/Input/input.cpp b/Input/input.cpp
index 890c40a..a85139b 100644
--- a/Input/input.cpp
+++ b/Input/input.cpp
@@ -1,12 +1,9 @@
 #include "input.h"
 
-Input::Input(/* args */) : cap(0)
+Input::Input(int video_height, int video_width) : cap(0), video_height(video_height), video_width(video_width)
 {
-    const int VID_HEIGHT = 240;
-    const int VID_WIDTH = 320;
-
-    this->cap.set(CAP_PROP_FRAME_HEIGHT, VID_HEIGHT);
-    this->cap.set(CAP_PROP_FRAME_WIDTH, VID_WIDTH);
+    this->cap.set(CAP_PROP_FRAME_HEIGHT, video_height);
+    this->cap.set(CAP_PROP_FRAME_WIDTH, video_width);
 }
 
 Input::~Input()
diff --git a/Input/input.h b/Input/input.h
index 39834ee..1fc1e32 100644
--- a/Input/input.h
+++ b/Input/input.h
@@ -17,7 +17,10 @@ private:
     VideoCapture cap;
 
 public:
-    Input(/* args */);
+    int video_height;
+    int video_width;
+    Input(int video_height, int video_width);
+    Input() = delete;
     ~Input();
     Mat readFile(String filePath);
     Mat readWebcam();
diff --git a/autonomous_mode_main.cpp b/autonomous_mode_main.cpp
index 35fb233..19139d0 100644
--- a/autonomous_mode_main.cpp
+++ b/autonomous_mode_main.cpp
@@ -1,5 +1,4 @@
 #include "lfr.h"
-
 #include <opencv2/core/utils/logger.hpp>
  
 int main(void)
@@ -7,8 +6,13 @@ int main(void)
     //Disable opencv logging messages
     cv::utils::logging::setLogLevel(cv::utils::logging::LOG_LEVEL_WARNING);
 
-    LFR lfr;
+    const int threshold_binary = 110;
+    const int video_height = 240;
+    const int video_width = 320;
+
+    LFR lfr(video_height, video_width, threshold_binary);
     lfr.startLoop();
+    //To end the video stream, write any char in the console.
     char a;
     std::cin >> a; 
     lfr.endLoop();
diff --git a/lfr.cpp b/lfr.cpp
index 05d7b55..b53ad93 100644
--- a/lfr.cpp
+++ b/lfr.cpp
@@ -2,8 +2,11 @@
 
 const int threshold_binary = 110;
 
-LFR::LFR() : iAmLooping(false), input(), processing(), controlModule(), interpreter(), intersectionHandler()
+LFR::LFR(int video_height, int video_width, int threshold_binary)
+    : iAmLooping(false), input(video_height, video_width), processing(), controlModule(), interpreter(), intersectionHandler()
 {
+    this->iAmLooping = false;
+    this->threshold_binary = threshold_binary;
 }
 
 LFR::~LFR()
@@ -20,7 +23,8 @@ void LFR::loop()
     while(iAmLooping)
     {
         Mat image = input.readWebcam();
-        processing.calculate_binaray(image, threshold_binary);
+        processing.calculate_binaray(image, this->threshold_binary);
+        std::vector<LFRLine> lines = processing.calculate_line_segments(image);
         imshow("Display window", image);
         char c = (char)waitKey(1);
     }
diff --git a/lfr.h b/lfr.h
index 3ac3434..7d7d432 100644
--- a/lfr.h
+++ b/lfr.h
@@ -25,10 +25,12 @@ class LFR
     volatile bool iAmLooping;
     void loop();
     thread loopThread;
+    int threshold_binary;
 
 public:
 
-    LFR();
+    LFR() = delete;
+    LFR(int video_height, int video_width, int threshold_binary);
     ~LFR();
 
     void startLoop();