diff --git a/localisation_part/Pipfile b/localisation_part/Pipfile
index f19bd1c..19579f6 100644
--- a/localisation_part/Pipfile
+++ b/localisation_part/Pipfile
@@ -37,7 +37,7 @@ netifaces = "==0.10.9"
 numpy = "==1.15.4"
 nvidia-ml-py3 = "==7.352.0"
 opencv-python = "==3.4.0.12"
-protobuf = "==3.5.2.post1"
+protobuf = "==3.18.3"
 psutil = "==5.6.2"
 pycparser = "==2.19"
 pylint = "==2.3.1"
diff --git a/localisation_part/Pipfile.lock b/localisation_part/Pipfile.lock
index 6564004..78bc748 100644
--- a/localisation_part/Pipfile.lock
+++ b/localisation_part/Pipfile.lock
@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "b7c365dd14c8cf4dcefac4e841c27b7b33f5d7aea8fcc5e1d9b5189e57b0f204"
+            "sha256": "21e2a7f99a957cac10c492f7815e03ffe68e61c48009c32d558da142c14c236a"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -154,7 +154,7 @@
         },
         "everett": {
             "extras": [
-                "ini"
+
             ],
             "hashes": [
                 "sha256:66c7991c056fd9b1de54c29e2b5004a30209530faef698d6ecfbf24bfbbdd1fb",
@@ -172,11 +172,11 @@
         },
         "google-pasta": {
             "hashes": [
-                "sha256:41bbe63bab92408452585ff2e1673ec1e35b88e163371cbed2a18510be4e8bc5",
-                "sha256:644dcf3784cf7147ab01de5dc22e60a638d219d4e4a3a7464eb98997ae2fe66f",
-                "sha256:713813a9f7d6589e5defdaf21e80e4392eb124662f8bd829acd51a4f8735c0cb"
+                "sha256:4612951da876b1a10fe3960d7226f0c7682cf901e16ac06e473b267a5afa8954",
+                "sha256:b32482794a366b5366a32c92a9a9201b107821889935a02b3e51f6b432ea84ed",
+                "sha256:c9f2c8dfc8f96d0d5808299920721be30c9eec37f2389f28904f454565c8a16e"
             ],
-            "version": "==0.1.8"
+            "version": "==0.2.0"
         },
         "grpcio": {
             "hashes": [
@@ -267,6 +267,14 @@
             "index": "pypi",
             "version": "==2.5.0"
         },
+        "importlib-metadata": {
+            "hashes": [
+                "sha256:637245b8bab2b6502fcbc752cc4b7a6f6243bb02b31c5c26156ad103d3d45670",
+                "sha256:7401a975809ea1fdc658c3aa4f78cc2195a0e019c5cbc4c06122884e9ae80c23"
+            ],
+            "markers": "python_version < '3.10'",
+            "version": "==4.12.0"
+        },
         "isort": {
             "hashes": [
                 "sha256:18c796c2cd35eb1a1d3f012a214a542790a1aed95e29768bdcb9f2197eccbd0b",
@@ -410,10 +418,11 @@
         },
         "markdown": {
             "hashes": [
-                "sha256:2e50876bcdd74517e7b71f3e7a76102050edec255b3983403f1a63e7c8a41e7a",
-                "sha256:56a46ac655704b91e5b7e6326ce43d5ef72411376588afa1dd90e881b83c7e8c"
+                "sha256:08fb8465cffd03d10b9dd34a5c3fea908e20391a2a90b88d66362cb05beed186",
+                "sha256:3b809086bb6efad416156e00a0da66fe47618a5d6918dd688f53f40c8e4cfeff"
             ],
-            "version": "==3.1.1"
+            "markers": "python_version >= '3.7'",
+            "version": "==3.4.1"
         },
         "matplotlib": {
             "hashes": [
@@ -554,35 +563,56 @@
         },
         "pillow": {
             "hashes": [
+                "sha256:01a501be4ae05fd714d269cb9c9f145518e58e73faa3f140ddb67fae0c2607b1",
                 "sha256:051de330a06c99d6f84bcf582960487835bcae3fc99365185dc2d4f65a390c0e",
+                "sha256:07c35919f983c2c593498edcc126ad3a94154184899297cc9d27a6587672cbaa",
                 "sha256:0ae5289948c5e0a16574750021bd8be921c27d4e3527800dc9c2c1d2abc81bf7",
                 "sha256:0b1efce03619cdbf8bcc61cfae81fcda59249a469f31c6735ea59badd4a6f58a",
+                "sha256:0cf0208500df8d0c3cad6383cd98a2d038b0678fd4f777a8f7e442c5faeee81d",
                 "sha256:163136e09bd1d6c6c6026b0a662976e86c58b932b964f255ff384ecc8c3cefa3",
                 "sha256:18e912a6ccddf28defa196bd2021fe33600cbe5da1aa2f2e2c6df15f720b73d1",
                 "sha256:24ec3dea52339a610d34401d2d53d0fb3c7fd08e34b20c95d2ad3973193591f1",
                 "sha256:267f8e4c0a1d7e36e97c6a604f5b03ef58e2b81c1becb4fccecddcb37e063cc7",
                 "sha256:3273a28734175feebbe4d0a4cde04d4ed20f620b9b506d26f44379d3c72304e1",
+                "sha256:39fbd5d62167197318a0371b2a9c699ce261b6800bb493eadde2ba30d868fe8c",
+                "sha256:4132c78200372045bb348fcad8d52518c8f5cfc077b1089949381ee4a61f1c6d",
+                "sha256:4baab2d2da57b0d9d544a2ce0f461374dd90ccbcf723fe46689aff906d43a964",
                 "sha256:4c678e23006798fc8b6f4cef2eaad267d53ff4c1779bd1af8725cc11b72a63f3",
                 "sha256:4d4bc2e6bb6861103ea4655d6b6f67af8e5336e7216e20fff3e18ffa95d7a055",
                 "sha256:505738076350a337c1740a31646e1de09a164c62c07db3b996abdc0f9d2e50cf",
                 "sha256:5233664eadfa342c639b9b9977190d64ad7aca4edc51a966394d7e08e7f38a9f",
+                "sha256:52e2e56fc3706d8791761a157115dc8391319720ad60cc32992350fda74b6be2",
+                "sha256:5337ac3280312aa065ed0a8ec1e4b6142e9f15c31baed36b5cd964745853243f",
+                "sha256:5ccd97e0f01f42b7e35907272f0f8ad2c3660a482d799a0c564c7d50e83604d4",
                 "sha256:5d95cb9f6cced2628f3e4de7e795e98b2659dfcc7176ab4a01a8b48c2c2f488f",
+                "sha256:634209852cc06c0c1243cc74f8fdc8f7444d866221de51125f7b696d775ec5ca",
+                "sha256:75d1f20bd8072eff92c5f457c266a61619a02d03ece56544195c56d41a1a0522",
                 "sha256:7eda4c737637af74bac4b23aa82ea6fbb19002552be85f0b89bc27e3a762d239",
                 "sha256:801ddaa69659b36abf4694fed5aa9f61d1ecf2daaa6c92541bbbbb775d97b9fe",
                 "sha256:825aa6d222ce2c2b90d34a0ea31914e141a85edefc07e17342f1d2fdf121c07c",
+                "sha256:87fe838f9dac0597f05f2605c0700b1926f9390c95df6af45d83141e0c514bd9",
                 "sha256:9c215442ff8249d41ff58700e91ef61d74f47dfd431a50253e1a1ca9436b0697",
                 "sha256:a3d90022f2202bbb14da991f26ca7a30b7e4c62bf0f8bf9825603b22d7e87494",
                 "sha256:a631fd36a9823638fe700d9225f9698fb59d049c942d322d4c09544dc2115356",
                 "sha256:a6523a23a205be0fe664b6b8747a5c86d55da960d9586db039eec9f5c269c0e6",
                 "sha256:a756ecf9f4b9b3ed49a680a649af45a8767ad038de39e6c030919c2f443eb000",
+                "sha256:ac036b6a6bac7010c58e643d78c234c2f7dc8bb7e591bd8bc3555cf4b1527c28",
                 "sha256:b117287a5bdc81f1bac891187275ec7e829e961b8032c9e5ff38b70fd036c78f",
                 "sha256:ba04f57d1715ca5ff74bb7f8a818bf929a204b3b3c2c2826d1e1cc3b1c13398c",
+                "sha256:ba6ef2bd62671c7fb9cdb3277414e87a5cd38b86721039ada1464f7452ad30b2",
+                "sha256:c8939dba1a37960a502b1a030a4465c46dd2c2bca7adf05fa3af6bea594e720e",
                 "sha256:cd878195166723f30865e05d87cbaf9421614501a4bd48792c5ed28f90fd36ca",
                 "sha256:cee815cc62d136e96cf76771b9d3eb58e0777ec18ea50de5cfcede8a7c429aa8",
                 "sha256:d1722b7aa4b40cf93ac3c80d3edd48bf93b9208241d166a14ad8e7a20ee1d4f3",
                 "sha256:d7c1c06246b05529f9984435fc4fa5a545ea26606e7f450bdbe00c153f5aeaad",
+                "sha256:db418635ea20528f247203bf131b40636f77c8209a045b89fa3badb89e1fcea0",
+                "sha256:e1555d4fda1db8005de72acf2ded1af660febad09b4708430091159e8ae1963e",
                 "sha256:e9c8066249c040efdda84793a2a669076f92a301ceabe69202446abb4c5c5ef9",
+                "sha256:e9f13711780c981d6eadd6042af40e172548c54b06266a1aabda7de192db0838",
+                "sha256:f0e3288b92ca5dbb1649bd00e80ef652a72b657dc94989fa9c348253d179054b",
                 "sha256:f227d7e574d050ff3996049e086e1f18c7bd2d067ef24131e50a1d3fe5831fbc",
+                "sha256:f62b1aeb5c2ced8babd4fbba9c74cbef9de309f5ed106184b12d9778a3971f15",
+                "sha256:f71ff657e63a9b24cac254bb8c9bd3c89c7a1b5e00ee4b3997ca1c18100dac28",
                 "sha256:fc9a12aad714af36cf3ad0275a96a733526571e52710319855628f476dcb144e"
             ],
             "index": "pypi",
@@ -590,27 +620,30 @@
         },
         "protobuf": {
             "hashes": [
-                "sha256:03666634d038e35d90155756914bc3a6316e8bcc0d300f3ee539e586889436b9",
-                "sha256:049d5900e442d4cc0fd2afd146786b429151e2b29adebed28e6376026ab0ee0b",
-                "sha256:0eb9e62a48cc818b1719b5035042310c7e4f57b01f5283b32998c68c2f1c6a7c",
-                "sha256:255d10c2c9059964f6ebb5c900a830fc8a089731dda94a5cc873f673193d208b",
-                "sha256:358cc59e4e02a15d3725f204f2eb5777fc10595e2d9a9c4c8d82292f49af6d41",
-                "sha256:41f1b737d5f97f1e2af23d16fac6c0b8572f9c7ea73054f1258ca57f4f97cb80",
-                "sha256:6a5129576a2cf925cd100e06ead5f9ae4c86db70a854fb91cedb8d680112734a",
-                "sha256:80722b0d56dcb7ca8f75f99d8dadd7c7efd0d2265714d68f871ed437c32d82b3",
-                "sha256:88a960e949ec356f7016d84f8262dcff2b842fca5355b4c1be759f5c103b19b3",
-                "sha256:97872686223f47d95e914881cb0ca46e1bc622562600043da9edddcb54f2fe1e",
-                "sha256:a1df9d22433ab44b7c7e0bd33817134832ae8a8f3d93d9b9719fc032c5b20e96",
-                "sha256:ad385fbb9754023d17be14dd5aa67efff07f43c5df7f93118aef3c20e635ea19",
-                "sha256:b2d5ee7ba5c03b735c02e6ae75fd4ff8c831133e7ca078f2963408dc7beac428",
-                "sha256:c8c07cd8635d45b28ec53ee695e5ac8b0f9d9a4ae488a8d8ee168fe8fc75ba43",
-                "sha256:d44ebc9838b183e8237e7507885d52e8d08c48fdc953fd4a7ee3e56cb9d20977",
-                "sha256:dff97b0ee9256f0afdfc9eaa430736cdcdc18899d9a666658f161afd137cf93d",
-                "sha256:e47d248d614c68e4b029442de212bdd4f6ae02ae36821de319ae90314ea2578c",
-                "sha256:e650b521b429fed3d525428b1401a40051097a5a92c30076c91f36b31717e087"
-            ],
-            "index": "pypi",
-            "version": "==3.7.0"
+                "sha256:0c44e01f74109decea196b5b313b08edb5316df77313995594a6981e95674259",
+                "sha256:15cdecb0d192ab5f17cdc21a9c0ae7b5c6c4451e42c8a888a4f3344c190e369c",
+                "sha256:196a153e487c0e20d62259872bbf2e1c4fa18e2ce97e20984fcbf9d8b151058d",
+                "sha256:3149c373e9b7ce296bb24d42a3eb677d620185b5dff2c390b2cf57baf79afdc1",
+                "sha256:370a6b885e94adda021d4cbe43accdfbf6a02af651a0be337a28906a3fa77f3d",
+                "sha256:474247630834f93214fafce49d2ee6ff4c036c8c5382b88432b7eae6f08f131b",
+                "sha256:6380aae2683d0d1b41199e591c8ba06f867e8a778d44309af87073c1b34a9f3a",
+                "sha256:6741d7d1cfcbdd6cf610f38b7976cf8c0b41022203555298925e4061b6616608",
+                "sha256:700787cb56b4cb7b8ed5f7d197b9d8f30080f257f3c7431eec1fdd8060660929",
+                "sha256:8117b52c2531e4033f7d02b9be5a78564da41a8b02c255e1b731ad4bd75e7dc0",
+                "sha256:850da2072d98c6e576b7eb29734cdde6fd9f5d157e43d7818d79f4b373ef5d51",
+                "sha256:85d1fb5ff1d638a0045bbe4f01a8f287023aa4f2b29011445b1be0edc74a2103",
+                "sha256:93bca9aaeee8008e15696c2a6b5e56b992da03f9d237ff54310e397d635f8305",
+                "sha256:98d414513ec44bb3ba77ebdeffcbbe6ebbf3630c767d37a285890c2414fdd4e2",
+                "sha256:a7f91a4e5bf3cc58b2830c9cb01b04ac5e211c288048e9296cd407ec0455fb89",
+                "sha256:abbcb8ecd19cfb729b9b71f9a453e37c0c1c017be4bff47804ff25150685386d",
+                "sha256:b03966ca4d1aa7850f5bf0d841c22a8eeb6ce091f77e585ffeb8b95a6b0a96c4",
+                "sha256:cde2a73b03049b904dbc5d0f500b97e11abb4109dbe2940e6a1595e2eef4e8a9",
+                "sha256:d52a687e2c74c40f45abd6906f833d4e40f0f8cfa4226a80e4695fedafe6c57e",
+                "sha256:e68ad00695547d9397dd14abd3efba23cb31cef67228f4512d41396971889812",
+                "sha256:e9bffd52d6ee039a1cafb72475b2900c6fd0f0dca667fb7a09af0a3e119e78cb"
+            ],
+            "index": "pypi",
+            "version": "==3.18.3"
         },
         "psutil": {
             "hashes": [
@@ -786,6 +819,14 @@
             "index": "pypi",
             "version": "==1.2.1"
         },
+        "setuptools": {
+            "hashes": [
+                "sha256:2e24e0bec025f035a2e72cdd1961119f557d78ad331bb00ff82efb2ab8da8e82",
+                "sha256:7732871f4f7fa58fb6bdcaeadb0161b2bd046c85905dbaa066bdcbcc81953b57"
+            ],
+            "markers": "python_version >= '3.7'",
+            "version": "==65.3.0"
+        },
         "six": {
             "hashes": [
                 "sha256:3350809f0555b11f552448330d0b52d5f24c91a322ea4a15ef22629740f3761c",
@@ -807,6 +848,7 @@
                 "sha256:50e0b1bdcd488dbe39fd9416976e089b2ff4df18d9f1fab47abf4c498209c3fc",
                 "sha256:c35ba681a52d4922be6b225623cf77285033e7e4e68bac5c1d5490e47d129bb2"
             ],
+            "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3'",
             "version": "==1.14.0"
         },
         "tensorflow-estimator": {
@@ -870,6 +912,14 @@
             "index": "pypi",
             "version": "==1.3.1"
         },
+        "typing-extensions": {
+            "hashes": [
+                "sha256:25642c956049920a5aa49edcdd6ab1e06d7e5d467fc00e0506c44ac86fbfca02",
+                "sha256:e6d2677a32f47fc7eb2795db1dd15c1f34eff616bcaf2cfb5e997f854fa1c4a6"
+            ],
+            "markers": "python_version < '3.8'",
+            "version": "==4.3.0"
+        },
         "urllib3": {
             "hashes": [
                 "sha256:61bf29cada3fc2fbefad4fdf059ea4bd1b4a86d2b6d15e1c7c0b582b9752fe39",
@@ -896,11 +946,11 @@
         },
         "wheel": {
             "hashes": [
-                "sha256:10c9da68765315ed98850f8e048347c3eb06dd81822dc2ab1d4fde9dc9702646",
-                "sha256:f4da1763d3becf2e2cd92a14a7c920f0f00eca30fdde9ea992c836685b9faf28"
+                "sha256:4bdcd7d840138086126cd09254dc6195fb4fc6f01c050a1d7236f2630db1d22a",
+                "sha256:e9a504e793efbca1b8e0e9cb979a249cf4a0a7b5b8c9e8b65a5e39d49529c1c4"
             ],
-            "markers": "python_version >= '3'",
-            "version": "==0.33.6"
+            "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3, 3.4'",
+            "version": "==0.37.1"
         },
         "wrapt": {
             "hashes": [
@@ -916,6 +966,14 @@
             ],
             "index": "pypi",
             "version": "==1.0.2"
+        },
+        "zipp": {
+            "hashes": [
+                "sha256:05b45f1ee8f807d0cc928485ca40a07cb491cf092ff587c0df9cb1fd154848d2",
+                "sha256:47c40d7fe183a6f21403a199b3e4192cca5774656965b0a4988ad2f8feb5f009"
+            ],
+            "markers": "python_version >= '3.7'",
+            "version": "==3.8.1"
         }
     },
     "develop": {}