diff --git a/CMakeLists.txt b/CMakeLists.txt
old mode 100755
new mode 100644
index 2ad0904..f1e2b4c
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -5,6 +5,8 @@ CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
 
 set(BUILD_TYPE Release)
 
+set(CMAKE_GENERATOR "Ninja")
+
 set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 
 set(EXECUTABLE_OUTPUT_PATH bin)
@@ -25,10 +27,10 @@ include_directories(
 )
 
 
-add_executable(responseCalib src/main_responseCalib.cpp src/FOVUndistorter.cpp src/PhotometricUndistorter.cpp)
+add_executable(responseCalib src/main_responseCalib.cpp src/FOVUndistorter.cpp src/Undistorter.cpp src/PhotometricUndistorter.cpp)
 target_link_libraries(responseCalib ${OpenCV_LIBS} ${LIBZIP_LIBRARY})
 
-add_executable(playDataset src/main_playbackDataset.cpp src/FOVUndistorter.cpp src/PhotometricUndistorter.cpp)
+add_executable(playDataset src/main_playbackDataset.cpp src/FOVUndistorter.cpp src/Undistorter.cpp src/PhotometricUndistorter.cpp)
 target_link_libraries(playDataset ${OpenCV_LIBS} ${LIBZIP_LIBRARY})
 
 
@@ -40,7 +42,7 @@ SET(CMAKE_MODULE_PATH ${CMAKE_INSTALL_PREFIX}/lib/cmake/ )
 find_package(aruco)
 
 IF(aruco_FOUND)
-	add_executable(vignetteCalib src/main_vignetteCalib.cpp src/FOVUndistorter.cpp src/PhotometricUndistorter.cpp)
+	add_executable(vignetteCalib src/main_vignetteCalib.cpp src/FOVUndistorter.cpp src/Undistorter.cpp src/PhotometricUndistorter.cpp)
 	target_link_libraries(vignetteCalib ${OpenCV_LIBS} ${aruco_LIBS} ${LIBZIP_LIBRARY})
 ELSE()
 	message("================ aruco not found. not compiling vignetteCalib. ========================")
diff --git a/src/BenchmarkDatasetReader.h b/src/BenchmarkDatasetReader.h
old mode 100755
new mode 100644
index 6dafdc1..143a17e
--- a/src/BenchmarkDatasetReader.h
+++ b/src/BenchmarkDatasetReader.h
@@ -35,7 +35,8 @@
 #include <algorithm>
 
 #include "opencv2/opencv.hpp"
-#include "FOVUndistorter.h"
+//#include "FOVUndistorter.h"
+#include "Undistorter.h"
 #include "PhotometricUndistorter.h"
 
 #include "zip.h"
@@ -132,7 +133,8 @@ class DatasetReader
 
 
 		// create undistorter.
-		undistorter = new UndistorterFOV((path+"camera.txt").c_str());
+		//undistorter = new UndistorterFOV((path+"camera.txt").c_str());
+		undistorter = Undistort::getUndistorterForFile((path+"camera.txt").c_str());
 		photoUndistorter = new PhotometricUndistorter(path+"pcalib.txt", path+"vignette.png",undistorter->getInputDims()[0],undistorter->getInputDims()[1]);
 
 
@@ -156,7 +158,12 @@ class DatasetReader
 
 	}
 
-	UndistorterFOV* getUndistorter()
+	/*UndistorterFOV* getUndistorter()
+	{
+		return undistorter;
+	}*/
+	
+	Undistort* getUndistorter()
 	{
 		return undistorter;
 	}
@@ -249,7 +256,7 @@ class DatasetReader
 		if(!isZipped)
 		{
 			// CHANGE FOR ZIP FILE
-			return cv::imread(files[id],CV_LOAD_IMAGE_GRAYSCALE);
+			return cv::imread(files[id],cv::IMREAD_GRAYSCALE);
 		}
 		else
 		{
@@ -271,7 +278,7 @@ class DatasetReader
 					exit(1);
 				}
 			}
-			return cv::imdecode(cv::Mat(readbytes,1,CV_8U, databuffer), CV_LOAD_IMAGE_GRAYSCALE);
+			return cv::imdecode(cv::Mat(readbytes,1,CV_8U, databuffer), cv::IMREAD_GRAYSCALE);
 		}
 	}
 
@@ -336,7 +343,8 @@ class DatasetReader
 
 
 	// internal structures.
-	UndistorterFOV* undistorter;
+	//UndistorterFOV* undistorter;
+	Undistort* undistorter;
 	PhotometricUndistorter* photoUndistorter;
 	zip_t* ziparchive;
 	char* databuffer;
diff --git a/src/FOVUndistorter.cpp b/src/FOVUndistorter.cpp
index 8c2b455..0653470 100755
--- a/src/FOVUndistorter.cpp
+++ b/src/FOVUndistorter.cpp
@@ -55,7 +55,7 @@ UndistorterFOV::UndistorterFOV(const char* configFileName)
 	std::ifstream infile(configFileName);
 	if(!infile.good())
 	{
-		printf("Failed to read camera calibration (invalid format?)\nCalibration file: %s\n", configFileName);
+		printf("Failed to read camera calibration [1] (invalid format?)\nCalibration file: %s\n", configFileName);
 		return;
 	}
 
@@ -77,7 +77,7 @@ UndistorterFOV::UndistorterFOV(const char* configFileName)
 	}
 	else
 	{
-		printf("Failed to read camera calibration (invalid format?)\nCalibration file: %s\n", configFileName);
+		printf("Failed to read camera calibration [2] (invalid format?)\nCalibration file: %s\n", configFileName);
 		return;
 	}
 
diff --git a/src/PhotometricUndistorter.cpp b/src/PhotometricUndistorter.cpp
index 969b9da..f9abdf8 100755
--- a/src/PhotometricUndistorter.cpp
+++ b/src/PhotometricUndistorter.cpp
@@ -40,175 +40,149 @@
 
 
 PhotometricUndistorter::PhotometricUndistorter(
-		std::string file,
-		std::string vignetteImage,
-		int w_, int h_)
-{
-
-	validVignette=false;
-	validGamma=false;
-
-	vignetteMap=0;
-	vignetteMapInv=0;
-	w = w_;
-	h = h_;
-
-	if(file=="" || vignetteImage=="") return;
-
-
-	// read G.
-	std::ifstream f(file.c_str());
-	printf("Reading Photometric Calibration from file %s\n",file.c_str());
-	if (!f.good())
-	{
-		printf("PhotometricUndistorter: Could not open file!\n");
-		return;
-	}
-
-
-
-	std::string line;
-	std::getline( f, line );
-	std::istringstream l1i( line );
-	std::vector<float> GInvvec = std::vector<float>( std::istream_iterator<float>(l1i), std::istream_iterator<float>() );
-	if(GInvvec.size() != 256)
-	{
-		printf("PhotometricUndistorter: invalid format! got %d entries in first line, expected 256!\n",(int)GInvvec.size());
-		return;
-	}
-	for(int i=0;i<256;i++) GInv[i] = GInvvec[i];
-
-	for(int i=0;i<255;i++)
-	{
-		if(GInv[i+1] <= GInv[i])
-		{
-			printf("PhotometricUndistorter: G invalid! it has to be strictly increasing, but it isnt!\n");
-			return;
-		}
-	}
-	float min=GInv[0];
-	float max=GInv[255];
-	for(int i=0;i<256;i++) GInv[i] = 255.0 * (GInv[i] - min) / (max-min);			// make it to 0..255 => 0..255.
-
-	// invert Gamma (maybe someone needs this).
-	for(int i=1;i<255;i++)
-	{
-		// find val, such that Binv[val] = i.
-		// I dont care about speed for this, so do it the stupid way.
-		for(int s=1;s<255;s++)
-		{
-			if(GInv[s] <= i && GInv[s+1] >= i)
-			{
-				G[i] = s+(i - GInv[s]) / (GInv[s+1]-GInv[s]);
-				break;
-			}
-		}
-	}
-	G[0] = 0;
-	G[255] = 255;
-	f.close();
-	validGamma=true;
-
-
-
-
-
-
-
-
-	printf("Reading Vignette Image from %s\n",vignetteImage.c_str());
-	cv::Mat vignetteMat = cv::imread(vignetteImage.c_str(), CV_LOAD_IMAGE_UNCHANGED);
-	vignetteMap = new float[w*h];
-	vignetteMapInv = new float[w*h];
-	if(vignetteMat.rows != h || vignetteMat.cols != w)
-	{
-		printf("PhotometricUndistorter: Invalid vignette image size! got %d x %d, expected %d x %d. Set vignette to 1.\n",
-				vignetteMat.cols, vignetteMat.rows, w, h);
-		return;
-	}
-
-	if(vignetteMat.type() == CV_8U)
-	{
-		float maxV=0;
-		for(int i=0;i<w*h;i++)
-			if(vignetteMat.at<unsigned char>(i) > maxV) maxV = vignetteMat.at<unsigned char>(i);
-
-		for(int i=0;i<w*h;i++)
-			vignetteMap[i] = vignetteMat.at<unsigned char>(i) / maxV;
-	}
-	else if(vignetteMat.type() == CV_16U)
-	{
-		float maxV=0;
-		for(int i=0;i<w*h;i++)
-			if(vignetteMat.at<ushort>(i) > maxV) maxV = vignetteMat.at<ushort>(i);
-
-		for(int i=0;i<w*h;i++)
-			vignetteMap[i] = vignetteMat.at<ushort>(i) / maxV;
-	}
-	else
-		assert(false);
-
-	for(int i=0;i<w*h;i++)
-		vignetteMapInv[i] = 1.0f / vignetteMap[i];
-
-
-	printf("Successfully read photometric calibration!\n");
-	validVignette = true;
+        std::string file,
+        std::string vignetteImage,
+        int w_, int h_) {
+
+    validVignette = false;
+    validGamma = false;
+
+    vignetteMap = 0;
+    vignetteMapInv = 0;
+    w = w_;
+    h = h_;
+
+    if (file == "" || vignetteImage == "") return;
+
+
+    // read G.
+    std::ifstream f(file.c_str());
+    printf("Reading Photometric Calibration from file %s\n", file.c_str());
+    if (!f.good()) {
+        printf("PhotometricUndistorter: Could not open file!\n");
+        return;
+    }
+
+
+    std::string line;
+    std::getline(f, line);
+    std::istringstream l1i(line);
+    std::vector<float> GInvvec = std::vector<float>(std::istream_iterator<float>(l1i), std::istream_iterator<float>());
+    if (GInvvec.size() != 256) {
+        printf("PhotometricUndistorter: invalid format! got %d entries in first line, expected 256!\n",
+               (int) GInvvec.size());
+        return;
+    }
+    for (int i = 0; i < 256; i++) GInv[i] = GInvvec[i];
+
+    for (int i = 0; i < 255; i++) {
+        if (GInv[i + 1] <= GInv[i]) {
+            printf("PhotometricUndistorter: G invalid! it has to be strictly increasing, but it isnt!\n");
+            return;
+        }
+    }
+    float min = GInv[0];
+    float max = GInv[255];
+    for (int i = 0; i < 256; i++) GInv[i] = 255.0 * (GInv[i] - min) /
+                                            (max - min);            // make it to 0..255 => 0..255.
+
+    // invert Gamma (maybe someone needs this).
+    for (int i = 1; i < 255; i++) {
+        // find val, such that Binv[val] = i.
+        // I dont care about speed for this, so do it the stupid way.
+        for (int s = 1; s < 255; s++) {
+            if (GInv[s] <= i && GInv[s + 1] >= i) {
+                G[i] = s + (i - GInv[s]) / (GInv[s + 1] - GInv[s]);
+                break;
+            }
+        }
+    }
+    G[0] = 0;
+    G[255] = 255;
+    f.close();
+    validGamma = true;
+
+
+    printf("Reading Vignette Image from %s\n", vignetteImage.c_str());
+    cv::Mat vignetteMat = cv::imread(vignetteImage.c_str(), cv::IMREAD_UNCHANGED);
+    vignetteMap = new float[w * h];
+    vignetteMapInv = new float[w * h];
+    if (vignetteMat.rows != h || vignetteMat.cols != w) {
+        printf("PhotometricUndistorter: Invalid vignette image size! got %d x %d, expected %d x %d. Set vignette to 1.\n",
+               vignetteMat.cols, vignetteMat.rows, w, h);
+        return;
+    }
+
+    if (vignetteMat.type() == CV_8U) {
+        float maxV = 0;
+        for (int i = 0; i < w * h; i++)
+            if (vignetteMat.at<unsigned char>(i) > maxV) maxV = vignetteMat.at<unsigned char>(i);
+
+        for (int i = 0; i < w * h; i++)
+            vignetteMap[i] = vignetteMat.at<unsigned char>(i) / maxV;
+    } else if (vignetteMat.type() == CV_16U) {
+        float maxV = 0;
+        for (int i = 0; i < w * h; i++)
+            if (vignetteMat.at<ushort>(i) > maxV) maxV = vignetteMat.at<ushort>(i);
+
+        for (int i = 0; i < w * h; i++)
+            vignetteMap[i] = vignetteMat.at<ushort>(i) / maxV;
+    } else
+        assert(false);
+
+    for (int i = 0; i < w * h; i++)
+        vignetteMapInv[i] = 1.0f / vignetteMap[i];
+
+
+    printf("Successfully read photometric calibration!\n");
+    validVignette = true;
 }
-PhotometricUndistorter::~PhotometricUndistorter()
-{
-	if(vignetteMap != 0) delete[] vignetteMap;
-	if(vignetteMapInv != 0) delete[] vignetteMapInv;
+
+PhotometricUndistorter::~PhotometricUndistorter() {
+    if (vignetteMap != 0) delete[] vignetteMap;
+    if (vignetteMapInv != 0) delete[] vignetteMapInv;
 }
 
 
 void PhotometricUndistorter::unMapImage(
-		unsigned char* image_in,
-		float* image_out,
-		int n,
-		bool undoGamma,
-		bool undoVignette,
-		bool killOverexposed)
-{
-	if(!validGamma && undoGamma)
-	{
-		printf("Photometric Undistorter did not load Gamma correctly. correctly. Not undoing gamma!\n");
-		undoGamma = false;
-	}
-	if(!validVignette && undoVignette)
-	{
-		printf("Photometric Undistorter did not load Vignette correctly. correctly. Not undoing Vignette!\n");
-		undoVignette = false;
-	}
-
-	if(!undoGamma && undoVignette)
-	{
-		printf("it doesn't make sense to undo vignette without undoing gamma! not doing neither.\n");
-		undoVignette=false;
-		undoGamma=false;
-	}
-
-	assert(n == w*h);
-
-	if(!undoGamma && !undoVignette)
-	{
-		for(int i=0;i<n;i++) image_out[i] = image_in[i];
-	}
-
-	if(undoGamma && !undoVignette)
-	{
-		for(int i=0;i<n;i++) image_out[i] = GInv[image_in[i]];
-	}
-
-	if(undoGamma && undoVignette)
-	{
-		for(int i=0;i<n;i++) image_out[i] = GInv[image_in[i]] * vignetteMapInv[i];
-	}
-
-	if(killOverexposed)
-	{
-		for(int i=0;i<n;i++) if(image_in[i]==255) image_out[i]=NAN;
-	}
+        unsigned char *image_in,
+        float *image_out,
+        int n,
+        bool undoGamma,
+        bool undoVignette,
+        bool killOverexposed) {
+    if (!validGamma && undoGamma) {
+        printf("Photometric Undistorter did not load Gamma correctly. correctly. Not undoing gamma!\n");
+        undoGamma = false;
+    }
+    if (!validVignette && undoVignette) {
+        printf("Photometric Undistorter did not load Vignette correctly. correctly. Not undoing Vignette!\n");
+        undoVignette = false;
+    }
+
+    if (!undoGamma && undoVignette) {
+        printf("it doesn't make sense to undo vignette without undoing gamma! not doing neither.\n");
+        undoVignette = false;
+        undoGamma = false;
+    }
+
+    assert(n == w * h);
+
+    if (!undoGamma && !undoVignette) {
+        for (int i = 0; i < n; i++) image_out[i] = image_in[i];
+    }
+
+    if (undoGamma && !undoVignette) {
+        for (int i = 0; i < n; i++) image_out[i] = GInv[image_in[i]];
+    }
+
+    if (undoGamma && undoVignette) {
+        for (int i = 0; i < n; i++) image_out[i] = GInv[image_in[i]] * vignetteMapInv[i];
+    }
+
+    if (killOverexposed) {
+        for (int i = 0; i < n; i++) if (image_in[i] == 255) image_out[i] = NAN;
+    }
 }
 
 
diff --git a/src/main_responseCalib.cpp b/src/main_responseCalib.cpp
old mode 100755
new mode 100644
index 4de2303..ddf5c34
--- a/src/main_responseCalib.cpp
+++ b/src/main_responseCalib.cpp
@@ -180,6 +180,7 @@ int main( int argc, char** argv )
 	for(int i=2; i<argc;i++)
 		parseArgument(argv[i]);
 
+	std::string path = std::string(argv[1]);
 
 	// load exposure times & images.
 	// first parameter is dataset location.
@@ -259,18 +260,17 @@ int main( int argc, char** argv )
 	for(int k=0;k<w*h;k++) E[k] = E[k]/En[k];
 
 
-
-	if(-1 == system("rm -rf photoCalibResult")) printf("could not delete old photoCalibResult folder!\n");
-	if(-1 == system("mkdir photoCalibResult")) printf("could not create photoCalibResult folder!\n");
+	if(-1 == system(std::string("rm -rf " + path + "/photoCalibResult").c_str())) printf("could not delete old photoCalibResult folder!\n");
+	if(-1 == system(std::string("mkdir " + path + "/photoCalibResult").c_str())) printf("could not delete old photoCalibResult folder!\n");
 
 
 	std::ofstream logFile;
-	logFile.open("photoCalibResult/log.txt", std::ios::trunc | std::ios::out);
+	logFile.open(path + "/" + "photoCalibResult/log.txt", std::ios::trunc | std::ios::out);
 	logFile.precision(15);
 
 
 	printf("init RMSE = %f! \t", rmse(G, E, exposureVec, dataVec, w*h )[0]);
-	plotE(E,w,h, "photoCalibResult/E-0");
+	plotE(E,w,h, path + "/" + "photoCalibResult/E-0");
 	cv::waitKey(100);
 
 
@@ -307,7 +307,7 @@ int main( int argc, char** argv )
 			printf("optG RMSE = %f! \t", rmse(G, E, exposureVec, dataVec, w*h )[0]);
 
 			char buf[1000]; snprintf(buf, 1000, "photoCalibResult/G-%d.png", it+1);
-			plotG(G, buf);
+			plotG(G, path + "/" + buf);
 		}
 
 
@@ -342,7 +342,7 @@ int main( int argc, char** argv )
 			printf("OptE RMSE = %f!  \t", rmse(G, E, exposureVec, dataVec, w*h )[0]);
 
 			char buf[1000]; snprintf(buf, 1000, "photoCalibResult/E-%d", it+1);
-			plotE(E,w,h, buf);
+			plotE(E,w,h, path + "/" + std::string(buf));
 		}
 
 
@@ -365,7 +365,7 @@ int main( int argc, char** argv )
 	logFile.close();
 
 	std::ofstream lg;
-	lg.open("photoCalibResult/pcalib.txt", std::ios::trunc | std::ios::out);
+	lg.open(path + "/" + "photoCalibResult/pcalib.txt", std::ios::trunc | std::ios::out);
 	lg.precision(15);
 	for(int i=0;i<256;i++)
 		lg << G[i] << " ";
diff --git a/src/main_vignetteCalib.cpp b/src/main_vignetteCalib.cpp
old mode 100755
new mode 100644
index 249e2f2..4437812
--- a/src/main_vignetteCalib.cpp
+++ b/src/main_vignetteCalib.cpp
@@ -69,7 +69,7 @@ EIGEN_ALWAYS_INLINE float getInterpolatedElement(const float* const mat, const f
 	return res;
 }
 
-void displayImage(float* I, int w, int h, std::string name)
+void displayImage(float* I, int w, int h, std::string name, std::string path)
 {
 	float vmin=1e10;
 	float vmax=-1e10;
@@ -90,7 +90,7 @@ void displayImage(float* I, int w, int h, std::string name)
 
 	printf("plane image values %f - %f!\n", vmin, vmax);
 	cv::imshow(name, img);
-	cv::imwrite("vignetteCalibResult/plane.png", img);
+	cv::imwrite(path + "/" +"vignetteCalibResult/plane.png", img);
 }
 void displayImageV(float* I, int w, int h, std::string name)
 {
@@ -187,9 +187,11 @@ int main( int argc, char** argv )
 {
 	for(int i=2; i<argc;i++)
 		parseArgument(argv[i]);
+		
+	std::string path = std::string(argv[1]);
 
-	if(-1 == system("rm -rf vignetteCalibResult")) printf("could not delete old vignetteCalibResult folder!\n");
-	if(-1 == system("mkdir vignetteCalibResult")) printf("could not delete old vignetteCalibResult folder!\n");
+	if(-1 == system(std::string("rm -rf " + path + "/vignetteCalibResult").c_str())) printf("could not delete old vignetteCalibResult folder!\n");
+	if(-1 == system(std::string("mkdir " + path + "/vignetteCalibResult").c_str())) printf("could not delete old vignetteCalibResult folder!\n");
 
 	// affine map from plane cordinates to grid coordinates.
 	Eigen::Matrix3f K_p2idx = Eigen::Matrix3f::Identity();
@@ -202,7 +204,8 @@ int main( int argc, char** argv )
 
 	// load images, rectify and estimate the camera pose wrt. the plane.
 	DatasetReader* reader = new DatasetReader(argv[1]);
-	printf("SEQUENCE NAME: %s!\n", argv[1]);
+
+	printf("SEQUENCE NAME: %s\n", argv[1]);
 
 	int w_out, h_out;
 	//Eigen::Matrix3f K = reader->getUndistorter()->getK_rect();
@@ -218,7 +221,6 @@ int main( int argc, char** argv )
 	int wI = reader->getUndistorter()->getInputDims()[0];
 	int hI = reader->getUndistorter()->getInputDims()[1];
 
-
 	float meanExposure = 0;
 	for(int i=0;i<reader->getNumImages();i+=imageSkip)
 		meanExposure+=reader->getExposure(i);
@@ -231,6 +233,7 @@ int main( int argc, char** argv )
 	{
         std::vector<aruco::Marker> Markers;
 		ExposureImage* img = reader->getImage(i,true, false, false, false);
+		std::cout << i << std::endl;
 
 		cv::Mat InImage;
 		cv::Mat(h_out, w_out, CV_32F, img->image).convertTo(InImage, CV_8U, 1, 0);
@@ -264,7 +267,6 @@ int main( int argc, char** argv )
 
 		ExposureImage* imgRaw = reader->getImage(i,false, true, false, false);
 
-
 		float* plane2imgX = new float[gw*gh];
 		float* plane2imgY = new float[gw*gh];
 
@@ -276,12 +278,18 @@ int main( int argc, char** argv )
 			for(int x=0;x<gw;x++)
 			{
 				Eigen::Vector3f pp = HK*Eigen::Vector3f(x,y,1);
-				plane2imgX[idx] = pp[0] / pp[2];
-				plane2imgY[idx] = pp[1] / pp[2];
+				// Rounding control
+				if (pp[2] > 0){
+					plane2imgX[idx] = pp[0] / pp[2];
+					plane2imgY[idx] = pp[1] / pp[2];
+				}else{
+					plane2imgX[idx] = NAN;
+					plane2imgY[idx] = NAN;
+				}
 				idx++;
 			}
 
-		reader->getUndistorter()->distortCoordinates(plane2imgX, plane2imgY, gw*gh);
+		reader->getUndistorter()->distortCoordinates(plane2imgX, plane2imgY, plane2imgX, plane2imgY, gw*gh);
 
 		if(imgRaw->exposure_time == 0) imgRaw->exposure_time = 1;
 
@@ -321,7 +329,7 @@ int main( int argc, char** argv )
 				int v_dT = plane2imgY[idxT]+0.5;
 
 				if(u_dS>=0 && v_dS >=0 && u_dS<wI && v_dS<hI && u_dT>=0 && v_dT >=0 && u_dT<wI && v_dT<hI)
-					cv::line(dbgImg, cv::Point(u_dS, v_dS), cv::Point(u_dT, v_dT), cv::Scalar(0,0,255), 10, CV_AA);
+					cv::line(dbgImg, cv::Point(u_dS, v_dS), cv::Point(u_dT, v_dT), cv::Scalar(0,0,255), 10, cv::LINE_AA);
 			}
 
 
@@ -338,7 +346,7 @@ int main( int argc, char** argv )
 				int v_dT = plane2imgY[idxT]+0.5;
 
 				if(u_dS>=0 && v_dS >=0 && u_dS<wI && v_dS<hI && u_dT>=0 && v_dT >=0 && u_dT<wI && v_dT<hI)
-					cv::line(dbgImg, cv::Point(u_dS, v_dS), cv::Point(u_dT, v_dT), cv::Scalar(0,0,255), 10, CV_AA);
+					cv::line(dbgImg, cv::Point(u_dS, v_dS), cv::Point(u_dT, v_dT), cv::Scalar(0,0,255), 10, cv::LINE_AA);
 			}
 
 
@@ -356,24 +364,24 @@ int main( int argc, char** argv )
 				}
 			}
 
-		cv::imshow("inRaw",dbgImg);
+//		cv::imshow("inRaw",dbgImg);
 
-		if(rand()%40==0)
-		{
-			char buf[1000];
-			snprintf(buf,1000,"vignetteCalibResult/img%d.png",i);
-			cv::imwrite(buf, dbgImg);
-		}
+//		if(rand()%40==0)
+//		{
+//			char buf[1000];
+//			snprintf(buf,1000, "vignetteCalibResult/img%d.png",i);
+//			cv::imwrite(path + "/" + std::string(buf), dbgImg);
+//		}
 
-		cv::waitKey(1);
+//		cv::waitKey(1);
 
 		p2imgX.push_back(plane2imgX);
 		p2imgY.push_back(plane2imgY);
 	}
-
+	
 
 	std::ofstream logFile;
-	logFile.open("vignetteCalibResult/log.txt", std::ios::trunc | std::ios::out);
+	logFile.open(path + "/" + "vignetteCalibResult/log.txt", std::ios::trunc | std::ios::out);
 	logFile.precision(15);
 
 
@@ -445,7 +453,7 @@ int main( int argc, char** argv )
 			else
 				planeColor[pi] = planeColorFC[pi] / planeColorFF[pi];
 		}
-		displayImage(planeColor, gw, gh, "Plane");
+		displayImage(planeColor, gw, gh, "Plane", path);
 
 		printf("%f residual terms => %f\n", R, sqrtf(E/R));
 
@@ -570,7 +578,7 @@ int main( int argc, char** argv )
 				cv::Mat wrap = cv::Mat(hI, wI, CV_32F, vignetteFactorTT)*254.9*254.9;
 				cv::Mat wrap16;
 				wrap.convertTo(wrap16, CV_16U,1,0);
-				cv::imwrite("vignetteCalibResult/vignetteSmoothed.png", wrap16);
+				cv::imwrite(path + "/" + "vignetteCalibResult/vignetteSmoothed.png", wrap16);
 				cv::waitKey(50);
 			}
 			{
@@ -578,7 +586,7 @@ int main( int argc, char** argv )
 				cv::Mat wrap = cv::Mat(hI, wI, CV_32F, vignetteFactor)*254.9*254.9;
 				cv::Mat wrap16;
 				wrap.convertTo(wrap16, CV_16U,1,0);
-				cv::imwrite("vignetteCalibResult/vignette.png", wrap16);
+				cv::imwrite(path + "/" + "vignetteCalibResult/vignette.png", wrap16);
 				cv::waitKey(50);
 			}
 		}