diff --git a/code/Settings.h b/code/Settings.h
index d864b73..635b6bf 100644
--- a/code/Settings.h
+++ b/code/Settings.h
@@ -7,9 +7,9 @@
 
 namespace Settings {
 
-    const bool useKLB = true;
+    bool useKLB = true;
 
-    const int numParticles = 10000;
+    const int numParticles = 5000;
 
 	namespace IMU {
         const float turnSigma = 2.5;		// 3.5
@@ -97,7 +97,7 @@ namespace Settings {
     }
 
     namespace Paths_IPIN2017 {
-        const std::vector<int> path1 = {0, 1, 2, 3, 4, 5, 6, 700, 7, 8, 9, 10};
+        const std::vector<int> path1 = {0, 1, 2, 3, 4, 5, 6, 700, 7, 9, 10};
         const std::vector<int> path2 = {11, 12, 3, 2, 1, 0, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 11};
         const std::vector<int> path3 = {31, 32, 33, 34, 35, 36, 37, 38};
     }
diff --git a/code/main.cpp b/code/main.cpp
index 3c98c50..369ad0e 100755
--- a/code/main.cpp
+++ b/code/main.cpp
@@ -6,6 +6,9 @@
 #include "filter/Logic.h"
 #include "Settings.h"
 
+#include <sys/types.h>
+#include <sys/stat.h>
+
 
 //frank
 //const std::string mapDir = "/mnt/data/workspaces/IPIN2016/IPIN2016/competition/maps/";
@@ -203,9 +206,14 @@ void run(DataSetup setup, int numFile, std::string folder, std::vector<int> gtPa
 
 
     //file writing for error data
-    long int t = static_cast<long int>(time(NULL));
+    const long int t = static_cast<long int>(time(NULL));
+    const std::string evalDir = errorDir + std::to_string(t);
+    if(mkdir(evalDir.c_str(), S_IRWXU | S_IRWXG | S_IROTH | S_IXOTH) == -1){
+        Assert::doThrow("Eval folder couldn't be created!");
+    }
+
     std::ofstream errorFile;
-    errorFile.open (errorDir +  folder + "/error_" + std::to_string(numFile) + "_" + std::to_string(t) + ".csv");
+    errorFile.open (evalDir + "/" + std::to_string(numFile) + "_" + std::to_string(t) + ".csv");
 
     // parse each sensor-value within the offline data
     for (const Offline::Entry& e : fr.getEntries()) {
@@ -346,18 +354,18 @@ void run(DataSetup setup, int numFile, std::string folder, std::vector<int> gtPa
     plotFile.close();
 
     for(int i = 0; i < map->floors.size(); ++i){
-        plot.printSingleFloor("/home/toni/Documents/programme/localization/IPIN2017/code/eval/"+ folder + "/image" + std::to_string(numFile) + "_" + std::to_string(t), i);
+        plot.printSingleFloor(evalDir + "/image" + std::to_string(numFile) + "_" + std::to_string(t), i);
         plot.show();
         usleep(10*10);
     }
 
-    plot.printSideView("/home/toni/Documents/programme/localization/IPIN2017/code/eval/"+ folder + "/image" + std::to_string(numFile) + "_" + std::to_string(t), 90);
+    plot.printSideView(evalDir + "/image" + std::to_string(numFile) + "_" + std::to_string(t), 90);
     plot.show();
 
-    plot.printSideView("/home/toni/Documents/programme/localization/IPIN2017/code/eval/"+ folder + "/image" + std::to_string(numFile) + "_" + std::to_string(t), 0);
+    plot.printSideView(evalDir + "/image" + std::to_string(numFile) + "_" + std::to_string(t), 0);
     plot.show();
 
-    plot.printOverview("/home/toni/Documents/programme/localization/IPIN2017/code/eval/"+ folder + "/image" + std::to_string(numFile) + "_" + std::to_string(t));
+    plot.printOverview(evalDir + "/image" + std::to_string(numFile) + "_" + std::to_string(t));
     plot.show();
 
 
@@ -368,7 +376,7 @@ void run(DataSetup setup, int numFile, std::string folder, std::vector<int> gtPa
 
     //save as screenshot for klb
     if(Settings::useKLB){
-        std::string path = "/home/toni/Documents/programme/localization/IPIN2017/code/eval/"+ folder + "/image" + std::to_string(numFile) + "_" + std::to_string(t);
+        std::string path = evalDir + "/image" + std::to_string(numFile) + "_" + std::to_string(t);
         gp << "set terminal png size 1280,720\n";
         gp << "set output '" << path << "_shennendistance.png'\n";
 
@@ -396,12 +404,21 @@ int main(int argc, char** argv) {
     //run(data.BERKWERK, 6, "EVALBERGWERK");    // Nexus vor
 
     //for(int i = 0; i < 5; ++i){
-        //run(data.IPIN2017, 0, "ipin2017");    // Nexus Path2
-        //run(data.IPIN2017, 1, "ipin2017");
-        //run(data.IPIN2017, 4, "ipin2017", Settings::Paths_IPIN2017::path3);
+        Settings::useKLB = false;
+        //run(data.IPIN2017, 0, "ipin2017", Settings::Paths_IPIN2017::path1);
+        run(data.IPIN2017, 1, "ipin2017", Settings::Paths_IPIN2017::path1);
         run(data.IPIN2017, 2, "ipin2017", Settings::Paths_IPIN2017::path2);
+        //run(data.IPIN2017, 3, "ipin2017", Settings::Paths_IPIN2017::path2);
         run(data.IPIN2017, 5, "ipin2017", Settings::Paths_IPIN2017::path3);
-        run(data.IPIN2017, 3, "ipin2017", Settings::Paths_IPIN2017::path2);
+        //run(data.IPIN2017, 4, "ipin2017", Settings::Paths_IPIN2017::path3);
+
+        Settings::useKLB = true;
+        //run(data.IPIN2017, 0, "ipin2017", Settings::Paths_IPIN2017::path1);
+        run(data.IPIN2017, 1, "ipin2017", Settings::Paths_IPIN2017::path1);
+        run(data.IPIN2017, 2, "ipin2017", Settings::Paths_IPIN2017::path2);
+        //run(data.IPIN2017, 3, "ipin2017", Settings::Paths_IPIN2017::path2);
+        run(data.IPIN2017, 5, "ipin2017", Settings::Paths_IPIN2017::path3);
+        //run(data.IPIN2017, 4, "ipin2017", Settings::Paths_IPIN2017::path3);
     //}
 
 }