diff --git a/FBG_Needle_Calibration_Data/needle_1/Jig_Calibration/01-06-20_16-26/fbgdata_2020-01-06_16-27-18.txt b/FBG_Needle_Calibration_Data/needle_1/Jig_Calibration/01-06-20_16-26/fbgdata_2020-01-06_16-27-18.txt
deleted file mode 100644
index e69de29bb..000000000
diff --git a/FBG_Needle_Calibration_Data/needle_1/Jig_Calibration/01-06-20_16-26/mono_0000.ini b/FBG_Needle_Calibration_Data/needle_1/Jig_Calibration/01-06-20_16-26/mono_0000.ini
deleted file mode 100644
index 77ba02379..000000000
--- a/FBG_Needle_Calibration_Data/needle_1/Jig_Calibration/01-06-20_16-26/mono_0000.ini
+++ /dev/null
@@ -1,30 +0,0 @@
-# Camera intrinsics
-
-[image]
-
-width
-1280
-
-height
-960
-
-[camera]
-
-camera matrix
-2423.60839 0.00000 634.59859 
-0.00000 2408.91698 474.16620 
-0.00000 0.00000 1.00000 
-
-distortion
--0.32067 0.06615 0.00138 0.00043 0.00000 
-
-
-rectification
-1.00000 0.00000 0.00000 
-0.00000 1.00000 0.00000 
-0.00000 0.00000 1.00000 
-
-projection
-2367.69336 0.00000 634.57648 0.00000 
-0.00000 2377.73657 474.42802 0.00000 
-0.00000 0.00000 1.00000 0.00000 
diff --git a/FBG_Needle_Calibration_Data/needle_1/Jig_Calibration/01-06-20_16-26/mono_0000.jpg b/FBG_Needle_Calibration_Data/needle_1/Jig_Calibration/01-06-20_16-26/mono_0000.jpg
deleted file mode 100644
index ad038457d..000000000
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deleted file mode 100644
index ad038457d..000000000
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diff --git a/FBG_Needle_Calibration_Data/needle_1/Jig_Calibration/01-06-20_16-28/fbgdata.xlsx b/FBG_Needle_Calibration_Data/needle_1/Jig_Calibration/01-06-20_16-28/fbgdata.xlsx
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index 000000000..5bd65e474
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index 000000000..8fc482dcd
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diff --git a/FBG_Needle_Calibration_Data/needle_1/Jig_Calibration/01-06-20_JigCalibration_FBGResults_0deg.xlsx b/FBG_Needle_Calibration_Data/needle_1/Jig_Calibration/01-06-20_JigCalibration_FBGResults_0deg.xlsx
new file mode 100644
index 000000000..1145d7159
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diff --git a/FBG_Needle_Calibration_Data/needle_1/Jig_Calibration/01-06-20_JigCalibration_FBGResults_90deg.xlsx b/FBG_Needle_Calibration_Data/needle_1/Jig_Calibration/01-06-20_JigCalibration_FBGResults_90deg.xlsx
new file mode 100644
index 000000000..084d97093
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diff --git a/FBG_Needle_Calibration_Data/needle_1/Jig_Calibration/01-06-20_JigCalibration_results_0deg.xlsx b/FBG_Needle_Calibration_Data/needle_1/Jig_Calibration/01-06-20_JigCalibration_results_0deg.xlsx
new file mode 100644
index 000000000..80452a7a4
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diff --git a/FBG_Needle_Calibration_Data/needle_1/Jig_Calibration/01-06-20_JigCalibration_results_90deg.xlsx b/FBG_Needle_Calibration_Data/needle_1/Jig_Calibration/01-06-20_JigCalibration_results_90deg.xlsx
new file mode 100644
index 000000000..13e7b1b77
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diff --git a/FBG_Needle_Calibration_Data/needle_1/Jig_Calibration/Data Matrices.xlsx b/FBG_Needle_Calibration_Data/needle_1/Jig_Calibration/Data Matrices.xlsx
new file mode 100644
index 000000000..2baf2166a
Binary files /dev/null and b/FBG_Needle_Calibration_Data/needle_1/Jig_Calibration/Data Matrices.xlsx differ
diff --git a/FBG_Needle_Calibration_Data/needle_1/Jig_Calibration/needle_params.csv b/FBG_Needle_Calibration_Data/needle_1/Jig_Calibration/needle_params.csv
new file mode 100644
index 000000000..75ad0cc0a
--- /dev/null
+++ b/FBG_Needle_Calibration_Data/needle_1/Jig_Calibration/needle_params.csv
@@ -0,0 +1,60 @@
+Active areas in this needle (mm),130,3
+11,26,70
+AA1:,,
+-5.82E-05,1.16E-03,-1.10E-03
+-4.46E-04,2.66E-04,1.80E-04
+,,
+AA2:,,
+-1.14E-04,4.74E-04,-3.59E-04
+-3.49E-04,2.50E-04,9.94E-05
+,,
+AA3:,,
+4.12E-05,5.83E-04,-6.24E-04
+-6.37E-04,3.35E-04,3.01E-04
+AA1:,,
+-5.82E-05,1.16E-03,-1.10E-03
+-4.46E-04,2.66E-04,1.80E-04
+,,
+AA2:,,
+-1.14E-04,4.74E-04,-3.59E-04
+-3.49E-04,2.50E-04,9.94E-05
+,,
+AA3:,,
+4.12E-05,5.83E-04,-6.24E-04
+-6.37E-04,3.35E-04,3.01E-04
+AA1:
+ 2.9424503 ,-2.02390798,-0.91854232,
+ -0.56444143,-2.12917716, 2.69361859
+
+AA2:
+ 2.75752175,-2.15943202,-0.59808972,
+  0.01916302,-2.50405223, 2.48488921
+
+AA3:
+ 3.79567979,-3.04198303,-0.75369675,
+ -0.93875338,-5.52682482, 6.4655782 
+
+AA1:
+-0.56444143,-2.12917716, 2.69361859,
+  2.9424503 ,-2.02390798,-0.91854232
+
+AA2:
+ 2.75752175,-2.15943202,-0.59808972,
+  0.01916302,-2.50405223, 2.48488921
+
+AA3:
+ 3.79567979,-3.04198303,-0.75369675,
+ -0.93875338,-5.52682482, 6.4655782 
+
+AA1:
+ 6.37786927e-05, 2.40584989e-04,-3.04363682e-04,
+ -3.32480260e-04, 2.28690167e-04, 1.03790093e-04
+
+AA2:
+-2.16531275e-06, 2.82943754e-04,-2.80778442e-04,
+ -3.11584378e-04, 2.44003619e-04, 6.75807597e-05
+
+AA3:
+ 1.06073829e-04, 6.24499980e-04,-7.30573808e-04,
+ -4.28890371e-04, 3.43726896e-04, 8.51634747e-05
+
diff --git a/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-46/curvature_data.xlsx b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-46/curvature_data.xlsx
new file mode 100644
index 000000000..50ba68d7c
Binary files /dev/null and b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-46/curvature_data.xlsx differ
diff --git a/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-46/curvature_monofbg_01-03-2020_13-46-58.226758520.txt b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-46/curvature_monofbg_01-03-2020_13-46-58.226758520.txt
new file mode 100644
index 000000000..e33d0ddcb
--- /dev/null
+++ b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-46/curvature_monofbg_01-03-2020_13-46-58.226758520.txt
@@ -0,0 +1,14 @@
+Curvature of the needle @ the active areas.
+Pixels/mm: 8.85
+Configuatation:
+Curvature Determination Type: Circle fitting to Bspline
+Bspline fit: 5
+Circle Fitting Window: 10 mm
+Curvature interpolation size: 0.5px
+Smoothing Window size: 25 px
+Smoothing iterations: 1
+Active areas (mm): 11., 26., 70.
+Curvatures (1/mm): 0.0005559979, 0.0005513711, 0.0005370393
+Bspline coefficients: 41.0846014529, 41.4368376596, 48.9308523371, 49.1213232267, 66.5488592456, 61.0508850604, 69.8483061711, 66.9197065671, 70.8551034992,  0.          ,  0.          ,  0.          ,  0.          ,  0.          ,  0.          
+x range of center line (px): [ 1, 1144 ]
+x-values of active areas (px): 1142.7482974439, 1140.9911208012, 1135.4581103595
diff --git a/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-46/curvature_monofbg_01-03-2020_13-47-24.490759791.txt b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-46/curvature_monofbg_01-03-2020_13-47-24.490759791.txt
new file mode 100644
index 000000000..6dda3699a
--- /dev/null
+++ b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-46/curvature_monofbg_01-03-2020_13-47-24.490759791.txt
@@ -0,0 +1,14 @@
+Curvature of the needle @ the active areas.
+Pixels/mm: 8.85
+Configuatation:
+Curvature Determination Type: Circle fitting to Bspline
+Bspline fit: 5
+Circle Fitting Window: 10 mm
+Curvature interpolation size: 0.5px
+Smoothing Window size: 25 px
+Smoothing iterations: 1
+Active areas (mm): 11., 26., 70.
+Curvatures (1/mm): 0.0004176374, 0.0004097175, 0.0003770986
+Bspline coefficients: 41.480457047 , 41.9785220913, 50.4675138411, 53.5161784208, 75.4222426629, 70.0762686749, 72.6673736726, 68.3829288347, 70.2540029594,  0.          ,  0.          ,  0.          ,  0.          ,  0.          ,  0.          
+x range of center line (px): [ 1, 1148 ]
+x-values of active areas (px): 1145.2912069567, 1141.1805297473, 1123.4507062617
diff --git a/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-46/curvature_monofbg_01-03-2020_13-47-54.034761221.txt b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-46/curvature_monofbg_01-03-2020_13-47-54.034761221.txt
new file mode 100644
index 000000000..68d3d7a3d
--- /dev/null
+++ b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-46/curvature_monofbg_01-03-2020_13-47-54.034761221.txt
@@ -0,0 +1,14 @@
+Curvature of the needle @ the active areas.
+Pixels/mm: 8.85
+Configuatation:
+Curvature Determination Type: Circle fitting to Bspline
+Bspline fit: 5
+Circle Fitting Window: 10 mm
+Curvature interpolation size: 0.5px
+Smoothing Window size: 25 px
+Smoothing iterations: 1
+Active areas (mm): 11., 26., 70.
+Curvatures (1/mm): 0.000433052 , 0.000429557 , 0.0004197361
+Bspline coefficients:  41.8737328234,  43.5421542712,  57.4531839765,  72.4926301294, 118.5069650749, 106.9083237056,  91.2277705732,  72.4059097803,  67.6763224426,   0.          ,   0.          ,   0.          ,   0.          ,   0.          ,   0.          
+x range of center line (px): [ 1, 1141 ]
+x-values of active areas (px): 1139.9781129401, 1138.606871501 , 1134.716721389 
diff --git a/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-46/curvature_monofbg_01-03-2020_13-48-11.090762046.txt b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-46/curvature_monofbg_01-03-2020_13-48-11.090762046.txt
new file mode 100644
index 000000000..6df4e95e5
--- /dev/null
+++ b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-46/curvature_monofbg_01-03-2020_13-48-11.090762046.txt
@@ -0,0 +1,14 @@
+Curvature of the needle @ the active areas.
+Pixels/mm: 8.85
+Configuatation:
+Curvature Determination Type: Circle fitting to Bspline
+Bspline fit: 5
+Circle Fitting Window: 10 mm
+Curvature interpolation size: 0.5px
+Smoothing Window size: 25 px
+Smoothing iterations: 1
+Active areas (mm): 11., 26., 70.
+Curvatures (1/mm): 0.0001763176, 0.0001753678, 0.000172603 
+Bspline coefficients:  42.5010645254,  44.4671684998,  60.1713543402,  83.0940523877, 137.982634193 , 127.5477361026,  98.6738625396,  75.9958189836,  66.7708410105,   0.          ,   0.          ,   0.          ,   0.          ,   0.          ,   0.          
+x range of center line (px): [ 0, 1138 ]
+x-values of active areas (px): 1137.4728111447, 1136.755341202 , 1134.6599937455
diff --git a/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-46/curvature_monofbg_01-03-2020_13-48-28.890762908.txt b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-46/curvature_monofbg_01-03-2020_13-48-28.890762908.txt
new file mode 100644
index 000000000..13cf980fc
--- /dev/null
+++ b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-46/curvature_monofbg_01-03-2020_13-48-28.890762908.txt
@@ -0,0 +1,14 @@
+Curvature of the needle @ the active areas.
+Pixels/mm: 8.85
+Configuatation:
+Curvature Determination Type: Circle fitting to Bspline
+Bspline fit: 5
+Circle Fitting Window: 10 mm
+Curvature interpolation size: 0.5px
+Smoothing Window size: 25 px
+Smoothing iterations: 1
+Active areas (mm): 11., 26., 70.
+Curvatures (1/mm): 0.0003185808, 0.0003160769, 0.0003089494
+Bspline coefficients:  42.004298107 ,  43.9499968022,  57.3145562769,  73.3615438592, 118.363979851 , 107.1508668205,  90.8453991064,  73.1462855404,  67.882282623 ,   0.          ,   0.          ,   0.          ,   0.          ,   0.          ,   0.          
+x range of center line (px): [ 1, 1141 ]
+x-values of active areas (px): 1140.0793965192, 1138.8366189338, 1135.2683651907
diff --git a/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-46/curvature_monofbg_01-03-2020_13-48-50.622763960.txt b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-46/curvature_monofbg_01-03-2020_13-48-50.622763960.txt
new file mode 100644
index 000000000..de9b7e596
--- /dev/null
+++ b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-46/curvature_monofbg_01-03-2020_13-48-50.622763960.txt
@@ -0,0 +1,14 @@
+Curvature of the needle @ the active areas.
+Pixels/mm: 8.85
+Configuatation:
+Curvature Determination Type: Circle fitting to Bspline
+Bspline fit: 5
+Circle Fitting Window: 10 mm
+Curvature interpolation size: 0.5px
+Smoothing Window size: 25 px
+Smoothing iterations: 1
+Active areas (mm): 11., 26., 70.
+Curvatures (1/mm): 0.0004219591, 0.0004103591, 0.0002602217
+Bspline coefficients: 41.2503729126, 41.9375729645, 50.7124355012, 53.2088256847, 75.978356131 , 69.1654820754, 74.0873212761, 68.3556801132, 70.0144272311,  0.          ,  0.          ,  0.          ,  0.          ,  0.          ,  0.          
+x range of center line (px): [ 1, 1144 ]
+x-values of active areas (px): 1140.8847922884, 1135.8550068452, 1091.1773929817
diff --git a/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-46/curvature_monofbg_01-03-2020_13-49-04.958764653.txt b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-46/curvature_monofbg_01-03-2020_13-49-04.958764653.txt
new file mode 100644
index 000000000..221491aad
--- /dev/null
+++ b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-46/curvature_monofbg_01-03-2020_13-49-04.958764653.txt
@@ -0,0 +1,14 @@
+Curvature of the needle @ the active areas.
+Pixels/mm: 8.85
+Configuatation:
+Curvature Determination Type: Circle fitting to Bspline
+Bspline fit: 5
+Circle Fitting Window: 10 mm
+Curvature interpolation size: 0.5px
+Smoothing Window size: 25 px
+Smoothing iterations: 1
+Active areas (mm): 11., 26., 70.
+Curvatures (1/mm): 0.0004240813, 0.0004191677, 0.0004036773
+Bspline coefficients: 41.1140087082, 41.3758569597, 49.2621126118, 49.0977286829, 67.0069844012, 61.3072035669, 70.222065448 , 67.6821373352, 70.81197485  ,  0.          ,  0.          ,  0.          ,  0.          ,  0.          ,  0.          
+x range of center line (px): [ 1, 1146 ]
+x-values of active areas (px): 1144.4207146416, 1142.1844020964, 1134.9781468607
diff --git a/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-46/fbgdata.xlsx b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-46/fbgdata.xlsx
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diff --git a/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-49/curvature_data.xlsx b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-49/curvature_data.xlsx
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index 000000000..722584cef
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diff --git a/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-49/curvature_monofbg_01-03-2020_13-49-58.090767225.txt b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-49/curvature_monofbg_01-03-2020_13-49-58.090767225.txt
new file mode 100644
index 000000000..b0811d41e
--- /dev/null
+++ b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-49/curvature_monofbg_01-03-2020_13-49-58.090767225.txt
@@ -0,0 +1,14 @@
+Curvature of the needle @ the active areas.
+Pixels/mm: 8.85
+Configuatation:
+Curvature Determination Type: Circle fitting to Bspline
+Bspline fit: 5
+Circle Fitting Window: 10 mm
+Curvature interpolation size: 0.5px
+Smoothing Window size: 25 px
+Smoothing iterations: 1
+Active areas (mm): 11., 26., 70.
+Curvatures (1/mm): 0.0004356089, 0.0004307114, 0.0004152981
+Bspline coefficients: 41.0898700608, 41.3558067504, 49.25178685  , 48.909339517 , 67.0867687843, 61.2822990611, 70.2154573639, 67.6329554841, 70.8305756746,  0.          ,  0.          ,  0.          ,  0.          ,  0.          ,  0.          
+x range of center line (px): [ 1, 1145 ]
+x-values of active areas (px): 1143.4547102763, 1141.2683960146, 1134.2394978403
diff --git a/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-49/curvature_monofbg_01-03-2020_13-50-10.954767847.txt b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-49/curvature_monofbg_01-03-2020_13-50-10.954767847.txt
new file mode 100644
index 000000000..d53c14a07
--- /dev/null
+++ b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-49/curvature_monofbg_01-03-2020_13-50-10.954767847.txt
@@ -0,0 +1,14 @@
+Curvature of the needle @ the active areas.
+Pixels/mm: 8.85
+Configuatation:
+Curvature Determination Type: Circle fitting to Bspline
+Bspline fit: 5
+Circle Fitting Window: 10 mm
+Curvature interpolation size: 0.5px
+Smoothing Window size: 25 px
+Smoothing iterations: 1
+Active areas (mm): 11., 26., 70.
+Curvatures (1/mm): 0.0005776691, 0.0005682254, 0.0005317403
+Bspline coefficients: 41.1976540689, 41.4434904327, 50.8427370807, 52.4274797573, 76.8153919434, 68.4552121208, 74.9085967157, 67.6930378685, 70.1358914823,  0.          ,  0.          ,  0.          ,  0.          ,  0.          ,  0.          
+x range of center line (px): [ 1, 1148 ]
+x-values of active areas (px): 1145.9350156458, 1142.8443923665, 1130.4864682796
diff --git a/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-49/curvature_monofbg_01-03-2020_13-50-32.754768902.txt b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-49/curvature_monofbg_01-03-2020_13-50-32.754768902.txt
new file mode 100644
index 000000000..23f723e23
--- /dev/null
+++ b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-49/curvature_monofbg_01-03-2020_13-50-32.754768902.txt
@@ -0,0 +1,14 @@
+Curvature of the needle @ the active areas.
+Pixels/mm: 8.85
+Configuatation:
+Curvature Determination Type: Circle fitting to Bspline
+Bspline fit: 5
+Circle Fitting Window: 10 mm
+Curvature interpolation size: 0.5px
+Smoothing Window size: 25 px
+Smoothing iterations: 1
+Active areas (mm): 11., 26., 70.
+Curvatures (1/mm): 0.0003966283, 0.0003938246, 0.0003858589
+Bspline coefficients:  41.824440396 ,  43.6281058039,  56.8439160811,  72.9156078203, 116.1266747062, 111.0068830944,  92.1288467669,  73.1774329724,  67.8531442595,   0.          ,   0.          ,   0.          ,   0.          ,   0.          ,   0.          
+x range of center line (px): [ 1, 1141 ]
+x-values of active areas (px): 1140.0903409727, 1138.8639488934, 1135.3523500899
diff --git a/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-49/curvature_monofbg_01-03-2020_13-50-46.754769580.txt b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-49/curvature_monofbg_01-03-2020_13-50-46.754769580.txt
new file mode 100644
index 000000000..942334728
--- /dev/null
+++ b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-49/curvature_monofbg_01-03-2020_13-50-46.754769580.txt
@@ -0,0 +1,14 @@
+Curvature of the needle @ the active areas.
+Pixels/mm: 8.85
+Configuatation:
+Curvature Determination Type: Circle fitting to Bspline
+Bspline fit: 5
+Circle Fitting Window: 10 mm
+Curvature interpolation size: 0.5px
+Smoothing Window size: 25 px
+Smoothing iterations: 1
+Active areas (mm): 11., 26., 70.
+Curvatures (1/mm): 0.0002778769, 0.000276539 , 0.0002726531
+Bspline coefficients:  42.0969783602,  44.9295091227,  59.1911643205,  83.6060882986, 135.1944010123, 132.0599882534, 101.4108470896,  76.3419101965,  66.9648276095,   0.          ,   0.          ,   0.          ,   0.          ,   0.          ,   0.          
+x range of center line (px): [ 1, 1136 ]
+x-values of active areas (px): 1135.4815589396, 1134.7766210085, 1132.7218827251
diff --git a/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-49/curvature_monofbg_01-03-2020_13-51-01.622770300.txt b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-49/curvature_monofbg_01-03-2020_13-51-01.622770300.txt
new file mode 100644
index 000000000..398f80b9d
--- /dev/null
+++ b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-49/curvature_monofbg_01-03-2020_13-51-01.622770300.txt
@@ -0,0 +1,14 @@
+Curvature of the needle @ the active areas.
+Pixels/mm: 8.85
+Configuatation:
+Curvature Determination Type: Circle fitting to Bspline
+Bspline fit: 5
+Circle Fitting Window: 10 mm
+Curvature interpolation size: 0.5px
+Smoothing Window size: 25 px
+Smoothing iterations: 1
+Active areas (mm): 11., 26., 70.
+Curvatures (1/mm): 0.0002193164, 0.0002177258, 0.0002131382
+Bspline coefficients:  41.8478784206,  44.2835073296,  56.4223730513,  74.3106689642, 115.8668792683, 111.3168799224,  91.5683356691,  74.0582351235,  67.8173259525,   0.          ,   0.          ,   0.          ,   0.          ,   0.          ,   0.          
+x range of center line (px): [ 1, 1141 ]
+x-values of active areas (px): 1140.221795872 , 1139.165998295 , 1136.1030721041
diff --git a/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-49/curvature_monofbg_01-03-2020_13-51-23.354771351.txt b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-49/curvature_monofbg_01-03-2020_13-51-23.354771351.txt
new file mode 100644
index 000000000..eef851789
--- /dev/null
+++ b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-49/curvature_monofbg_01-03-2020_13-51-23.354771351.txt
@@ -0,0 +1,14 @@
+Curvature of the needle @ the active areas.
+Pixels/mm: 8.85
+Configuatation:
+Curvature Determination Type: Circle fitting to Bspline
+Bspline fit: 5
+Circle Fitting Window: 10 mm
+Curvature interpolation size: 0.5px
+Smoothing Window size: 25 px
+Smoothing iterations: 1
+Active areas (mm): 11., 26., 70.
+Curvatures (1/mm): 0.0004948695, 0.0004835076, 0.000359967 
+Bspline coefficients: 41.2683656592, 41.7137258612, 50.9402234784, 52.6279880334, 76.4578183159, 68.5930133647, 74.8580234522, 68.028044455 , 69.9805588924,  0.          ,  0.          ,  0.          ,  0.          ,  0.          ,  0.          
+x range of center line (px): [ 1, 1144 ]
+x-values of active areas (px): 1141.3774605328, 1137.2690173173, 1104.1294243156
diff --git a/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-49/curvature_monofbg_01-03-2020_13-51-38.686772093.txt b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-49/curvature_monofbg_01-03-2020_13-51-38.686772093.txt
new file mode 100644
index 000000000..30451fcee
--- /dev/null
+++ b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-49/curvature_monofbg_01-03-2020_13-51-38.686772093.txt
@@ -0,0 +1,14 @@
+Curvature of the needle @ the active areas.
+Pixels/mm: 8.85
+Configuatation:
+Curvature Determination Type: Circle fitting to Bspline
+Bspline fit: 5
+Circle Fitting Window: 10 mm
+Curvature interpolation size: 0.5px
+Smoothing Window size: 25 px
+Smoothing iterations: 1
+Active areas (mm): 11., 26., 70.
+Curvatures (1/mm): 0.0004345762, 0.0004296257, 0.0004140309
+Bspline coefficients: 41.1815961803, 41.2660772573, 49.3892505159, 48.9402591639, 67.068912229 , 61.2808098636, 70.3465582878, 67.7100795989, 70.8964268422,  0.          ,  0.          ,  0.          ,  0.          ,  0.          ,  0.          
+x range of center line (px): [ 1, 1145 ]
+x-values of active areas (px): 1143.4489905912, 1141.2536811834, 1134.1877943385
diff --git a/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-49/fbgdata.xlsx b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-49/fbgdata.xlsx
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diff --git a/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-52/curvature_data.xlsx b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-52/curvature_data.xlsx
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index 000000000..d56b7541f
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diff --git a/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-52/curvature_monofbg_01-03-2020_13-52-24.754774323.txt b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-52/curvature_monofbg_01-03-2020_13-52-24.754774323.txt
new file mode 100644
index 000000000..4ebec01b9
--- /dev/null
+++ b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-52/curvature_monofbg_01-03-2020_13-52-24.754774323.txt
@@ -0,0 +1,14 @@
+Curvature of the needle @ the active areas.
+Pixels/mm: 8.85
+Configuatation:
+Curvature Determination Type: Circle fitting to Bspline
+Bspline fit: 5
+Circle Fitting Window: 10 mm
+Curvature interpolation size: 0.5px
+Smoothing Window size: 25 px
+Smoothing iterations: 1
+Active areas (mm): 11., 26., 70.
+Curvatures (1/mm): 0.0005232471, 0.0005180209, 0.0005015869
+Bspline coefficients: 41.1514179133, 41.3698247357, 49.3743520924, 49.1545403847, 67.7024922569, 61.4885459386, 70.9201709579, 67.3588800144, 70.9147033222,  0.          ,  0.          ,  0.          ,  0.          ,  0.          ,  0.          
+x range of center line (px): [ 1, 1145 ]
+x-values of active areas (px): 1143.6111578462, 1141.6489565622, 1135.3621421935
diff --git a/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-52/curvature_monofbg_01-03-2020_13-52-37.886774958.txt b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-52/curvature_monofbg_01-03-2020_13-52-37.886774958.txt
new file mode 100644
index 000000000..74f8dd03a
--- /dev/null
+++ b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-52/curvature_monofbg_01-03-2020_13-52-37.886774958.txt
@@ -0,0 +1,14 @@
+Curvature of the needle @ the active areas.
+Pixels/mm: 8.85
+Configuatation:
+Curvature Determination Type: Circle fitting to Bspline
+Bspline fit: 5
+Circle Fitting Window: 10 mm
+Curvature interpolation size: 0.5px
+Smoothing Window size: 25 px
+Smoothing iterations: 1
+Active areas (mm): 11., 26., 70.
+Curvatures (1/mm): 0.0005966571, 0.0005850963, 0.0005084987
+Bspline coefficients: 41.1877891841, 41.8983169763, 50.35711475  , 53.5637676434, 75.9526709972, 71.4069357652, 75.919434529 , 67.9206581359, 70.0645087583,  0.          ,  0.          ,  0.          ,  0.          ,  0.          ,  0.          
+x range of center line (px): [ 1, 1145 ]
+x-values of active areas (px): 1142.6178895592, 1138.9162624478, 1116.5982933966
diff --git a/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-52/curvature_monofbg_01-03-2020_13-52-54.554775765.txt b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-52/curvature_monofbg_01-03-2020_13-52-54.554775765.txt
new file mode 100644
index 000000000..aa82e06a1
--- /dev/null
+++ b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-52/curvature_monofbg_01-03-2020_13-52-54.554775765.txt
@@ -0,0 +1,14 @@
+Curvature of the needle @ the active areas.
+Pixels/mm: 8.85
+Configuatation:
+Curvature Determination Type: Circle fitting to Bspline
+Bspline fit: 5
+Circle Fitting Window: 10 mm
+Curvature interpolation size: 0.5px
+Smoothing Window size: 25 px
+Smoothing iterations: 1
+Active areas (mm): 11., 26., 70.
+Curvatures (1/mm): 0.0006854794, 0.0006739814, 0.0006462689
+Bspline coefficients: 41.3397937034, 42.9130782643, 53.3146495873, 64.4516562952, 96.1681839899, 96.3805968669, 89.6832960649, 70.3723642253, 68.362700221 ,  0.          ,  0.          ,  0.          ,  0.          ,  0.          ,  0.          
+x range of center line (px): [ 1, 1145 ]
+x-values of active areas (px): 1142.7157952539, 1139.9400106482, 1133.1190126527
diff --git a/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-52/curvature_monofbg_01-03-2020_13-53-11.954776607.txt b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-52/curvature_monofbg_01-03-2020_13-53-11.954776607.txt
new file mode 100644
index 000000000..0acb06d44
--- /dev/null
+++ b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-52/curvature_monofbg_01-03-2020_13-53-11.954776607.txt
@@ -0,0 +1,14 @@
+Curvature of the needle @ the active areas.
+Pixels/mm: 8.85
+Configuatation:
+Curvature Determination Type: Circle fitting to Bspline
+Bspline fit: 5
+Circle Fitting Window: 10 mm
+Curvature interpolation size: 0.5px
+Smoothing Window size: 25 px
+Smoothing iterations: 1
+Active areas (mm): 11., 26., 70.
+Curvatures (1/mm): 0.0002505383, 0.0002484871, 0.0002425534
+Bspline coefficients:  41.4473787492,  44.4274181792,  55.4824611158,  76.4719606505, 115.1518297679, 122.877655612 , 101.5647531859,  74.5086776706,  65.318671239 ,   0.          ,   0.          ,   0.          ,   0.          ,   0.          ,   0.          
+x range of center line (px): [ 1, 1143 ]
+x-values of active areas (px): 1142.4712778011, 1141.7532165547, 1139.6655627967
diff --git a/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-52/curvature_monofbg_01-03-2020_13-53-28.022777385.txt b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-52/curvature_monofbg_01-03-2020_13-53-28.022777385.txt
new file mode 100644
index 000000000..4016ff157
--- /dev/null
+++ b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-52/curvature_monofbg_01-03-2020_13-53-28.022777385.txt
@@ -0,0 +1,14 @@
+Curvature of the needle @ the active areas.
+Pixels/mm: 8.85
+Configuatation:
+Curvature Determination Type: Circle fitting to Bspline
+Bspline fit: 5
+Circle Fitting Window: 10 mm
+Curvature interpolation size: 0.5px
+Smoothing Window size: 25 px
+Smoothing iterations: 1
+Active areas (mm): 11., 26., 70.
+Curvatures (1/mm): 0.0005821346, 0.0005732939, 0.0005508126
+Bspline coefficients: 41.2198619309, 42.9314726347, 53.7265179881, 65.1333186087, 98.6863096307, 95.5837822774, 88.8719722891, 70.5640163781, 68.0882269136,  0.          ,  0.          ,  0.          ,  0.          ,  0.          ,  0.          
+x range of center line (px): [ 1, 1144 ]
+x-values of active areas (px): 1142.1016849166, 1139.6956677061, 1133.4695553126
diff --git a/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-52/curvature_monofbg_01-03-2020_13-53-43.554778137.txt b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-52/curvature_monofbg_01-03-2020_13-53-43.554778137.txt
new file mode 100644
index 000000000..c01c81eca
--- /dev/null
+++ b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-52/curvature_monofbg_01-03-2020_13-53-43.554778137.txt
@@ -0,0 +1,14 @@
+Curvature of the needle @ the active areas.
+Pixels/mm: 8.85
+Configuatation:
+Curvature Determination Type: Circle fitting to Bspline
+Bspline fit: 5
+Circle Fitting Window: 10 mm
+Curvature interpolation size: 0.5px
+Smoothing Window size: 25 px
+Smoothing iterations: 1
+Active areas (mm): 11., 26., 70.
+Curvatures (1/mm): 0.0006026444, 0.0005914647, 0.000539818 
+Bspline coefficients: 41.0376867786, 41.4036071398, 50.4375876791, 53.0199742538, 76.3532156657, 69.9491761353, 75.9739152571, 67.7791747922, 70.0508488043,  0.          ,  0.          ,  0.          ,  0.          ,  0.          ,  0.          
+x range of center line (px): [ 0, 1146 ]
+x-values of active areas (px): 1143.7608760392, 1140.3249004083, 1123.7371765452
diff --git a/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-52/curvature_monofbg_01-03-2020_13-53-56.554778766.txt b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-52/curvature_monofbg_01-03-2020_13-53-56.554778766.txt
new file mode 100644
index 000000000..bf2b85780
--- /dev/null
+++ b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-52/curvature_monofbg_01-03-2020_13-53-56.554778766.txt
@@ -0,0 +1,14 @@
+Curvature of the needle @ the active areas.
+Pixels/mm: 8.85
+Configuatation:
+Curvature Determination Type: Circle fitting to Bspline
+Bspline fit: 5
+Circle Fitting Window: 10 mm
+Curvature interpolation size: 0.5px
+Smoothing Window size: 25 px
+Smoothing iterations: 1
+Active areas (mm): 11., 26., 70.
+Curvatures (1/mm): 0.000629181 , 0.0006245483, 0.0006102527
+Bspline coefficients: 40.901772478 , 40.9472818997, 48.6872282166, 49.0209305684, 66.4491752737, 61.2373263666, 70.0997516507, 66.7248196557, 71.0532077989,  0.          ,  0.          ,  0.          ,  0.          ,  0.          ,  0.          
+x range of center line (px): [ 0, 1144 ]
+x-values of active areas (px): 1142.863029059 , 1141.2707058774, 1136.2874214578
diff --git a/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-52/fbgdata.xlsx b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-52/fbgdata.xlsx
new file mode 100644
index 000000000..e77bf768d
Binary files /dev/null and b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-52/fbgdata.xlsx differ
diff --git a/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-52/monofbg_01-03-2020_13-52-24.754774323_processed.png b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-52/monofbg_01-03-2020_13-52-24.754774323_processed.png
new file mode 100644
index 000000000..0899c3c00
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new file mode 100644
index 000000000..936e614a8
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new file mode 100644
index 000000000..2451fb319
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new file mode 100644
index 000000000..2a60b6bdc
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new file mode 100644
index 000000000..980468e16
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new file mode 100644
index 000000000..a337b86eb
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diff --git a/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-52/monofbg_01-03-2020_13-53-56.554778766_processed.png b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-52/monofbg_01-03-2020_13-53-56.554778766_processed.png
new file mode 100644
index 000000000..2933c87f6
Binary files /dev/null and b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-52/monofbg_01-03-2020_13-53-56.554778766_processed.png differ
diff --git a/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-54/curvature_monofbg_01-03-2020_13-54-28.018780289.txt b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-54/curvature_monofbg_01-03-2020_13-54-28.018780289.txt
new file mode 100644
index 000000000..1cea5b210
--- /dev/null
+++ b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-54/curvature_monofbg_01-03-2020_13-54-28.018780289.txt
@@ -0,0 +1,14 @@
+Curvature of the needle @ the active areas.
+Pixels/mm: 8.85
+Configuatation:
+Curvature Determination Type: Circle fitting to Bspline
+Bspline fit: 5
+Circle Fitting Window: 10 mm
+Curvature interpolation size: 0.5px
+Smoothing Window size: 25 px
+Smoothing iterations: 1
+Active areas (mm): 11., 26., 70.
+Curvatures (1/mm): 0.0003650336, 0.0003581531, 0.0003346471
+Bspline coefficients: 41.0143384816, 40.7826187777, 49.3287443448, 49.1981025465, 68.5413112838, 62.2246654929, 71.5446096561, 67.7886468122, 70.1354086477,  0.          ,  0.          ,  0.          ,  0.          ,  0.          ,  0.          
+x range of center line (px): [ 0, 1145 ]
+x-values of active areas (px): 1142.8699664862, 1139.7638206369, 1128.7857039778
diff --git a/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-54/curvature_monofbg_01-03-2020_13-54-40.550780895.txt b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-54/curvature_monofbg_01-03-2020_13-54-40.550780895.txt
new file mode 100644
index 000000000..2ff1a6880
--- /dev/null
+++ b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-54/curvature_monofbg_01-03-2020_13-54-40.550780895.txt
@@ -0,0 +1,14 @@
+Curvature of the needle @ the active areas.
+Pixels/mm: 8.85
+Configuatation:
+Curvature Determination Type: Circle fitting to Bspline
+Bspline fit: 5
+Circle Fitting Window: 10 mm
+Curvature interpolation size: 0.5px
+Smoothing Window size: 25 px
+Smoothing iterations: 1
+Active areas (mm): 11., 26., 70.
+Curvatures (1/mm): 0.0004530045, 0.0004324249, 0.0003688112
+Bspline coefficients: 40.9678128755, 41.4709481252, 50.6541646643, 55.2307090085, 79.7211628208, 76.3452334645, 80.6433923587, 69.1692227903, 69.389532913 ,  0.          ,  0.          ,  0.          ,  0.          ,  0.          ,  0.          
+x range of center line (px): [ 0, 1146 ]
+x-values of active areas (px): 1132.3485590288, 1125.7052397101, 1112.9898567763
diff --git a/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-54/monofbg_01-03-2020_13-54-28.018780289_processed.png b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-54/monofbg_01-03-2020_13-54-28.018780289_processed.png
new file mode 100644
index 000000000..2eef391ed
Binary files /dev/null and b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-54/monofbg_01-03-2020_13-54-28.018780289_processed.png differ
diff --git a/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-54/monofbg_01-03-2020_13-54-40.550780895_processed.png b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-54/monofbg_01-03-2020_13-54-40.550780895_processed.png
new file mode 100644
index 000000000..2b6ad22ab
Binary files /dev/null and b/FBG_Needle_Calibration_Data/needle_1/Validation/30deg/01-03-20_13-54/monofbg_01-03-2020_13-54-40.550780895_processed.png differ
diff --git a/FBG_Needle_Calibration_Data/needle_1/Validation/Sanity_Check/01-03-20_SanityCheck_ValidationResults.xlsx b/FBG_Needle_Calibration_Data/needle_1/Validation/Sanity_Check/01-03-20_SanityCheck_ValidationResults.xlsx
new file mode 100644
index 000000000..c2557df27
Binary files /dev/null and b/FBG_Needle_Calibration_Data/needle_1/Validation/Sanity_Check/01-03-20_SanityCheck_ValidationResults.xlsx differ
diff --git a/FBG_Needle_Calibration_Data/needle_1/needle_params.csv b/FBG_Needle_Calibration_Data/needle_1/needle_params.csv
index 55406bea2..e743997f2 100644
--- a/FBG_Needle_Calibration_Data/needle_1/needle_params.csv
+++ b/FBG_Needle_Calibration_Data/needle_1/needle_params.csv
@@ -11,15 +11,14 @@ AA2:,,
 AA3:,,
 4.12E-05,5.83E-04,-6.24E-04
 -6.37E-04,3.35E-04,3.01E-04
-AA1:
--5.81820073e-05, 1.16238142e-03,-1.10419941e-03,
- -4.45750900e-04, 2.66050968e-04, 1.79699932e-04
-
-AA2:
--1.14268981e-04, 4.73748640e-04,-3.59479659e-04,
- -3.49187977e-04, 2.49821306e-04, 9.93666704e-05
-
-AA3:
- 4.11684374e-05, 5.82600998e-04,-6.23769435e-04,
- -6.36611819e-04, 3.35197061e-04, 3.01414758e-04
-
+AA1:,,
+-5.82E-05,1.16E-03,-1.10E-03
+-4.46E-04,2.66E-04,1.80E-04
+,,
+AA2:,,
+-1.14E-04,4.74E-04,-3.59E-04
+-3.49E-04,2.50E-04,9.94E-05
+,,
+AA3:,,
+4.12E-05,5.83E-04,-6.24E-04
+-6.37E-04,3.35E-04,3.01E-04
diff --git a/Output/error_5x30_squares_l-2mm_space-4mm_updated.png b/Output/error_5x30_squares_l-2mm_space-4mm_updated.png
new file mode 100644
index 000000000..e738ea9e9
Binary files /dev/null and b/Output/error_5x30_squares_l-2mm_space-4mm_updated.png differ
diff --git a/src/calibrationMatrix.py b/src/calibrationMatrix.py
index d1e6548e5..33163570e 100644
--- a/src/calibrationMatrix.py
+++ b/src/calibrationMatrix.py
@@ -621,7 +621,7 @@ def main_test():
 
 def main_calmat():
     directory = "../FBG_Needle_Calibration_Data/needle_1/"
-    datadir = directory + "Calibration/"
+    datadir = directory + "Jig_Calibration/"
     datafile = "Data Matrices.xlsx"
     needleparamfile = "needle_params.csv"
     lstsq_logfile = "least_sq.log"
@@ -640,7 +640,7 @@ def main_calmat():
 #     # for
 
     calibration_matrices = leastsq_fit( calibration_data, directory + lstsq_logfile )
-    write_calibration_matrices( directory + needleparamfile, calibration_matrices )
+    write_calibration_matrices( datadir + needleparamfile, calibration_matrices )
     print( f"Wrote calibration matrices to '{needleparamfile}'" )
     
 # main_calmat
diff --git a/src/error_calc.py b/src/error_calc.py
index abc7dedaf..3036bb006 100644
--- a/src/error_calc.py
+++ b/src/error_calc.py
@@ -15,31 +15,40 @@ def set_ROI( image ):
 	# endY = image.shape[0] - 300
 
 	# # square grid
-	startX = 120
-	endX = image.shape[1] - 135
-	startY = 405
-	endY = image.shape[0] - 370
+	# startX = 120
+	# endX = image.shape[1] - 135
+	# startY = 405
+	# endY = image.shape[0] - 370
+
+	# # square grid
+	startX = 40
+	endX = 1055
+	startY = 380
+	endY = 575
 
 	cropped = image[startY:endY, startX:endX]
 	# cv2.imshow('cropped', cropped)
 	# cv2.waitKey(0)
+	# cv2.destroyAllWindows()
 	return cropped
 
 
 def invert_binary( cropped_img ):
-	thresh = 100
+	thresh = 200
 	binary_img = np.copy( cropped_img )
-	cv2.imshow( 'original', binary_img )
+	# cv2.imshow( 'original', binary_img )
 	binary_img = cv2.bilateralFilter( binary_img, 3, sigmaColor = 100, sigmaSpace = 100 )
-	cv2.imshow( 'bilateralFilter', binary_img )
+	# cv2.imshow( 'bilateralFilter', binary_img )
 
 	binary_img[binary_img < thresh] = 0
 	binary_img[binary_img != 0] = 255
 
-	cv2.imshow( 'binary_img', binary_img )
-	cv2.waitKey( 0 )
+	# cv2.imshow( 'binary_img', binary_img )
 
 	invert_img = 255 - binary_img
+	# cv2.imshow('inverted_img', invert_img)
+	# cv2.waitKey( 0 )
+	# cv2.destroyAllWindows()
 
 	return invert_img
 
@@ -75,15 +84,17 @@ def measure_distances( center_points ):
 	                                               distances.shape )
 	print( x_center_idx )
 	print( y_center_idx )
+	# print(distances)
 	
 	return distances, x_center_idx, y_center_idx
 
 # measure_distances
 
 
-def expected_distances( center_indices: tuple ):
-	pix_to_mm = 8.498439767625596
-	pix_spacing = 4 * pix_to_mm 
+def expected_distances( center_separation, center_indices: tuple ):
+	# pix_to_mm = 8.498439767625596
+	pix_to_mm = 8.85
+	pix_spacing = center_separation * pix_to_mm 
 	x_center_idx, y_center_idx = center_indices
 	v_distances = np.arange( -x_center_idx, 30 - x_center_idx )
 	h_distances = np.arange( -y_center_idx, 5 - y_center_idx )
@@ -91,6 +102,7 @@ def expected_distances( center_indices: tuple ):
 	exp_distances = np.array( [np.linalg.norm( d ) for d in
 	                            itertools.product( h_distances, v_distances )] )
 	exp_distances *= pix_spacing
+	# print(exp_distances.reshape(5,30))
 	
 	return ( exp_distances )
 
@@ -209,7 +221,7 @@ def plot_error( dist_baseline, sorted_circles ):
 	plt.ylabel( 'Error (measured - baseline) (mm)' )
 	text = 'mean error: %.3f \n max error: %.3f \n min error: %.3f' % ( np.mean( error ), np.amax( error ), np.amin( error ) )
 	# print(text)
-	plt.text( 0, -0.55, text )
+	plt.text( 0, -0.2, text )
 
 	for r in range( rows ):
 		marker = color_list[r] + '.'
@@ -230,10 +242,14 @@ def plot_error( dist_baseline, sorted_circles ):
 
 def plot_error_center( num_rows, num_cols, measured_distances, expected_distances ):
 	# error = dist_measured - dist_baseline
-	pix_to_mm = 8.498439767625596
+	# pix_to_mm = 8.498439767625596
+	pix_to_mm = 8.85
 	dist_baseline = expected_distances.reshape( ( num_rows, num_cols ) )
 	error = ( measured_distances - dist_baseline ) / pix_to_mm
 
+	pix_to_mm_calc = measured_distances[measured_distances != 0] / (dist_baseline[dist_baseline != 0] / pix_to_mm)
+	print(np.mean(pix_to_mm_calc))
+
 	# # plot error vs. distance
 	rows = dist_baseline.shape[0]
 	cols = dist_baseline.shape[1]
@@ -255,8 +271,8 @@ def plot_error_center( num_rows, num_cols, measured_distances, expected_distance
 	plt.xlabel( 'Distance (mm)' )
 	plt.ylabel( 'Error (measured - baseline) (mm)' )
 	text = 'mean error: %.3f \n max error: %.3f \n min error: %.3f' % ( np.mean( error ), np.amax( error ), np.amin( error ) )
-	# print(text)
-	plt.text( 0, -0.55, text )
+	print(text)
+	plt.text( 0, -0.85, text )
 
 	for r in range( rows ):
 		marker = color_list[r] + '.'
@@ -278,23 +294,26 @@ def plot_error_center( num_rows, num_cols, measured_distances, expected_distance
 def main():
 	# filename = argv[0]
 	# filename = '5x25_circles_D-2.5mm_space-5mm.png'
-	filename = 'image_processing_binary_image_squares'
-	directory = 'Test Images/'
+	# filename = 'image_processing_binary_image_squares'
+	filename = '5x30_squares_l-2mm_space-4mm_01-07-2020'
+	directory = '../Test Images/'
 
 	num_cols = 30
 	num_rows = 5
-	center_separation = 4
+	# center_separation = 4
+	center_separation = 3.846
 
 	img, gray_image = img_proc.load_image( directory + filename + '.png' )
-	# crop_img = set_ROI(gray_image)
-	# invert_img = invert_binary(crop_img)
+	crop_img = set_ROI(gray_image)
+	invert_img = invert_binary(crop_img)
+	gray_image = np.copy(invert_img)
 	dist_baseline = baseline_distances( num_cols, num_rows, center_separation )
 	# radius, circles = get_centers(crop_img, 25, 5)
 
 	sorted_centers = get_centers_segment( gray_image, num_cols, num_rows )
 
 	measured_distances, x_center_idx, y_center_idx = measure_distances( sorted_centers.reshape( ( -1, 2 ) ) )
-	expected_dist = expected_distances( ( x_center_idx, y_center_idx ) )
+	expected_dist = expected_distances( center_separation, ( x_center_idx, y_center_idx ) )
 
 	# ## marked circle image
 	# circle_img = set_ROI(img)
@@ -309,18 +328,18 @@ def main():
 	# # cv2.waitKey(0)
 
 	# # marked square image
-	square_img = np.copy( img )
+	square_img = set_ROI(img)
 	colors = [( 255, 0, 0 ), ( 0, 255, 0 ), ( 0, 0, 255 ), ( 125, 125, 0 ), ( 0, 125, 125 )]
 	count = 0
 	for c in sorted_centers:
 		for r in range( num_cols ):
-			square_img[int( np.round( c[r, 0] ) ), int( np.round( c[r, 1] ) )] = colors[count]
-			# center = (int(c[r,1]), int(c[r,0]))
-			# cv2.circle(square_img, center, 2, colors[count], 2)
+			# square_img[int( np.round( c[r, 0] ) ), int( np.round( c[r, 1] ) )] = colors[count]
+			center = (int(c[r,1]), int(c[r,0]))
+			cv2.circle(square_img, center, 2, colors[count], 2)
 		count += 1
 	# cv2.imshow('square_img', square_img)
 	# cv2.waitKey(0)
-	cv2.imwrite( 'output/' + filename + '_square.png', square_img )
+	# cv2.imwrite( 'output/' + filename + '_square.png', square_img )
 
 	# error = plot_error(dist_baseline, sorted_centers)
 	error = plot_error_center( num_rows, num_cols, measured_distances, expected_dist )
diff --git a/src/fbgCalibration.py b/src/fbgCalibration.py
index 13476908a..aa12744ef 100644
--- a/src/fbgCalibration.py
+++ b/src/fbgCalibration.py
@@ -629,22 +629,22 @@ def main():
 
 
 if __name__ == '__main__':
-    main()
-    
-#     directory = "../FBG_Needle_Calibration_Data/needle_1/"
-#     directory += "Validation/Sanity_Check/01-03-20_11-21/"
-#     directory += "Calibration/0 deg/"
-# #     directory +="12-28-19_14-43/"
-#     directories = glob.glob( directory + '12-*' )
-#     for dir in directories:
-#         if os.path.isdir( dir ):
-#             dir += '/'
-#             print( 'Processing:', dir )
-#             process_fbgdata_directory( dir )
-#             print()
-#             
-#         # if
-# #     # for
+    # main()
+    
+    directory = "../FBG_Needle_Calibration_Data/needle_1/"
+    directory += "Jig_Calibration/"
+    # directory += "Calibration/0 deg/"
+#     directory +="12-28-19_14-43/"
+    directories = glob.glob( directory + '01-*' )
+    for dir in directories:
+        if os.path.isdir( dir ):
+            dir += '/'
+            print( 'Processing:', dir )
+            process_fbgdata_directory( dir )
+            print()
+            
+        # if
+#     # for
 #     
 #     process_fbgdata_directory( directory )