From 5b49135cf303fa63409475234fdb4d6037985ba6 Mon Sep 17 00:00:00 2001
From: Alex Bailo <alexandr.baylo@gmail.com>
Date: Thu, 12 Sep 2024 21:34:11 +0200
Subject: [PATCH 1/4] boost::filesystem to std::filesystem

---
 CMakeLists.txt                                | 12 +-------
 McCalib/CMakeLists.txt                        |  2 +-
 McCalib/include/McCalib.hpp                   |  7 +++--
 McCalib/src/Board.cpp                         | 10 ++++---
 McCalib/src/McCalib.cpp                       | 29 +++++++++----------
 apps/calibrate/CMakeLists.txt                 |  2 +-
 apps/calibrate/src/calibrate.cpp              |  3 +-
 apps/create_charuco_boards/CMakeLists.txt     |  2 +-
 .../src/create_charuco_boards.cpp             |  4 +--
 tests/CMakeLists.txt                          |  2 +-
 tests/test_calibration.cpp                    | 23 ++++++++-------
 11 files changed, 45 insertions(+), 51 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4137fe09..d3ad2c86 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -16,19 +16,9 @@ find_package(Ceres REQUIRED)
 # boost related setup
 set(Boost_USE_STATIC_LIBS ON)
 set(Boost_USE_MULTITHREADED ON)
-find_package(Boost COMPONENTS log system filesystem REQUIRED)
+find_package(Boost COMPONENTS log system REQUIRED)
 message(STATUS "Boost version: ${Boost_VERSION}")
 
-# This is needed if your Boost version is newer than your CMake version
-# or if you have an old version of CMake (<3.5)
-if(NOT TARGET Boost::filesystem)
-    add_library(Boost::filesystem IMPORTED INTERFACE)
-    set_property(TARGET Boost::filesystem PROPERTY
-        INTERFACE_INCLUDE_DIRECTORIES ${Boost_INCLUDE_DIR})
-    set_property(TARGET Boost::filesystem PROPERTY
-        INTERFACE_LINK_LIBRARIES ${Boost_LIBRARIES})
-endif()
-
 IF(SSSE3_FOUND)
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -msse3")
 ENDIF(SSSE3_FOUND)
diff --git a/McCalib/CMakeLists.txt b/McCalib/CMakeLists.txt
index fcaa6dcc..8f87ea42 100644
--- a/McCalib/CMakeLists.txt
+++ b/McCalib/CMakeLists.txt
@@ -5,4 +5,4 @@ add_library(McCalib STATIC ${MC_CALIB_HEADERS} ${MC_CALIB_SOURCES})
 set_target_properties(McCalib PROPERTIES VERSION ${PROJECT_VERSION})
 target_include_directories(McCalib PUBLIC include)
 target_include_directories(McCalib PUBLIC src)
-target_link_libraries(McCalib PUBLIC -L/usr/local/lib ${OpenCV_LIBS} ${CERES_LIBRARIES} Boost::log Boost::system Boost::filesystem)
\ No newline at end of file
+target_link_libraries(McCalib PUBLIC -L/usr/local/lib ${OpenCV_LIBS} ${CERES_LIBRARIES} Boost::log Boost::system)
\ No newline at end of file
diff --git a/McCalib/include/McCalib.hpp b/McCalib/include/McCalib.hpp
index ea27ebf6..50caaee1 100644
--- a/McCalib/include/McCalib.hpp
+++ b/McCalib/include/McCalib.hpp
@@ -1,14 +1,15 @@
 #pragma once
 
-#include "boost/filesystem.hpp"
-#include "opencv2/core/core.hpp"
+#include <filesystem>
 #include <iostream>
 #include <mutex>
 #include <numeric>
+#include <stdio.h>
+
+#include "opencv2/core/core.hpp"
 #include <opencv2/aruco/charuco.hpp>
 #include <opencv2/calib3d.hpp>
 #include <opencv2/opencv.hpp>
-#include <stdio.h>
 
 #include "Board.hpp"
 #include "BoardObs.hpp"
diff --git a/McCalib/src/Board.cpp b/McCalib/src/Board.cpp
index 7e939b8d..75821db1 100644
--- a/McCalib/src/Board.cpp
+++ b/McCalib/src/Board.cpp
@@ -1,10 +1,12 @@
-#include "boost/filesystem.hpp"
-#include "opencv2/core/core.hpp"
+
+#include <filesystem>
 #include <iostream>
 #include <numeric>
+#include <stdio.h>
+
+#include "opencv2/core/core.hpp"
 #include <opencv2/aruco/charuco.hpp>
 #include <opencv2/opencv.hpp>
-#include <stdio.h>
 
 #include "Board.hpp"
 #include "Frame.hpp"
@@ -23,7 +25,7 @@ Board::Board(const std::string config_path, const int board_idx) {
   int nb_board;
   cv::FileStorage fs; // FileStorage object to read calibration params from file
   const bool is_file_available =
-      boost::filesystem::exists(config_path) && config_path.length() > 0;
+      std::filesystem::exists(config_path) && config_path.length() > 0;
   if (!is_file_available) {
     LOG_FATAL << "Config path '" << config_path << "' doesn't exist.";
     return;
diff --git a/McCalib/src/McCalib.cpp b/McCalib/src/McCalib.cpp
index 8d0f3ad1..d9e464e8 100644
--- a/McCalib/src/McCalib.cpp
+++ b/McCalib/src/McCalib.cpp
@@ -28,7 +28,7 @@ Calibration::Calibration(const std::string config_path) {
   int nb_x_square, nb_y_square;
   float length_square, length_marker;
   const bool is_file_available =
-      boost::filesystem::exists(config_path) && config_path.length() > 0;
+      std::filesystem::exists(config_path) && config_path.length() > 0;
   if (!is_file_available) {
     LOG_FATAL << "Config path '" << config_path << "' doesn't exist.";
     return;
@@ -94,8 +94,8 @@ Calibration::Calibration(const std::string config_path) {
            << "   Distortion mode : " << distortion_model;
 
   // check if the save dir exist and create it if it does not
-  if (!boost::filesystem::exists(save_path_) && save_path_.length() > 0) {
-    boost::filesystem::create_directories(save_path_);
+  if (!std::filesystem::exists(save_path_) && save_path_.length() > 0) {
+    std::filesystem::create_directories(save_path_);
   }
 
   // prepare the distortion type per camera
@@ -229,7 +229,7 @@ void Calibration::loadDetectedKeypoints() {
  */
 void Calibration::boardExtraction() {
   if (!keypoints_path_.empty() && keypoints_path_ != "None" &&
-      boost::filesystem::exists(keypoints_path_)) {
+      std::filesystem::exists(keypoints_path_)) {
     loadDetectedKeypoints();
   } else {
     detectBoards();
@@ -657,9 +657,8 @@ void Calibration::insertNewObjectObservation(
 void Calibration::initializeCalibrationAllCam() {
   if (!cam_params_path_.empty() && cam_params_path_ != "None") {
     cv::FileStorage fs;
-    const bool is_file_available =
-        boost::filesystem::exists(cam_params_path_) &&
-        cam_params_path_.length() > 0;
+    const bool is_file_available = std::filesystem::exists(cam_params_path_) &&
+                                   cam_params_path_.length() > 0;
     if (!is_file_available) {
       LOG_FATAL << "Camera parameters path '" << cam_params_path_
                 << "' doesn't exist.";
@@ -1892,11 +1891,11 @@ void Calibration::saveReprojectionImages(const int cam_id) {
   std::string path_save = path_root + cam_folder + "/";
 
   // check if the file exist and create it if it does not
-  if (!boost::filesystem::exists(path_root) && path_root.length() > 0) {
-    boost::filesystem::create_directories(path_root);
+  if (!std::filesystem::exists(path_root) && path_root.length() > 0) {
+    std::filesystem::create_directories(path_root);
   }
-  if (!boost::filesystem::exists(path_save) && path_root.length() > 0) {
-    boost::filesystem::create_directory(path_save);
+  if (!std::filesystem::exists(path_save) && path_root.length() > 0) {
+    std::filesystem::create_directory(path_save);
   }
 
   std::shared_ptr<Camera> cam = cams_[cam_id];
@@ -2004,11 +2003,11 @@ void Calibration::saveDetectionImages(const int cam_id) {
   std::string path_save = path_root + cam_folder + "/";
 
   // check if the file exist and create it if it does not
-  if (!boost::filesystem::exists(path_root) && path_root.length() > 0) {
-    boost::filesystem::create_directories(path_root);
+  if (!std::filesystem::exists(path_root) && path_root.length() > 0) {
+    std::filesystem::create_directories(path_root);
   }
-  if (!boost::filesystem::exists(path_save) && path_root.length() > 0) {
-    boost::filesystem::create_directory(path_save);
+  if (!std::filesystem::exists(path_save) && path_root.length() > 0) {
+    std::filesystem::create_directory(path_save);
   }
 
   std::shared_ptr<Camera> cam = cams_[cam_id];
diff --git a/apps/calibrate/CMakeLists.txt b/apps/calibrate/CMakeLists.txt
index cb5c5294..fa7d2c22 100644
--- a/apps/calibrate/CMakeLists.txt
+++ b/apps/calibrate/CMakeLists.txt
@@ -3,4 +3,4 @@ set(SOURCES
 )
 
 add_executable(calibrate ${SOURCES})
-target_link_libraries(calibrate -L/usr/local/lib ${OpenCV_LIBS} ${CERES_LIBRARIES} Boost::log Boost::system Boost::filesystem McCalib)
+target_link_libraries(calibrate -L/usr/local/lib ${OpenCV_LIBS} ${CERES_LIBRARIES} Boost::log Boost::system McCalib)
diff --git a/apps/calibrate/src/calibrate.cpp b/apps/calibrate/src/calibrate.cpp
index 412e5fde..97a45751 100644
--- a/apps/calibrate/src/calibrate.cpp
+++ b/apps/calibrate/src/calibrate.cpp
@@ -1,4 +1,5 @@
 #include <chrono>
+#include <filesystem>
 #include <iomanip>
 #include <stdio.h>
 
@@ -87,7 +88,7 @@ int main(int argc, char *argv[]) {
   (void)argc; // casting to fix -Werror=unused-parameter
   const std::string config_path = argv[1];
   const bool is_file_available =
-      boost::filesystem::exists(config_path) && config_path.length() > 0;
+      std::filesystem::exists(config_path) && config_path.length() > 0;
   if (!is_file_available) {
     LOG_FATAL << "Config path '" << config_path << "' doesn't exist.";
     return -1;
diff --git a/apps/create_charuco_boards/CMakeLists.txt b/apps/create_charuco_boards/CMakeLists.txt
index f9c3cb1b..3b01910d 100644
--- a/apps/create_charuco_boards/CMakeLists.txt
+++ b/apps/create_charuco_boards/CMakeLists.txt
@@ -3,4 +3,4 @@ set(SOURCES
 )
 
 add_executable(generate_charuco ${SOURCES})
-target_link_libraries(generate_charuco -L/usr/local/lib ${OpenCV_LIBS} Boost::filesystem)
\ No newline at end of file
+target_link_libraries(generate_charuco -L/usr/local/lib ${OpenCV_LIBS})
\ No newline at end of file
diff --git a/apps/create_charuco_boards/src/create_charuco_boards.cpp b/apps/create_charuco_boards/src/create_charuco_boards.cpp
index 85c5905d..8c1be101 100644
--- a/apps/create_charuco_boards/src/create_charuco_boards.cpp
+++ b/apps/create_charuco_boards/src/create_charuco_boards.cpp
@@ -1,7 +1,7 @@
+#include <filesystem>
 #include <iomanip>
 #include <stdio.h>
 
-#include "boost/filesystem.hpp"
 #include <opencv2/aruco/charuco.hpp>
 #include <opencv2/opencv.hpp>
 
@@ -23,7 +23,7 @@ int main(int argc, char *argv[]) {
   std::vector<double> square_size_per_board;
   cv::FileStorage fs; // FileStorage to read calibration params from file
   const bool is_file_available =
-      boost::filesystem::exists(pathInt) && pathInt.length() > 0;
+      std::filesystem::exists(pathInt) && pathInt.length() > 0;
   if (!is_file_available) {
     std::cout << "Config path '" << pathInt << "' doesn't exist." << std::endl;
     return -1;
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 1b51190b..55c4d432 100755
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -1,4 +1,4 @@
-find_package (Boost REQUIRED COMPONENTS unit_test_framework log_setup log filesystem REQUIRED)
+find_package (Boost REQUIRED COMPONENTS unit_test_framework log_setup log REQUIRED)
 
 set(SOURCES
     main.cpp test_graph.cpp test_calibration.cpp test_geometrytools.cpp simple_unit_tests_example.cpp
diff --git a/tests/test_calibration.cpp b/tests/test_calibration.cpp
index 21679d14..3a3952b0 100644
--- a/tests/test_calibration.cpp
+++ b/tests/test_calibration.cpp
@@ -1,3 +1,4 @@
+#include <filesystem>
 #include <iomanip>
 #include <math.h>
 #include <stdio.h>
@@ -121,7 +122,7 @@ BOOST_AUTO_TEST_SUITE(CheckCalibration)
 
 BOOST_AUTO_TEST_CASE(CheckBlenderDatasetIsPlacedCorrectly) {
   std::string blender_images_path = "../data/Blender_Images";
-  bool is_path_existent = boost::filesystem::exists(blender_images_path);
+  bool is_path_existent = std::filesystem::exists(blender_images_path);
   BOOST_REQUIRE_EQUAL(is_path_existent, true);
 }
 
@@ -129,8 +130,8 @@ BOOST_AUTO_TEST_CASE(CheckCalibrationSyntheticScenario1) {
   std::string config_path =
       "../tests/configs_for_end2end_tests/calib_param_synth_Scenario1.yml";
   std::string gt_path = "../data/Blender_Images/Scenario_1/GroundTruth.yml";
-  BOOST_REQUIRE_EQUAL(boost::filesystem::exists(config_path), true);
-  BOOST_REQUIRE_EQUAL(boost::filesystem::exists(gt_path), true);
+  BOOST_REQUIRE_EQUAL(std::filesystem::exists(config_path), true);
+  BOOST_REQUIRE_EQUAL(std::filesystem::exists(gt_path), true);
   calibrateAndCheckGt(config_path, gt_path);
 }
 
@@ -138,8 +139,8 @@ BOOST_AUTO_TEST_CASE(CheckCalibrationSyntheticScenario2) {
   std::string config_path =
       "../tests/configs_for_end2end_tests/calib_param_synth_Scenario2.yml";
   std::string gt_path = "../data/Blender_Images/Scenario_2/GroundTruth.yml";
-  BOOST_REQUIRE_EQUAL(boost::filesystem::exists(config_path), true);
-  BOOST_REQUIRE_EQUAL(boost::filesystem::exists(gt_path), true);
+  BOOST_REQUIRE_EQUAL(std::filesystem::exists(config_path), true);
+  BOOST_REQUIRE_EQUAL(std::filesystem::exists(gt_path), true);
   calibrateAndCheckGt(config_path, gt_path);
 }
 
@@ -147,8 +148,8 @@ BOOST_AUTO_TEST_CASE(CheckCalibrationSyntheticScenario3) {
   std::string config_path =
       "../tests/configs_for_end2end_tests/calib_param_synth_Scenario3.yml";
   std::string gt_path = "../data/Blender_Images/Scenario_3/GroundTruth.yml";
-  BOOST_REQUIRE_EQUAL(boost::filesystem::exists(config_path), true);
-  BOOST_REQUIRE_EQUAL(boost::filesystem::exists(gt_path), true);
+  BOOST_REQUIRE_EQUAL(std::filesystem::exists(config_path), true);
+  BOOST_REQUIRE_EQUAL(std::filesystem::exists(gt_path), true);
   calibrateAndCheckGt(config_path, gt_path);
 }
 
@@ -156,8 +157,8 @@ BOOST_AUTO_TEST_CASE(CheckCalibrationSyntheticScenario4) {
   std::string config_path =
       "../tests/configs_for_end2end_tests/calib_param_synth_Scenario4.yml";
   std::string gt_path = "../data/Blender_Images/Scenario_4/GroundTruth.yml";
-  BOOST_REQUIRE_EQUAL(boost::filesystem::exists(config_path), true);
-  BOOST_REQUIRE_EQUAL(boost::filesystem::exists(gt_path), true);
+  BOOST_REQUIRE_EQUAL(std::filesystem::exists(config_path), true);
+  BOOST_REQUIRE_EQUAL(std::filesystem::exists(gt_path), true);
   calibrateAndCheckGt(config_path, gt_path);
 }
 
@@ -165,8 +166,8 @@ BOOST_AUTO_TEST_CASE(CheckCalibrationSyntheticScenario5) {
   std::string config_path =
       "../tests/configs_for_end2end_tests/calib_param_synth_Scenario5.yml";
   std::string gt_path = "../data/Blender_Images/Scenario_5/GroundTruth.yml";
-  BOOST_REQUIRE_EQUAL(boost::filesystem::exists(config_path), true);
-  BOOST_REQUIRE_EQUAL(boost::filesystem::exists(gt_path), true);
+  BOOST_REQUIRE_EQUAL(std::filesystem::exists(config_path), true);
+  BOOST_REQUIRE_EQUAL(std::filesystem::exists(gt_path), true);
   calibrateAndCheckGt(config_path, gt_path);
 }
 

From 089ebf80d58c458c89d74225449d294adbc5070f Mon Sep 17 00:00:00 2001
From: Alex Bailo <alexandr.baylo@gmail.com>
Date: Thu, 12 Sep 2024 21:43:46 +0200
Subject: [PATCH 2/4] Upgrade clang-lint version

---
 .github/workflows/main.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index e3ae3bd5..2d907e89 100755
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -25,7 +25,7 @@ jobs:
         uses: actions/checkout@v2  # required to mount the Github Workspace to a volume
 
       - name: Run clang-format-lint
-        uses: DoozyX/clang-format-lint-action@v0.11
+        uses: DoozyX/clang-format-lint-action@v0.18.1
         with:
           source: '.'
           exclude: './third_party ./external .git'

From 0d038815c3327b364667ea7b02f1651a8804d007 Mon Sep 17 00:00:00 2001
From: Alex Bailo <alexandr.baylo@gmail.com>
Date: Sat, 14 Sep 2024 09:09:08 +0200
Subject: [PATCH 3/4] std::string -> std::filesystem::path for paths

---
 McCalib/include/Board.hpp                     |  6 +-
 McCalib/include/Frame.hpp                     | 11 ++-
 McCalib/include/McCalib.hpp                   | 32 +++----
 McCalib/include/utilities.hpp                 | 12 +++
 McCalib/src/Board.cpp                         |  8 +-
 McCalib/src/Frame.cpp                         |  7 +-
 McCalib/src/McCalib.cpp                       | 87 ++++++++++---------
 McCalib/src/utilities.cpp                     | 21 +++++
 apps/calibrate/src/calibrate.cpp              |  9 +-
 .../src/create_charuco_boards.cpp             |  7 +-
 .../calib_param_synth_Scenario1.yml           |  4 +-
 .../calib_param_synth_Scenario2.yml           |  4 +-
 .../calib_param_synth_Scenario3.yml           |  4 +-
 .../calib_param_synth_Scenario4.yml           |  4 +-
 .../calib_param_synth_Scenario5.yml           |  4 +-
 tests/test_calibration.cpp                    | 30 ++++---
 16 files changed, 154 insertions(+), 96 deletions(-)
 create mode 100644 McCalib/include/utilities.hpp
 create mode 100644 McCalib/src/utilities.cpp

diff --git a/McCalib/include/Board.hpp b/McCalib/include/Board.hpp
index e69e5a1f..d4df609c 100644
--- a/McCalib/include/Board.hpp
+++ b/McCalib/include/Board.hpp
@@ -1,7 +1,9 @@
 #pragma once
 
-#include "opencv2/core/core.hpp"
+#include <filesystem>
 #include <iostream>
+
+#include "opencv2/core/core.hpp"
 #include <opencv2/aruco/charuco.hpp>
 #include <opencv2/opencv.hpp>
 #include <stdio.h>
@@ -45,7 +47,7 @@ class Board final {
   // Functions
   Board() = delete;
   ~Board(){};
-  Board(const std::string config, const int board_idx);
+  Board(const std::filesystem::path &config, const int board_idx);
   void insertNewBoard(std::shared_ptr<BoardObs> new_board);
   void insertNewFrame(std::shared_ptr<Frame> new_frame);
 };
diff --git a/McCalib/include/Frame.hpp b/McCalib/include/Frame.hpp
index 8ae282c9..2903ee00 100644
--- a/McCalib/include/Frame.hpp
+++ b/McCalib/include/Frame.hpp
@@ -1,10 +1,12 @@
 #pragma once
 
-#include "opencv2/core/core.hpp"
+#include <filesystem>
 #include <iostream>
+#include <stdio.h>
+
+#include "opencv2/core/core.hpp"
 #include <opencv2/aruco/charuco.hpp>
 #include <opencv2/opencv.hpp>
-#include <stdio.h>
 
 #include "BoardObs.hpp"
 #include "CameraGroupObs.hpp"
@@ -44,12 +46,13 @@ class Frame final {
       cam_group_observations_; // cam group stored
 
   // Image
-  std::map<int, std::string> frame_path_; // camera_id // path
+  std::map<int, std::filesystem::path> frame_path_; // camera_id // path
 
   // Functions
   Frame() = delete;
   ~Frame(){};
-  Frame(const int frame_idx, const int cam_idx, const std::string frame_path);
+  Frame(const int frame_idx, const int cam_idx,
+        const std::filesystem::path &frame_path);
   void insertNewBoard(std::shared_ptr<BoardObs> newBoard);
   void insertNewCamObs(std::shared_ptr<CameraObs> newCamObs);
   void insertNewObject(std::shared_ptr<Object3DObs> new_object);
diff --git a/McCalib/include/McCalib.hpp b/McCalib/include/McCalib.hpp
index 50caaee1..98f99533 100644
--- a/McCalib/include/McCalib.hpp
+++ b/McCalib/include/McCalib.hpp
@@ -44,14 +44,17 @@ class Calibration final {
   float min_perc_pts_;
 
   // images path
-  std::string root_dir_, cam_prefix_;
+  std::filesystem::path root_path_;
+  std::string cam_prefix_;
 
   // intput/output path
-  std::string cam_params_path_; // path to precalibrated cameras intrinsics
-  std::string keypoints_path_;  // path to predetected keypoints
-  std::string save_path_;       // path to save calibrated cameras parameter
-  std::string camera_params_file_name_; // file name with cameras params
-  int save_repro_, save_detect_;        // flag to save or not the images
+  std::filesystem::path
+      cam_params_path_; // path to precalibrated cameras intrinsics
+  std::filesystem::path keypoints_path_; // path to predetected keypoints
+  std::filesystem::path save_path_; // path to save calibrated cameras parameter
+  std::filesystem::path
+      camera_params_file_name_;  // file name with cameras params
+  int save_repro_, save_detect_; // flag to save or not the images
 
   // various boards size parameters
   std::vector<int> number_x_square_per_board_, number_y_square_per_board_;
@@ -142,9 +145,9 @@ class Calibration final {
   // Functions
   Calibration() = delete;
   ~Calibration(){};
-  Calibration(
-      const std::string config_path); // initialize the charuco pattern, nb
-                                      // of cameras, nb of boards etc.
+  Calibration(const std::filesystem::path
+                  &config_path); // initialize the charuco pattern, nb
+                                 // of cameras, nb of boards etc.
   Calibration(const Calibration &) = delete;
   Calibration &operator=(const Calibration &) = delete;
 
@@ -161,12 +164,11 @@ class Calibration final {
                                       // re-used to save time in detection stage
   void displayBoards(const cv::Mat image, const int cam_idx,
                      const int frame_idx);
-  void
-  insertNewBoard(const int cam_idx, const int frame_idx, const int board_idx,
-                 const std::vector<cv::Point2f> pts_2d,
-                 const std::vector<int> charuco_idx,
-                 const std::string frame_path); // insert a new board in all the
-                                                // different datastructure
+  void insertNewBoard(
+      const int cam_idx, const int frame_idx, const int board_idx,
+      const std::vector<cv::Point2f> pts_2d, const std::vector<int> charuco_idx,
+      const std::filesystem::path frame_path); // insert a new board in all the
+                                               // different datastructure
   void
   insertNewObjectObservation(std::shared_ptr<Object3DObs>
                                  new_obj_obs); // insert new object observation
diff --git a/McCalib/include/utilities.hpp b/McCalib/include/utilities.hpp
new file mode 100644
index 00000000..e10aea32
--- /dev/null
+++ b/McCalib/include/utilities.hpp
@@ -0,0 +1,12 @@
+
+#include <filesystem>
+#include <string>
+#include <vector>
+
+namespace McCalib {
+
+std::filesystem::path convertStrToPath(const std::string &item_name);
+std::vector<std::filesystem::path>
+convertVecStrToVecPath(const std::vector<std::string> &input);
+
+} // namespace McCalib
\ No newline at end of file
diff --git a/McCalib/src/Board.cpp b/McCalib/src/Board.cpp
index 75821db1..eb159de1 100644
--- a/McCalib/src/Board.cpp
+++ b/McCalib/src/Board.cpp
@@ -1,5 +1,4 @@
 
-#include <filesystem>
 #include <iostream>
 #include <numeric>
 #include <stdio.h>
@@ -18,14 +17,15 @@
  * @param config_path path to the configuration file
  * @param board_idx index of the board
  */
-Board::Board(const std::string config_path, const int board_idx) {
+Board::Board(const std::filesystem::path &config_path, const int board_idx) {
   std::vector<int> number_x_square_per_board, number_y_square_per_board;
   std::vector<double> square_size_per_board;
   std::vector<int> boards_index;
   int nb_board;
   cv::FileStorage fs; // FileStorage object to read calibration params from file
-  const bool is_file_available =
-      std::filesystem::exists(config_path) && config_path.length() > 0;
+  const bool is_file_available = std::filesystem::exists(config_path) &&
+                                 config_path.has_filename() &&
+                                 config_path.extension() == ".yml";
   if (!is_file_available) {
     LOG_FATAL << "Config path '" << config_path << "' doesn't exist.";
     return;
diff --git a/McCalib/src/Frame.cpp b/McCalib/src/Frame.cpp
index 98ad0e48..e902d75d 100644
--- a/McCalib/src/Frame.cpp
+++ b/McCalib/src/Frame.cpp
@@ -1,13 +1,14 @@
-#include "opencv2/core/core.hpp"
 #include <iostream>
+#include <stdio.h>
+
+#include "opencv2/core/core.hpp"
 #include <opencv2/aruco/charuco.hpp>
 #include <opencv2/opencv.hpp>
-#include <stdio.h>
 
 #include "Frame.hpp"
 
 Frame::Frame(const int frame_idx, const int cam_idx,
-             const std::string frame_path) {
+             const std::filesystem::path &frame_path) {
   frame_idx_ = frame_idx;
   frame_path_[cam_idx] = frame_path;
 }
diff --git a/McCalib/src/McCalib.cpp b/McCalib/src/McCalib.cpp
index d9e464e8..dfe59101 100644
--- a/McCalib/src/McCalib.cpp
+++ b/McCalib/src/McCalib.cpp
@@ -8,6 +8,7 @@
 #include "McCalib.hpp"
 #include "logger.h"
 #include "point_refinement.h"
+#include "utilities.hpp"
 
 #include <boost/asio/post.hpp>
 #include <boost/asio/thread_pool.hpp>
@@ -20,15 +21,17 @@ namespace McCalib {
  *
  * @param config_path path to the configuration file
  */
-Calibration::Calibration(const std::string config_path) {
+Calibration::Calibration(const std::filesystem::path &config_path) {
   cv::FileStorage fs; // cv::FileStorage to read calibration params from file
   int distortion_model;
   std::vector<int> distortion_per_camera;
   std::vector<int> boards_index;
   int nb_x_square, nb_y_square;
   float length_square, length_marker;
-  const bool is_file_available =
-      std::filesystem::exists(config_path) && config_path.length() > 0;
+  const bool is_file_available = std::filesystem::exists(config_path) &&
+                                 config_path.has_filename() &&
+                                 config_path.extension() == ".yml";
+
   if (!is_file_available) {
     LOG_FATAL << "Config path '" << config_path << "' doesn't exist.";
     return;
@@ -49,7 +52,7 @@ Calibration::Calibration(const std::string config_path) {
   fs["min_perc_pts"] >> min_perc_pts_;
   fs["number_x_square"] >> nb_x_square;
   fs["number_y_square"] >> nb_y_square;
-  fs["root_path"] >> root_dir_;
+  root_path_ = convertStrToPath(fs["root_path"]);
   fs["cam_prefix"] >> cam_prefix_;
   fs["quaternion_averaging:"] >> quaternion_averaging_;
   fs["ransac_threshold"] >> ransac_thresh_;
@@ -59,10 +62,10 @@ Calibration::Calibration(const std::string config_path) {
   fs["boards_index"] >> boards_index;
   fs["length_square"] >> length_square;
   fs["length_marker"] >> length_marker;
-  fs["save_path"] >> save_path_;
-  fs["camera_params_file_name"] >> camera_params_file_name_;
-  fs["cam_params_path"] >> cam_params_path_;
-  fs["keypoints_path"] >> keypoints_path_;
+  save_path_ = convertStrToPath(fs["save_path"]);
+  camera_params_file_name_ = convertStrToPath(fs["camera_params_file_name"]);
+  cam_params_path_ = convertStrToPath(fs["cam_params_path"]);
+  keypoints_path_ = convertStrToPath(fs["keypoints_path"]);
   fs["save_reprojection"] >> save_repro_;
   fs["save_detection"] >> save_detect_;
   fs["square_size_per_board"] >> square_size_per_board_;
@@ -94,7 +97,7 @@ Calibration::Calibration(const std::string config_path) {
            << "   Distortion mode : " << distortion_model;
 
   // check if the save dir exist and create it if it does not
-  if (!std::filesystem::exists(save_path_) && save_path_.length() > 0) {
+  if (!std::filesystem::exists(save_path_) && save_path_.has_filename()) {
     std::filesystem::create_directories(save_path_);
   }
 
@@ -162,12 +165,12 @@ void Calibration::detectBoards() {
     std::stringstream ss;
     ss << std::setw(3) << std::setfill('0') << cam + 1;
     const std::string cam_nb = ss.str();
-    const std::string cam_path = root_dir_ + cam_prefix_ + cam_nb;
+    const std::filesystem::path cam_path = root_path_ / (cam_prefix_ + cam_nb);
     LOG_INFO << "Extraction camera " << cam_nb;
 
     // iterate through the images for corner extraction
     std::vector<cv::String> fn;
-    cv::glob(cam_path + "/*.*", fn, true);
+    cv::glob(cam_path / "*.*", fn, true);
 
     // filter based on allowed extensions
     std::vector<cv::String> fn_filtered;
@@ -195,7 +198,7 @@ void Calibration::loadDetectedKeypoints() {
     int img_cols;
     int img_rows;
     std::vector<int> frame_idxs;
-    std::vector<std::string> frame_paths;
+    std::vector<std::filesystem::path> frame_paths;
     std::vector<int> board_idxs;
     std::vector<std::vector<cv::Point2f>> points;
     std::vector<std::vector<int>> charuco_idxs;
@@ -203,7 +206,11 @@ void Calibration::loadDetectedKeypoints() {
     data_per_camera["img_width"] >> img_cols;
     data_per_camera["img_height"] >> img_rows;
     data_per_camera["frame_idxs"] >> frame_idxs;
-    data_per_camera["frame_paths"] >> frame_paths;
+
+    std::vector<std::string> frame_paths_str;
+    data_per_camera["frame_paths"] >> frame_paths_str;
+    frame_paths = convertVecStrToVecPath(frame_paths_str);
+
     data_per_camera["board_idxs"] >> board_idxs;
     data_per_camera["pts_2d"] >> points;
     data_per_camera["charuco_idxs"] >> charuco_idxs;
@@ -369,10 +376,10 @@ void Calibration::detectBoardsInImageWithCamera(const std::string frame_path,
  */
 void Calibration::saveCamerasParams() {
 
-  std::string save_path_camera_params =
+  const std::filesystem::path save_path_camera_params =
       (!camera_params_file_name_.empty())
-          ? save_path_ + camera_params_file_name_
-          : save_path_ + "calibrated_cameras_data.yml";
+          ? save_path_ / camera_params_file_name_
+          : save_path_ / "calibrated_cameras_data.yml";
   cv::FileStorage fs(save_path_camera_params, cv::FileStorage::WRITE);
   for (const auto &it_cam_group : cam_group_) {
     std::shared_ptr<CameraGroup> cur_cam_group = it_cam_group.second;
@@ -407,7 +414,8 @@ void Calibration::saveCamerasParams() {
  * Format: X Y Z board_id pts_id
  */
 void Calibration::save3DObj() {
-  std::string save_path_object = save_path_ + "calibrated_objects_data.yml";
+  const std::filesystem::path save_path_object =
+      save_path_ / "calibrated_objects_data.yml";
   cv::FileStorage fs(save_path_object, cv::FileStorage::WRITE);
 
   for (const auto &it_obj : object_3d_) {
@@ -448,8 +456,8 @@ void Calibration::save3DObj() {
  *
  */
 void Calibration::save3DObjPose() {
-  std::string save_path_object_pose =
-      save_path_ + "calibrated_objects_pose_data.yml";
+  const std::filesystem::path save_path_object_pose =
+      save_path_ / "calibrated_objects_pose_data.yml";
   cv::FileStorage fs(save_path_object_pose, cv::FileStorage::WRITE);
   for (const auto &it_obj : object_3d_) {
     std::shared_ptr<Object3D> cur_object = it_obj.second;
@@ -486,8 +494,8 @@ void Calibration::save3DObjPose() {
  *
  */
 void Calibration::saveDetectedKeypoints() const {
-  const std::string save_keypoint_path =
-      save_path_ + "detected_keypoints_data.yml";
+  const std::filesystem::path save_keypoint_path =
+      save_path_ / "detected_keypoints_data.yml";
   cv::FileStorage fs(save_keypoint_path, cv::FileStorage::WRITE);
 
   fs << "nb_camera" << static_cast<int>(cams_.size());
@@ -590,7 +598,7 @@ void Calibration::insertNewBoard(const int cam_idx, const int frame_idx,
                                  const int board_idx,
                                  const std::vector<cv::Point2f> pts_2d,
                                  const std::vector<int> charuco_idx,
-                                 const std::string frame_path) {
+                                 const std::filesystem::path frame_path) {
   std::shared_ptr<BoardObs> new_board = std::make_shared<BoardObs>(
       cam_idx, frame_idx, board_idx, pts_2d, charuco_idx, cams_[cam_idx],
       boards_3d_[board_idx]);
@@ -658,7 +666,8 @@ void Calibration::initializeCalibrationAllCam() {
   if (!cam_params_path_.empty() && cam_params_path_ != "None") {
     cv::FileStorage fs;
     const bool is_file_available = std::filesystem::exists(cam_params_path_) &&
-                                   cam_params_path_.length() > 0;
+                                   cam_params_path_.has_filename() &&
+                                   cam_params_path_.extension() == ".yml";
     if (!is_file_available) {
       LOG_FATAL << "Camera parameters path '" << cam_params_path_
                 << "' doesn't exist.";
@@ -1884,17 +1893,17 @@ void Calibration::refineAllCameraGroupAndObjects() {
  */
 void Calibration::saveReprojectionImages(const int cam_id) {
   // Prepare the path to save the images
-  std::string path_root = save_path_ + "Reprojection/";
+  const std::filesystem::path path_root = save_path_ / "Reprojection";
   std::stringstream ss;
   ss << std::setw(3) << std::setfill('0') << cam_id;
-  std::string cam_folder = ss.str();
-  std::string path_save = path_root + cam_folder + "/";
+  const std::string cam_folder = ss.str();
+  const std::filesystem::path path_save = path_root / cam_folder;
 
   // check if the file exist and create it if it does not
-  if (!std::filesystem::exists(path_root) && path_root.length() > 0) {
+  if (!std::filesystem::exists(path_root) && path_root.has_filename()) {
     std::filesystem::create_directories(path_root);
   }
-  if (!std::filesystem::exists(path_save) && path_root.length() > 0) {
+  if (!std::filesystem::exists(path_save) && path_root.has_filename()) {
     std::filesystem::create_directory(path_save);
   }
 
@@ -1903,7 +1912,7 @@ void Calibration::saveReprojectionImages(const int cam_id) {
   // Iterate through the frames where this camera has visibility
   for (const auto &it_frame : frames_) {
     // Open the image
-    std::string im_path = it_frame.second->frame_path_[cam_id];
+    const std::filesystem::path im_path = it_frame.second->frame_path_[cam_id];
     cv::Mat image = cv::imread(im_path);
 
     // Iterate through the camera group observations
@@ -1975,8 +1984,8 @@ void Calibration::saveReprojectionImages(const int cam_id) {
       // Save image
       std::stringstream ss1;
       ss1 << std::setw(6) << std::setfill('0') << it_frame.second->frame_idx_;
-      std::string image_name = ss1.str() + ".jpg";
-      cv::imwrite(path_save + image_name, image);
+      const std::string image_name = ss1.str() + ".jpg";
+      cv::imwrite(path_save / image_name, image);
     }
   }
 }
@@ -1996,17 +2005,17 @@ void Calibration::saveReprojectionImagesAllCam() {
  */
 void Calibration::saveDetectionImages(const int cam_id) {
   // Prepare the path to save the images
-  std::string path_root = save_path_ + "Detection/";
+  const std::filesystem::path path_root = save_path_ / "Detection";
   std::stringstream ss;
   ss << std::setw(3) << std::setfill('0') << cam_id;
   std::string cam_folder = ss.str();
-  std::string path_save = path_root + cam_folder + "/";
+  const std::filesystem::path path_save = path_root / cam_folder;
 
   // check if the file exist and create it if it does not
-  if (!std::filesystem::exists(path_root) && path_root.length() > 0) {
+  if (!std::filesystem::exists(path_root) && path_root.has_filename()) {
     std::filesystem::create_directories(path_root);
   }
-  if (!std::filesystem::exists(path_save) && path_root.length() > 0) {
+  if (!std::filesystem::exists(path_save) && path_root.has_filename()) {
     std::filesystem::create_directory(path_save);
   }
 
@@ -2015,7 +2024,7 @@ void Calibration::saveDetectionImages(const int cam_id) {
   // Iterate through the frames where this camera has visibility
   for (const auto &it_frame : frames_) {
     // Open the image
-    std::string im_path = it_frame.second->frame_path_[cam_id];
+    const std::filesystem::path im_path = it_frame.second->frame_path_[cam_id];
     cv::Mat image = cv::imread(im_path);
 
     // Iterate through the camera group observations
@@ -2055,7 +2064,7 @@ void Calibration::saveDetectionImages(const int cam_id) {
       std::stringstream ss1;
       ss1 << std::setw(6) << std::setfill('0') << it_frame.second->frame_idx_;
       std::string image_name = ss1.str() + ".jpg";
-      cv::imwrite(path_save + image_name, image);
+      cv::imwrite(path_save / image_name, image);
     }
   }
 }
@@ -2241,8 +2250,8 @@ double Calibration::computeAvgReprojectionError() {
  *
  */
 void Calibration::saveReprojectionErrorToFile() {
-  std::string save_reprojection_error =
-      save_path_ + "reprojection_error_data.yml";
+  const std::filesystem::path save_reprojection_error =
+      save_path_ / "reprojection_error_data.yml";
   cv::FileStorage fs(save_reprojection_error, cv::FileStorage::WRITE);
   cv::Mat frame_list;
   int nb_cam_group = cam_group_.size();
diff --git a/McCalib/src/utilities.cpp b/McCalib/src/utilities.cpp
new file mode 100644
index 00000000..468df8f5
--- /dev/null
+++ b/McCalib/src/utilities.cpp
@@ -0,0 +1,21 @@
+#include "utilities.hpp"
+
+namespace McCalib {
+
+std::filesystem::path convertStrToPath(const std::string &item_name) {
+  const std::filesystem::path path(item_name);
+  return path;
+}
+
+std::vector<std::filesystem::path>
+convertVecStrToVecPath(const std::vector<std::string> &input) {
+  std::vector<std::filesystem::path> out;
+  out.reserve(input.size());
+  for (const std::string &item : input) {
+    const std::filesystem::path path(item);
+    out.push_back(path);
+  }
+  return out;
+}
+
+} // namespace McCalib
\ No newline at end of file
diff --git a/apps/calibrate/src/calibrate.cpp b/apps/calibrate/src/calibrate.cpp
index 97a45751..38346629 100644
--- a/apps/calibrate/src/calibrate.cpp
+++ b/apps/calibrate/src/calibrate.cpp
@@ -6,7 +6,7 @@
 #include "McCalib.hpp"
 #include "logger.h"
 
-void runCalibrationWorkflow(std::string config_path) {
+void runCalibrationWorkflow(const std::filesystem::path &config_path) {
   // Instantiate the calibration and initialize the parameters
   McCalib::Calibration Calib(config_path);
   Calib.boardExtraction();
@@ -86,9 +86,10 @@ void runCalibrationWorkflow(std::string config_path) {
 
 int main(int argc, char *argv[]) {
   (void)argc; // casting to fix -Werror=unused-parameter
-  const std::string config_path = argv[1];
-  const bool is_file_available =
-      std::filesystem::exists(config_path) && config_path.length() > 0;
+  const std::filesystem::path config_path = argv[1];
+  const bool is_file_available = std::filesystem::exists(config_path) &&
+                                 config_path.has_filename() &&
+                                 config_path.extension() == ".yml";
   if (!is_file_available) {
     LOG_FATAL << "Config path '" << config_path << "' doesn't exist.";
     return -1;
diff --git a/apps/create_charuco_boards/src/create_charuco_boards.cpp b/apps/create_charuco_boards/src/create_charuco_boards.cpp
index 8c1be101..2aedec0b 100644
--- a/apps/create_charuco_boards/src/create_charuco_boards.cpp
+++ b/apps/create_charuco_boards/src/create_charuco_boards.cpp
@@ -14,7 +14,7 @@ int main(int argc, char *argv[]) {
   }
 
   // path of the configuration file
-  std::string pathInt = argv[1];
+  std::filesystem::path pathInt = argv[1];
   // Read the parameters from the configuration file
   int num_x_square, num_y_square, res_x, res_y, NbBoard;
   float length_square, length_marker;
@@ -22,8 +22,9 @@ int main(int argc, char *argv[]) {
   std::vector<int> resolution_x_per_board, resolution_y_per_board;
   std::vector<double> square_size_per_board;
   cv::FileStorage fs; // FileStorage to read calibration params from file
-  const bool is_file_available =
-      std::filesystem::exists(pathInt) && pathInt.length() > 0;
+  const bool is_file_available = std::filesystem::exists(pathInt) &&
+                                 pathInt.has_filename() &&
+                                 pathInt.extension() == ".yml";
   if (!is_file_available) {
     std::cout << "Config path '" << pathInt << "' doesn't exist." << std::endl;
     return -1;
diff --git a/tests/configs_for_end2end_tests/calib_param_synth_Scenario1.yml b/tests/configs_for_end2end_tests/calib_param_synth_Scenario1.yml
index 3638a08b..a3bd0079 100755
--- a/tests/configs_for_end2end_tests/calib_param_synth_Scenario1.yml
+++ b/tests/configs_for_end2end_tests/calib_param_synth_Scenario1.yml
@@ -27,7 +27,7 @@ cam_params_path: "../data/Blender_Images/Scenario_1/initial_values.yml"   # file
 fix_intrinsic: 0 #if 1 then the intrinsic parameters will not be estimated nor refined (initial value needed)
 
 ######################################## Images Parameters ###################################################
-root_path: "../data/Blender_Images/Scenario_1/Images/"
+root_path: "../data/Blender_Images/Scenario_1/Images"
 cam_prefix: "Cam_"
 
 ######################################## Optimization Parameters #############################################
@@ -38,7 +38,7 @@ number_iterations: 1000    # Max number of iterations for the non linear refinem
 he_approach: 0 #0: bootstrapped he technique, 1: traditional he
 
 ######################################## Output Parameters ###################################################
-save_path: "../data/Blender_Images/Scenario_1/Results/"
+save_path: "../data/Blender_Images/Scenario_1/Results"
 save_detection: 0
 save_reprojection: 0
 camera_params_file_name: "" # "name.yml"
diff --git a/tests/configs_for_end2end_tests/calib_param_synth_Scenario2.yml b/tests/configs_for_end2end_tests/calib_param_synth_Scenario2.yml
index 0786dc86..47fd86e9 100755
--- a/tests/configs_for_end2end_tests/calib_param_synth_Scenario2.yml
+++ b/tests/configs_for_end2end_tests/calib_param_synth_Scenario2.yml
@@ -27,7 +27,7 @@ cam_params_path: "None"   # file with cameras intrinsics to initialize the intri
 fix_intrinsic: 0 #if 1 then the intrinsic parameters will not be estimated nor refined (initial value needed)
 
 ######################################## Images Parameters ###################################################
-root_path: "../data/Blender_Images/Scenario_2/Images/"
+root_path: "../data/Blender_Images/Scenario_2/Images"
 cam_prefix: "Cam_"
 
 ######################################## Optimization Parameters #############################################
@@ -38,7 +38,7 @@ number_iterations: 1000    # Max number of iterations for the non linear refinem
 he_approach: 0 #0: bootstrapped he technique, 1: traditional he
 
 ######################################## Output Parameters ###################################################
-save_path: "../data/Blender_Images/Scenario_2/Results/"
+save_path: "../data/Blender_Images/Scenario_2/Results"
 save_detection: 0
 save_reprojection: 0
 camera_params_file_name: "" # "name.yml"
diff --git a/tests/configs_for_end2end_tests/calib_param_synth_Scenario3.yml b/tests/configs_for_end2end_tests/calib_param_synth_Scenario3.yml
index 73ed157c..d0c40e5c 100755
--- a/tests/configs_for_end2end_tests/calib_param_synth_Scenario3.yml
+++ b/tests/configs_for_end2end_tests/calib_param_synth_Scenario3.yml
@@ -28,7 +28,7 @@ cam_params_path: "None"   # file with cameras intrinsics to initialize the intri
 fix_intrinsic: 0 #if 1 then the intrinsic parameters will not be estimated nor refined (initial value needed)
 
 ######################################## Images Parameters ###################################################
-root_path: "../data/Blender_Images/Scenario_3/Images/"
+root_path: "../data/Blender_Images/Scenario_3/Images"
 cam_prefix: "Cam_"
 
 ######################################## Optimization Parameters #############################################
@@ -39,7 +39,7 @@ number_iterations: 1000    # Max number of iterations for the non linear refinem
 he_approach: 0 #0: bootstrapped he technique, 1: traditional he
 
 ######################################## Output Parameters ###################################################
-save_path: "../data/Blender_Images/Scenario_3/Results/"
+save_path: "../data/Blender_Images/Scenario_3/Results"
 save_detection: 0
 save_reprojection: 0
 camera_params_file_name: "" # "name.yml"
diff --git a/tests/configs_for_end2end_tests/calib_param_synth_Scenario4.yml b/tests/configs_for_end2end_tests/calib_param_synth_Scenario4.yml
index 32d01ba9..cf3f66e8 100755
--- a/tests/configs_for_end2end_tests/calib_param_synth_Scenario4.yml
+++ b/tests/configs_for_end2end_tests/calib_param_synth_Scenario4.yml
@@ -28,7 +28,7 @@ cam_params_path: "None"   # file with cameras intrinsics to initialize the intri
 fix_intrinsic: 0 #if 1 then the intrinsic parameters will not be estimated nor refined (initial value needed)
 
 ######################################## Images Parameters ###################################################
-root_path: "../data/Blender_Images/Scenario_4/Images/"
+root_path: "../data/Blender_Images/Scenario_4/Images"
 cam_prefix: "Cam_"
 
 ######################################## Optimization Parameters #############################################
@@ -39,7 +39,7 @@ number_iterations: 1000    # Max number of iterations for the non linear refinem
 he_approach: 0 #0: bootstrapped he technique, 1: traditional he
 
 ######################################## Output Parameters ###################################################
-save_path: "../data/Blender_Images/Scenario_4/Results/"
+save_path: "../data/Blender_Images/Scenario_4/Results"
 save_detection: 0
 save_reprojection: 0
 camera_params_file_name: "" # "name.yml"
diff --git a/tests/configs_for_end2end_tests/calib_param_synth_Scenario5.yml b/tests/configs_for_end2end_tests/calib_param_synth_Scenario5.yml
index e7705171..7f39e0b5 100755
--- a/tests/configs_for_end2end_tests/calib_param_synth_Scenario5.yml
+++ b/tests/configs_for_end2end_tests/calib_param_synth_Scenario5.yml
@@ -27,7 +27,7 @@ cam_params_path: "None"   # file with cameras intrinsics to initialize the intri
 fix_intrinsic: 0 #if 1 then the intrinsic parameters will not be estimated nor refined (initial value needed)
 
 ######################################## Images Parameters ###################################################
-root_path: "../data/Blender_Images/Scenario_5/Images/"
+root_path: "../data/Blender_Images/Scenario_5/Images"
 cam_prefix: "Cam_"
 
 ######################################## Optimization Parameters #############################################
@@ -38,7 +38,7 @@ number_iterations: 1000    # Max number of iterations for the non linear refinem
 he_approach: 0 #0: bootstrapped he technique, 1: traditional he
 
 ######################################## Output Parameters ###################################################
-save_path: "../data/Blender_Images/Scenario_5/Results/"
+save_path: "../data/Blender_Images/Scenario_5/Results"
 save_detection: 0
 save_reprojection: 0
 camera_params_file_name: "" # "name.yml"
diff --git a/tests/test_calibration.cpp b/tests/test_calibration.cpp
index 3a3952b0..3fdaceb1 100644
--- a/tests/test_calibration.cpp
+++ b/tests/test_calibration.cpp
@@ -59,7 +59,8 @@ void calibrate(McCalib::Calibration &Calib) {
   Calib.saveDetectedKeypoints();
 }
 
-void calibrateAndCheckGt(std::string config_path, std::string gt_path) {
+void calibrateAndCheckGt(const std::filesystem::path &config_path,
+                         const std::filesystem::path &gt_path) {
   McCalib::Calibration Calib(config_path);
   calibrate(Calib);
 
@@ -121,51 +122,56 @@ void calibrateAndCheckGt(std::string config_path, std::string gt_path) {
 BOOST_AUTO_TEST_SUITE(CheckCalibration)
 
 BOOST_AUTO_TEST_CASE(CheckBlenderDatasetIsPlacedCorrectly) {
-  std::string blender_images_path = "../data/Blender_Images";
+  const std::filesystem::path blender_images_path = "../data/Blender_Images";
   bool is_path_existent = std::filesystem::exists(blender_images_path);
   BOOST_REQUIRE_EQUAL(is_path_existent, true);
 }
 
 BOOST_AUTO_TEST_CASE(CheckCalibrationSyntheticScenario1) {
-  std::string config_path =
+  const std::filesystem::path config_path =
       "../tests/configs_for_end2end_tests/calib_param_synth_Scenario1.yml";
-  std::string gt_path = "../data/Blender_Images/Scenario_1/GroundTruth.yml";
+  const std::filesystem::path gt_path =
+      "../data/Blender_Images/Scenario_1/GroundTruth.yml";
   BOOST_REQUIRE_EQUAL(std::filesystem::exists(config_path), true);
   BOOST_REQUIRE_EQUAL(std::filesystem::exists(gt_path), true);
   calibrateAndCheckGt(config_path, gt_path);
 }
 
 BOOST_AUTO_TEST_CASE(CheckCalibrationSyntheticScenario2) {
-  std::string config_path =
+  const std::filesystem::path config_path =
       "../tests/configs_for_end2end_tests/calib_param_synth_Scenario2.yml";
-  std::string gt_path = "../data/Blender_Images/Scenario_2/GroundTruth.yml";
+  const std::filesystem::path gt_path =
+      "../data/Blender_Images/Scenario_2/GroundTruth.yml";
   BOOST_REQUIRE_EQUAL(std::filesystem::exists(config_path), true);
   BOOST_REQUIRE_EQUAL(std::filesystem::exists(gt_path), true);
   calibrateAndCheckGt(config_path, gt_path);
 }
 
 BOOST_AUTO_TEST_CASE(CheckCalibrationSyntheticScenario3) {
-  std::string config_path =
+  const std::filesystem::path config_path =
       "../tests/configs_for_end2end_tests/calib_param_synth_Scenario3.yml";
-  std::string gt_path = "../data/Blender_Images/Scenario_3/GroundTruth.yml";
+  const std::filesystem::path gt_path =
+      "../data/Blender_Images/Scenario_3/GroundTruth.yml";
   BOOST_REQUIRE_EQUAL(std::filesystem::exists(config_path), true);
   BOOST_REQUIRE_EQUAL(std::filesystem::exists(gt_path), true);
   calibrateAndCheckGt(config_path, gt_path);
 }
 
 BOOST_AUTO_TEST_CASE(CheckCalibrationSyntheticScenario4) {
-  std::string config_path =
+  const std::filesystem::path config_path =
       "../tests/configs_for_end2end_tests/calib_param_synth_Scenario4.yml";
-  std::string gt_path = "../data/Blender_Images/Scenario_4/GroundTruth.yml";
+  const std::filesystem::path gt_path =
+      "../data/Blender_Images/Scenario_4/GroundTruth.yml";
   BOOST_REQUIRE_EQUAL(std::filesystem::exists(config_path), true);
   BOOST_REQUIRE_EQUAL(std::filesystem::exists(gt_path), true);
   calibrateAndCheckGt(config_path, gt_path);
 }
 
 BOOST_AUTO_TEST_CASE(CheckCalibrationSyntheticScenario5) {
-  std::string config_path =
+  const std::filesystem::path config_path =
       "../tests/configs_for_end2end_tests/calib_param_synth_Scenario5.yml";
-  std::string gt_path = "../data/Blender_Images/Scenario_5/GroundTruth.yml";
+  const std::filesystem::path gt_path =
+      "../data/Blender_Images/Scenario_5/GroundTruth.yml";
   BOOST_REQUIRE_EQUAL(std::filesystem::exists(config_path), true);
   BOOST_REQUIRE_EQUAL(std::filesystem::exists(gt_path), true);
   calibrateAndCheckGt(config_path, gt_path);

From f0d1db10a2699cf030f32a310d4dda9ad0ef9e04 Mon Sep 17 00:00:00 2001
From: Alex Bailo <alexandr.baylo@gmail.com>
Date: Sat, 14 Sep 2024 09:09:22 +0200
Subject: [PATCH 4/4] Update configs

---
 README.md                                                     | 4 ++--
 configs/Blender_Images/calib_param_synth_Scenario1.yml        | 4 ++--
 configs/Blender_Images/calib_param_synth_Scenario2.yml        | 4 ++--
 configs/Blender_Images/calib_param_synth_Scenario3.yml        | 4 ++--
 configs/Blender_Images/calib_param_synth_Scenario4.yml        | 4 ++--
 configs/Blender_Images/calib_param_synth_Scenario5.yml        | 4 ++--
 configs/Blender_Images/calib_param_synth_diff_size.yml        | 4 ++--
 configs/Blender_Images/calib_param_synth_non_square.yml       | 4 ++--
 configs/Real_images/calib_param_Seq00_Stereo_vision.yml       | 4 ++--
 configs/Real_images/calib_param_Seq01_Non-overlapping.yml     | 4 ++--
 .../Real_images/calib_param_Seq02_Overlapping_multicamera.yml | 4 ++--
 configs/Real_images/calib_param_Seq03_hybrid.yml              | 4 ++--
 configs/Real_images/calib_param_Seq04_Converging_vision.yml   | 4 ++--
 .../Real_images/calib_param_Seq05_Non_overlapping_6Cam.yml    | 4 ++--
 14 files changed, 28 insertions(+), 28 deletions(-)

diff --git a/README.md b/README.md
index 916a31e6..0df511e0 100755
--- a/README.md
+++ b/README.md
@@ -160,7 +160,7 @@ min_perc_pts: 0.5           # min percentage of points visible to assume a good
 cam_params_path: "None"     # file with cameras intrinsics to initialize the intrinsic, write "None" if no initialization available 
 
 ######################################## Images Parameters ###################################################
-root_path: "../data/Synthetic_calibration_image/Scenario_1/Images/"
+root_path: "../data/Synthetic_calibration_image/Scenario_1/Images"
 cam_prefix: "Cam_"
 keypoints_path: "None"      # "path_to/detected_keypoints_data.yml" to save time on keypoint detection
 
@@ -173,7 +173,7 @@ number_iterations: 1000     # Max number of iterations for the non linear refine
 he_approach: 0              #0: bootstrapped he technique, 1: traditional he
 
 ######################################## Output Parameters ###################################################
-save_path: "experiments/Synthetic_calibration_image/Scenario_1/"
+save_path: "experiments/Synthetic_calibration_image/Scenario_1"
 save_detection: 1
 save_reprojection: 1
 camera_params_file_name: "" # "name.yml"
diff --git a/configs/Blender_Images/calib_param_synth_Scenario1.yml b/configs/Blender_Images/calib_param_synth_Scenario1.yml
index 4cb9799e..5e21ba49 100755
--- a/configs/Blender_Images/calib_param_synth_Scenario1.yml
+++ b/configs/Blender_Images/calib_param_synth_Scenario1.yml
@@ -27,7 +27,7 @@ cam_params_path: "../data/Blender_Images/Scenario_1/initial_values.yml"   # file
 fix_intrinsic: 0 #if 1 then the intrinsic parameters will not be estimated nor refined (initial value needed)
 
 ######################################## Images Parameters ###################################################
-root_path: "../data/Blender_Images/Scenario_1/Images/"
+root_path: "../data/Blender_Images/Scenario_1/Images"
 cam_prefix: "Cam_"
 keypoints_path: "../data/Blender_Images/Scenario_1/Results/detected_keypoints_data.yml" # "None" #
 
@@ -40,7 +40,7 @@ number_iterations: 1000    # Max number of iterations for the non linear refinem
 he_approach: 0 #0: bootstrapped he technique, 1: traditional he
 
 ######################################## Output Parameters ###################################################
-save_path: "../data/Blender_Images/Scenario_1/Results/"
+save_path: "../data/Blender_Images/Scenario_1/Results"
 save_detection: 0
 save_reprojection: 0
 camera_params_file_name: "" # "name.yml"
diff --git a/configs/Blender_Images/calib_param_synth_Scenario2.yml b/configs/Blender_Images/calib_param_synth_Scenario2.yml
index dcf672e3..0f52a866 100755
--- a/configs/Blender_Images/calib_param_synth_Scenario2.yml
+++ b/configs/Blender_Images/calib_param_synth_Scenario2.yml
@@ -27,7 +27,7 @@ cam_params_path: "None"   # file with cameras intrinsics to initialize the intri
 fix_intrinsic: 0 #if 1 then the intrinsic parameters will not be estimated nor refined (initial value needed)
 
 ######################################## Images Parameters ###################################################
-root_path: "../data/Blender_Images/Scenario_2/Images/"
+root_path: "../data/Blender_Images/Scenario_2/Images"
 cam_prefix: "Cam_"
 keypoints_path: "../data/Blender_Images/Scenario_2/Results/detected_keypoints_data.yml" # "None" #
 
@@ -40,7 +40,7 @@ number_iterations: 1000    # Max number of iterations for the non linear refinem
 he_approach: 0 #0: bootstrapped he technique, 1: traditional he
 
 ######################################## Output Parameters ###################################################
-save_path: "../data/Blender_Images/Scenario_2/Results/"
+save_path: "../data/Blender_Images/Scenario_2/Results"
 save_detection: 0
 save_reprojection: 0
 camera_params_file_name: "" # "name.yml"
diff --git a/configs/Blender_Images/calib_param_synth_Scenario3.yml b/configs/Blender_Images/calib_param_synth_Scenario3.yml
index fb2b1d55..05e705a9 100755
--- a/configs/Blender_Images/calib_param_synth_Scenario3.yml
+++ b/configs/Blender_Images/calib_param_synth_Scenario3.yml
@@ -28,7 +28,7 @@ cam_params_path: "None"   # file with cameras intrinsics to initialize the intri
 fix_intrinsic: 0 #if 1 then the intrinsic parameters will not be estimated nor refined (initial value needed)
 
 ######################################## Images Parameters ###################################################
-root_path: "../data/Blender_Images/Scenario_3/Images/"
+root_path: "../data/Blender_Images/Scenario_3/Images"
 cam_prefix: "Cam_"
 keypoints_path: "../data/Blender_Images/Scenario_3/Results/detected_keypoints_data.yml"  
 
@@ -41,7 +41,7 @@ number_iterations: 1000    # Max number of iterations for the non linear refinem
 he_approach: 0 #0: bootstrapped he technique, 1: traditional he
 
 ######################################## Output Parameters ###################################################
-save_path: "../data/Blender_Images/Scenario_3/Results/"
+save_path: "../data/Blender_Images/Scenario_3/Results"
 save_detection: 0
 save_reprojection: 0
 camera_params_file_name: "" # "name.yml"
diff --git a/configs/Blender_Images/calib_param_synth_Scenario4.yml b/configs/Blender_Images/calib_param_synth_Scenario4.yml
index a73f5bbd..785408cf 100755
--- a/configs/Blender_Images/calib_param_synth_Scenario4.yml
+++ b/configs/Blender_Images/calib_param_synth_Scenario4.yml
@@ -28,7 +28,7 @@ cam_params_path: "None"   # file with cameras intrinsics to initialize the intri
 fix_intrinsic: 0 #if 1 then the intrinsic parameters will not be estimated nor refined (initial value needed)
 
 ######################################## Images Parameters ###################################################
-root_path: "../data/Blender_Images/Scenario_4/Images/"
+root_path: "../data/Blender_Images/Scenario_4/Images"
 cam_prefix: "Cam_"
 keypoints_path: "../data/Blender_Images/Scenario_4/Results/detected_keypoints_data.yml" 
 
@@ -41,7 +41,7 @@ number_iterations: 1000    # Max number of iterations for the non linear refinem
 he_approach: 0 #0: bootstrapped he technique, 1: traditional he
 
 ######################################## Output Parameters ###################################################
-save_path: "../data/Blender_Images/Scenario_4/Results/"
+save_path: "../data/Blender_Images/Scenario_4/Results"
 save_detection: 0
 save_reprojection: 0
 camera_params_file_name: "" # "name.yml"
diff --git a/configs/Blender_Images/calib_param_synth_Scenario5.yml b/configs/Blender_Images/calib_param_synth_Scenario5.yml
index b2467093..b61038f2 100755
--- a/configs/Blender_Images/calib_param_synth_Scenario5.yml
+++ b/configs/Blender_Images/calib_param_synth_Scenario5.yml
@@ -27,7 +27,7 @@ cam_params_path: "None"   # file with cameras intrinsics to initialize the intri
 fix_intrinsic: 0 #if 1 then the intrinsic parameters will not be estimated nor refined (initial value needed)
 
 ######################################## Images Parameters ###################################################
-root_path: "../data/Blender_Images/Scenario_5/Images/"
+root_path: "../data/Blender_Images/Scenario_5/Images"
 cam_prefix: "Cam_"
 keypoints_path: "../data/Blender_Images/Scenario_5/Results/detected_keypoints_data.yml"  
 
@@ -40,7 +40,7 @@ number_iterations: 1000    # Max number of iterations for the non linear refinem
 he_approach: 0 #0: bootstrapped he technique, 1: traditional he
 
 ######################################## Output Parameters ###################################################
-save_path: "../data/Blender_Images/Scenario_5/Results/"
+save_path: "../data/Blender_Images/Scenario_5/Results"
 save_detection: 0
 save_reprojection: 0
 camera_params_file_name: "" # "name.yml"
diff --git a/configs/Blender_Images/calib_param_synth_diff_size.yml b/configs/Blender_Images/calib_param_synth_diff_size.yml
index d0b3186b..33a2c5bb 100755
--- a/configs/Blender_Images/calib_param_synth_diff_size.yml
+++ b/configs/Blender_Images/calib_param_synth_diff_size.yml
@@ -29,7 +29,7 @@ cam_params_path: "None"   # file with cameras intrinsics to initialize the intri
 fix_intrinsic: 0 #if 1 then the intrinsic parameters will not be estimated nor refined (initial value needed)
 
 ######################################## Images Parameters ###################################################
-root_path: "../../Data/Blender_Images/Scenario_Diff_Size/Images/"
+root_path: "../../Data/Blender_Images/Scenario_Diff_Size/Images"
 cam_prefix: "Cam_"
 
 ######################################## Optimization Parameters #############################################
@@ -40,7 +40,7 @@ number_iterations: 1000    # Max number of iterations for the non linear refinem
 he_approach: 0 #0: bootstrapped he technique, 1: traditional he
 
 ######################################## Output Parameters ###################################################
-save_path: "../../Data/Blender_Images/Scenario_Diff_Size/Results/"
+save_path: "../../Data/Blender_Images/Scenario_Diff_Size/Results"
 save_detection: 1
 save_reprojection: 1
 camera_params_file_name: "" # "name.yml"
diff --git a/configs/Blender_Images/calib_param_synth_non_square.yml b/configs/Blender_Images/calib_param_synth_non_square.yml
index 4bdb2599..3ec02f0c 100755
--- a/configs/Blender_Images/calib_param_synth_non_square.yml
+++ b/configs/Blender_Images/calib_param_synth_non_square.yml
@@ -27,7 +27,7 @@ cam_params_path: "None"   # file with cameras intrinsics to initialize the intri
 fix_intrinsic: 0 #if 1 then the intrinsic parameters will not be estimated nor refined (initial value needed)
 
 ######################################## Images Parameters ###################################################
-root_path: "../../Data/Blender_Images/Scenario_Non_Square/Images/"
+root_path: "../../Data/Blender_Images/Scenario_Non_Square/Images"
 cam_prefix: "Cam_"
 
 ######################################## Optimization Parameters #############################################
@@ -38,7 +38,7 @@ number_iterations: 1000    # Max number of iterations for the non linear refinem
 he_approach: 0 #0: bootstrapped he technique, 1: traditional he
 
 ######################################## Output Parameters ###################################################
-save_path: "../../Data/Blender_Images/Scenario_Non_Square/Results/"
+save_path: "../../Data/Blender_Images/Scenario_Non_Square/Results"
 save_detection: 1
 save_reprojection: 1
 camera_params_file_name: "" # "name.yml"
diff --git a/configs/Real_images/calib_param_Seq00_Stereo_vision.yml b/configs/Real_images/calib_param_Seq00_Stereo_vision.yml
index 405dbf17..c895fc61 100755
--- a/configs/Real_images/calib_param_Seq00_Stereo_vision.yml
+++ b/configs/Real_images/calib_param_Seq00_Stereo_vision.yml
@@ -29,7 +29,7 @@ cam_params_path: "None" # "../../Images_Plan/calibrated_cameras_data.yml"  # fil
 fix_intrinsic: 0 #if 1 then the intrinsic parameters will not be estimated nor refined (initial value needed)
 
 ######################################## Images Parameters ###################################################
-root_path: "../data/Real_Images/Seq00_Stereo_vision/" #"../../Images_Sim1Cam3Board/" # "../../Images_NonOver3/"  "../../Images_Cube/" "../../Images_Plan/" "../../Images_NonOver6Cam/"
+root_path: "../data/Real_Images/Seq00_Stereo_vision" #"../../Images_Sim1Cam3Board/" # "../../Images_NonOver3/"  "../../Images_Cube/" "../../Images_Plan/" "../../Images_NonOver6Cam/"
 cam_prefix: "Cam_"
 keypoints_path: "../data/Real_Images/Seq00_Stereo_vision/detected_keypoints_data.yml" 
 
@@ -42,7 +42,7 @@ number_iterations: 1000    # Max number of iterations for the non linear refinem
 he_approach: 0 #0: bootstrapped he technique, 1: traditional he
 
 ######################################## Output Parameters ###################################################
-save_path: "../data/Real_Images/Seq00_Stereo_vision/"
+save_path: "../data/Real_Images/Seq00_Stereo_vision"
 save_detection: 0
 save_reprojection: 0
 camera_params_file_name: ""
diff --git a/configs/Real_images/calib_param_Seq01_Non-overlapping.yml b/configs/Real_images/calib_param_Seq01_Non-overlapping.yml
index 6293e50f..28b29855 100755
--- a/configs/Real_images/calib_param_Seq01_Non-overlapping.yml
+++ b/configs/Real_images/calib_param_Seq01_Non-overlapping.yml
@@ -29,7 +29,7 @@ cam_params_path: "None" # "../../Images_Plan/calibrated_cameras_data.yml"  # fil
 fix_intrinsic: 0 #if 1 then the intrinsic parameters will not be estimated nor refined (initial value needed)
 
 ######################################## Images Parameters ###################################################
-root_path: "../data/Real_Images/Seq01_Non-overlapping/" #"../../Images_Sim1Cam3Board/" # "../../Images_NonOver3/"  "../../Images_Cube/" "../../Images_Plan/" "../../Images_NonOver6Cam/"
+root_path: "../data/Real_Images/Seq01_Non-overlapping" #"../../Images_Sim1Cam3Board/" # "../../Images_NonOver3/"  "../../Images_Cube/" "../../Images_Plan/" "../../Images_NonOver6Cam/"
 cam_prefix: "Cam_"
 keypoints_path: "../data/Real_Images/Seq01_Non-overlapping/detected_keypoints_data.yml" 
 
@@ -42,7 +42,7 @@ number_iterations: 1000    # Max number of iterations for the non linear refinem
 he_approach: 0 #0: bootstrapped he technique, 1: traditional he
 
 ######################################## Output Parameters ###################################################
-save_path: "../data/Real_Images/Seq01_Non-overlapping/"
+save_path: "../data/Real_Images/Seq01_Non-overlapping"
 save_detection: 0
 save_reprojection: 0
 camera_params_file_name: ""
diff --git a/configs/Real_images/calib_param_Seq02_Overlapping_multicamera.yml b/configs/Real_images/calib_param_Seq02_Overlapping_multicamera.yml
index f0655ac9..e7f519c6 100755
--- a/configs/Real_images/calib_param_Seq02_Overlapping_multicamera.yml
+++ b/configs/Real_images/calib_param_Seq02_Overlapping_multicamera.yml
@@ -29,7 +29,7 @@ cam_params_path: "None" # "../../Images_Plan/calibrated_cameras_data.yml"  # fil
 fix_intrinsic: 0 #if 1 then the intrinsic parameters will not be estimated nor refined (initial value needed)
 
 ######################################## Images Parameters ###################################################
-root_path: "../data/Real_Images/Seq02_Overlapping_multicamera/" #"../../Images_Sim1Cam3Board/" # "../../Images_NonOver3/"  "../../Images_Cube/" "../../Images_Plan/" "../../Images_NonOver6Cam/"
+root_path: "../data/Real_Images/Seq02_Overlapping_multicamera" #"../../Images_Sim1Cam3Board/" # "../../Images_NonOver3/"  "../../Images_Cube/" "../../Images_Plan/" "../../Images_NonOver6Cam/"
 cam_prefix: "Cam_"
 keypoints_path: "../data/Real_Images/Seq02_Overlapping_multicamera/detected_keypoints_data.yml" 
 
@@ -42,7 +42,7 @@ number_iterations: 1000    # Max number of iterations for the non linear refinem
 he_approach: 0 #0: bootstrapped he technique, 1: traditional he
 
 ######################################## Output Parameters ###################################################
-save_path: "../data/Real_Images/Seq02_Overlapping_multicamera/"
+save_path: "../data/Real_Images/Seq02_Overlapping_multicamera"
 save_detection: 0
 save_reprojection: 0
 camera_params_file_name: ""
diff --git a/configs/Real_images/calib_param_Seq03_hybrid.yml b/configs/Real_images/calib_param_Seq03_hybrid.yml
index c1d30248..e5f23889 100755
--- a/configs/Real_images/calib_param_Seq03_hybrid.yml
+++ b/configs/Real_images/calib_param_Seq03_hybrid.yml
@@ -29,7 +29,7 @@ cam_params_path: "None" # "../../Images_Plan/calibrated_cameras_data.yml"  # fil
 fix_intrinsic: 0 #if 1 then the intrinsic parameters will not be estimated nor refined (initial value needed)
 
 ######################################## Images Parameters ###################################################
-root_path: "../data/Real_Images/Seq03_hybrid/" #"../../Images_Sim1Cam3Board/" # "../../Images_NonOver3/"  "../../Images_Cube/" "../../Images_Plan/" "../../Images_NonOver6Cam/"
+root_path: "../data/Real_Images/Seq03_hybrid" #"../../Images_Sim1Cam3Board/" # "../../Images_NonOver3/"  "../../Images_Cube/" "../../Images_Plan/" "../../Images_NonOver6Cam/"
 cam_prefix: "Cam_"
 keypoints_path: "../data/Real_Images/Seq03_hybrid/detected_keypoints_data.yml" 
 
@@ -42,7 +42,7 @@ number_iterations: 1000    # Max number of iterations for the non linear refinem
 he_approach: 0 #0: bootstrapped he technique, 1: traditional he
 
 ######################################## Output Parameters ###################################################
-save_path: "../data/Real_Images/Seq03_hybrid/"
+save_path: "../data/Real_Images/Seq03_hybrid"
 save_detection: 0
 save_reprojection: 0
 camera_params_file_name: ""
diff --git a/configs/Real_images/calib_param_Seq04_Converging_vision.yml b/configs/Real_images/calib_param_Seq04_Converging_vision.yml
index a8fe8d04..70549fa3 100755
--- a/configs/Real_images/calib_param_Seq04_Converging_vision.yml
+++ b/configs/Real_images/calib_param_Seq04_Converging_vision.yml
@@ -29,7 +29,7 @@ cam_params_path: "None" # "../../Images_Plan/calibrated_cameras_data.yml"  # fil
 fix_intrinsic: 0 #if 1 then the intrinsic parameters will not be estimated nor refined (initial value needed)
 
 ######################################## Images Parameters ###################################################
-root_path: "../data/Real_Images/Seq04_Converging_vision/" #"../../Images_Sim1Cam3Board/" # "../../Images_NonOver3/"  "../../Images_Cube/" "../../Images_Plan/" "../../Images_NonOver6Cam/"
+root_path: "../data/Real_Images/Seq04_Converging_vision" #"../../Images_Sim1Cam3Board/" # "../../Images_NonOver3/"  "../../Images_Cube/" "../../Images_Plan/" "../../Images_NonOver6Cam/"
 cam_prefix: "Cam_"
 keypoints_path: "../data/Real_Images/Seq04_Converging_vision/detected_keypoints_data.yml" 
 
@@ -42,7 +42,7 @@ number_iterations: 1000    # Max number of iterations for the non linear refinem
 he_approach: 0 #0: bootstrapped he technique, 1: traditional he
 
 ######################################## Output Parameters ###################################################
-save_path: "../data/Real_Images/Seq04_Converging_vision/"
+save_path: "../data/Real_Images/Seq04_Converging_vision"
 save_detection: 0
 save_reprojection: 0
 camera_params_file_name: ""
diff --git a/configs/Real_images/calib_param_Seq05_Non_overlapping_6Cam.yml b/configs/Real_images/calib_param_Seq05_Non_overlapping_6Cam.yml
index 52d4982b..9566631f 100755
--- a/configs/Real_images/calib_param_Seq05_Non_overlapping_6Cam.yml
+++ b/configs/Real_images/calib_param_Seq05_Non_overlapping_6Cam.yml
@@ -29,7 +29,7 @@ cam_params_path: "None" # "../../Images_Plan/calibrated_cameras_data.yml"  # fil
 fix_intrinsic: 0 #if 1 then the intrinsic parameters will not be estimated nor refined (initial value needed)
 
 ######################################## Images Parameters ###################################################
-root_path: "../data/Real_Images/Seq05_Non_overlapping_6Cam/" #"../../Images_Sim1Cam3Board/" # "../../Images_NonOver3/"  "../../Images_Cube/" "../../Images_Plan/" "../../Images_NonOver6Cam/"
+root_path: "../data/Real_Images/Seq05_Non_overlapping_6Cam" #"../../Images_Sim1Cam3Board/" # "../../Images_NonOver3/"  "../../Images_Cube/" "../../Images_Plan/" "../../Images_NonOver6Cam/"
 cam_prefix: "Cam_"
 keypoints_path: "../data/Real_Images/Seq05_Non_overlapping_6Cam/detected_keypoints_data.yml"
 
@@ -42,7 +42,7 @@ number_iterations: 1000    # Max number of iterations for the non linear refinem
 he_approach: 0 #0: bootstrapped he technique, 1: traditional he
 
 ######################################## Output Parameters ###################################################
-save_path: "../data/Real_Images/Seq05_Non_overlapping_6Cam/"
+save_path: "../data/Real_Images/Seq05_Non_overlapping_6Cam"
 save_detection: 0
 save_reprojection: 0
 camera_params_file_name: ""