diff --git a/poles/pynclt.py b/poles/pynclt.py
index eff1fef..b2c61c1 100644
--- a/poles/pynclt.py
+++ b/poles/pynclt.py
@@ -11,6 +11,7 @@ import pyquaternion as pq
 import transforms3d as t3
 
 import util
+import time
 
 
 T_w_o = np.identity(4)
@@ -19,39 +20,40 @@ T_o_w = util.invert_ht(T_w_o)
 eulerdef = 'sxyz'
 
 csvdelimiter = ','
-datadir = '/mnt/data/datasets/nclt'
+datadir = '/mnt/c/Users/SabrinaB/Desktop/nclt'
 resultdir = 'nclt'
 snapshotfile = 'snapshot.npz'
 sessionfile = 'sessiondata.npz'
 sessions = [
-    '2012-01-08',
+    #'2012-01-08',
     '2012-01-15',
-    '2012-01-22',
-    '2012-02-02',
-    '2012-02-04',
-    '2012-02-05',
-    '2012-02-12',
-    '2012-02-18',
-    '2012-02-19',
-    '2012-03-17',
-    '2012-03-25',
-    '2012-03-31',
-    '2012-04-29',
-    '2012-05-11',
-    '2012-05-26',
-    '2012-06-15',
-    '2012-08-04',
-    '2012-08-20',
-    '2012-09-28',
-    '2012-10-28',
-    '2012-11-04',
-    '2012-11-16',
-    '2012-11-17',
-    '2012-12-01',
-    '2013-01-10',
-    '2013-02-23',
+    #'2012-01-22',
+    #'2012-02-02',
+    #'2012-02-04',
+    #'2012-02-05',
+    #'2012-02-12',
+    #'2012-02-18',
+    #'2012-02-19',
+    #'2012-03-17',
+    #'2012-03-25',
+    #'2012-03-31',
+    #'2012-04-29',
+    #'2012-05-11',
+    #'2012-05-26',
+    #'2012-06-15',
+    #'2012-08-04',
+    #'2012-08-20',
+    #'2012-09-28',
+    #'2012-10-28',
+    #'2012-11-04',
+    #'2012-11-16',
+    #'2012-11-17',
+    #'2012-12-01',
+    #'2013-01-10',
+    #'2013-02-23',
     '2013-04-05']
 
+
 lat0 = np.radians(42.293227)
 lon0 = np.radians(-83.709657)
 re = 6378135.0
@@ -159,7 +161,8 @@ class session:
             self.gps = data['gps']
         except:
             velodir = os.path.join(datadir, 'velodyne_data', 
-                self.session + '_vel', 'velodyne_sync')
+                self.session, 'velodyne_sync')
+                #self.session + '_vel', 'velodyne_sync')
             self.velofiles = [os.path.join(velodir, file) \
                 for file in os.listdir(velodir) \
                 if os.path.splitext(file)[1] == '.bin']
@@ -169,7 +172,8 @@ class session:
                     for velofile in self.velofiles])
 
             self.velorawfile = os.path.join(datadir, 'velodyne_data', 
-                self.session + '_vel', 'velodyne_hits.bin')
+                self.session, 'velodyne_hits.bin')
+                #self.session + '_vel', 'velodyne_hits.bin')
             self.t_rawvelo = []
             self.i_rawvelo = []
             with open(self.velorawfile, 'rb') as file:
@@ -182,6 +186,7 @@ class session:
                     self.i_rawvelo.append(file.tell() - veloheadersize)
                     file.seek(header['count'] * velodatasize, os.SEEK_CUR)
                     data = np.array(file.read(veloheadersize))
+                    print(time.time())
             self.t_rawvelo = np.array(self.t_rawvelo)
             self.i_rawvelo = np.array(self.i_rawvelo)
 
@@ -210,7 +215,7 @@ class session:
                 ]], [6, 6]) for roc in cov_gt])
 
             sensordir = os.path.join(
-                datadir, 'sensor_data', self.session + '_sen')
+                datadir, 'sensor_data', self.session) # + '_sen')
             odofile = os.path.join(sensordir, 'odometry_mu_100hz.csv')
             ododata = np.genfromtxt(odofile, delimiter=csvdelimiter)
             self.t_odo = ododata[:, 0]