diff --git a/.gitignore b/.gitignore
index 8db26c5..a2de652 100644
--- a/.gitignore
+++ b/.gitignore
@@ -6,4 +6,6 @@ logs/
 public/snapshots/
 
 # Aruco detection results
-test/data/screenShots/*.json
\ No newline at end of file
+test/data/screenShots/*.json
+
+*_testResults/
\ No newline at end of file
diff --git a/programs/__pycache__/readTwoImages.cpython-311.pyc b/programs/__pycache__/readTwoImages.cpython-311.pyc
new file mode 100644
index 0000000..799ca2d
Binary files /dev/null and b/programs/__pycache__/readTwoImages.cpython-311.pyc differ
diff --git a/programs/readTwoImages.py b/programs/readTwoImages.py
index 06e0958..4da1b31 100755
--- a/programs/readTwoImages.py
+++ b/programs/readTwoImages.py
@@ -262,12 +262,19 @@ def main():
     parser.add_argument('--dict', default='DICT_4X4_250', help="ArUco dictionary name")
     parser.add_argument('-settings', type=str, default=None,
                         help="Json settings file containing machine KnownMarkers")
+    parser.add_argument('--outDir', type=str, default=None,
+                        help="Optional directory where all output files are written")
     args = parser.parse_args()
 
     if len(args.images) != 2 or len(args.npz) != 2:
         print("[ERROR] Provide exactly two images and two intrinsics NPZ files.")
         sys.exit(1)
 
+    out_dir = None
+    if args.outDir:
+        out_dir = args.outDir
+        os.makedirs(out_dir, exist_ok=True)
+
     img1 = cv2.imread(args.images[0])
     img2 = cv2.imread(args.images[1])
     draw1 = img1.copy()
@@ -484,10 +491,10 @@ def main():
         })
 
     # Save CSV & JSON
-    base1 = os.path.splitext(args.images[0])[0]
-    base2 = os.path.splitext(args.images[1])[0]
-    out_csv = f"{base1}_two_cam.csv"
-    out_json = f"{base1}_two_cam.json"
+    base1 = os.path.splitext(os.path.basename(args.images[0]))[0]
+    base2 = os.path.splitext(os.path.basename(args.images[1]))[0]
+    out_csv = os.path.join(out_dir, f"{base1}_two_cam.csv") if out_dir else f"{base1}_two_cam.csv"
+    out_json = os.path.join(out_dir, f"{base1}_two_cam.json") if out_dir else f"{base1}_two_cam.json"
 
     try:
         import csv
@@ -585,7 +592,7 @@ def main():
         cv2.putText(drawPNG1, "+Z (100 mm)", z_end, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (255, 0,   0, 255), 2)
 
 
-        out_img1 = f"{base1}_two_cam_annotated.jpg"
+        out_img1 = os.path.join(out_dir, f"{base1}_two_cam_annotated.jpg") if out_dir else f"{base1}_two_cam_annotated.jpg"
         cv2.imwrite(out_img1, draw1)
         print(f"[INFO] Annotated image saved as '{out_img1}'.")
         
@@ -597,7 +604,7 @@ def main():
         # 5) Merge BGR + alpha → RGBA transparent overlay
         drawPNG_1 = cv2.merge([drawPNG1[:, :, 0], drawPNG1[:, :, 1], drawPNG1[:, :, 2], alpha])
 
-        out_png1 = f"{base1}_two_cam_overlay.png"
+        out_png1 = os.path.join(out_dir, f"{base1}_two_cam_overlay.png") if out_dir else f"{base1}_two_cam_overlay.png"
         cv2.imwrite(out_png1, drawPNG_1)
 
     except Exception as e:
@@ -653,14 +660,14 @@ def main():
         cv2.putText(drawPNG2, "Y (-100 mm)", y_end2, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 255,   0, 255), 2)
         cv2.putText(drawPNG2, "+Z (100 mm)", z_end2, cv2.FONT_HERSHEY_SIMPLEX, 0.6, (255, 0,   0, 255), 2)
 
-        out_img2 = f"{base2}_two_cam_annotated.jpg"
+        out_img2 = os.path.join(out_dir, f"{base2}_two_cam_annotated.jpg") if out_dir else f"{base2}_two_cam_annotated.jpg"
         cv2.imwrite(out_img2, draw2)
         print(f"[INFO] Annotated image saved as '{out_img2}'.")
 
         gray2 = cv2.cvtColor(drawPNG2, cv2.COLOR_BGR2GRAY)
         _, alpha2 = cv2.threshold(gray2, 0, 255, cv2.THRESH_BINARY)
         drawPNG_2 = cv2.merge([drawPNG2[:, :, 0], drawPNG2[:, :, 1], drawPNG2[:, :, 2], alpha2])
-        out_png2 = f"{base2}_two_cam_overlay.png"
+        out_png2 = os.path.join(out_dir, f"{base2}_two_cam_overlay.png") if out_dir else f"{base2}_two_cam_overlay.png"
         cv2.imwrite(out_png2, drawPNG_2)
         print(f"[INFO] Overlay PNG saved as '{out_png2}'.")
 
diff --git a/test/00_testSetup.json b/test/00_testSetup.json
index 492e2a5..8819820 100644
--- a/test/00_testSetup.json
+++ b/test/00_testSetup.json
@@ -5,11 +5,40 @@
         "image":[
             {
                 "timestamp":11778819665744,
-                "file":"test/data/screenShots/snapshot_video0_11778819665744.jpg"
+                "file":"test/data/screenShots/snapshot_video0_11778819665744.jpg",
+                "camera":"c310",
+                "callibration":"data/settings/callibration_cam0.npz"
             }, 
             {
                 "timestamp":11778819665744,
-                "file":"test/data/screenShots/snapshot_video1_11778819665744.jpg"
+                "file":"test/data/screenShots/snapshot_video1_11778819665744.jpg",
+                "camera":"c310",
+                "callibration":"data/settings/callibration_cam0.npz"
+            }
+        ]
+    },
+    {
+        "name":"Test 1: 45° unterarm",
+        "robot":"test/data/robot/robot.json",
+        "timestamp":1779690911822,
+        "image":[
+            {
+                "timestamp":1779690911822,
+                "file":"test/data/screenShots/snapshot_video0_1779690911822.jpg",
+                "camera":"c310",
+                "callibration":"data/settings/callibration_cam0.npz"
+            }, 
+            {
+                "timestamp":1779690911822,
+                "file":"test/data/screenShots/snapshot_video0_1779690911822.jpg",
+                "camera":"c310",
+                "callibration":"data/settings/callibration_cam0.npz"
+            },
+             {
+                "timestamp":1779690911822,
+                "file":"test/data/screenShots/1779690911822_DSCF1382.JPG",
+                "camera":"XT1",
+                "callibration":"data/callibration/XT1-16mm28-1mFokus_f8/callibration_XT1-16mm_1m_f8.npz"
             }
         ]
     }
diff --git a/test/AA_readTwoImages.test.js b/test/AA_readTwoImages.test.js
index 6e82ce8..3129a35 100644
--- a/test/AA_readTwoImages.test.js
+++ b/test/AA_readTwoImages.test.js
@@ -1,6 +1,5 @@
 const { execSync } = require('child_process');
 const fs = require('fs');
-const os = require('os');
 const path = require('path');
 
 const BASE_PATH = path.join(__dirname, '..');
@@ -10,43 +9,40 @@ const screenshotFiles = [
   'snapshot_video1_1778819665744.jpg',
 ];
 
-let tempDir;
+const SOURCE_DIR = path.join(__dirname, 'data', 'screenShots');
+const DEST_DIR = path.join(__dirname, 'data', 'screenshots', '1778819665744_twoCam_testResults');
 
 describe('Camera Pose Script', () => {
   beforeEach(() => {
-    tempDir = fs.mkdtempSync(path.join(os.tmpdir(), 'AA_readTwoImages-'));
-    const sourceDir = path.join(__dirname, 'data', 'screenShots');
-
+    if (!fs.existsSync(DEST_DIR)) {
+      fs.mkdirSync(DEST_DIR, { recursive: true });
+    }
     screenshotFiles.forEach((file) => {
-      const src = path.join(sourceDir, file);
-      const dst = path.join(tempDir, file);
+      const src = path.join(SOURCE_DIR, file);
       if (!fs.existsSync(src)) {
         throw new Error(`Missing test fixture screenshot: ${src}`);
       }
-      fs.copyFileSync(src, dst);
     });
   });
 
   afterEach(() => {
-    if (tempDir && fs.existsSync(tempDir)) {
-      fs.rmSync(tempDir, { recursive: true, force: true });
-    }
+    // Keep generated outputs for inspection.
   });
 
   test('should execute readTwoImages without modifying shared fixtures', () => {
-    const strFile0 = path.join(tempDir, 'snapshot_video0_1778819665744.jpg');
-    const strFile1 = path.join(tempDir, 'snapshot_video1_1778819665744.jpg');
+    const strFile0 = path.join(SOURCE_DIR, 'snapshot_video0_1778819665744.jpg');
+    const strFile1 = path.join(SOURCE_DIR, 'snapshot_video1_1778819665744.jpg');
     const command2 = `${PYTHON_CMD} "${path.join(BASE_PATH, 'programs/readTwoImages.py')}" \
       -i "${strFile0}" \
       -i "${strFile1}" \
       -npz "${path.join(BASE_PATH, 'data/settings/callibration_cam0.npz')}" \
       -npz "${path.join(BASE_PATH, 'data/settings/callibration_cam1.npz')}" \
-      -settings "${path.join(BASE_PATH, 'data/settings/settings1m.json')}"`;
+      -settings "${path.join(BASE_PATH, 'data/settings/settings1m.json')}" \
+      --outDir "${DEST_DIR}"`;
 
-    try {
+    expect(() => {
       execSync(command2, { stdio: 'inherit' });
-    } catch (error) {
-      fail(`Failed to execute command: ${error.message}`);
-    }
-  });
-});
\ No newline at end of file
+    }).not.toThrow();
+});
+
+});
diff --git a/test/data/screenShots/1779690911822_DSCF1382.JPG b/test/data/screenShots/1779690911822_DSCF1382.JPG
new file mode 100644
index 0000000..1a322ec
Binary files /dev/null and b/test/data/screenShots/1779690911822_DSCF1382.JPG differ
diff --git a/test/data/screenShots/DSCF1379.JPG b/test/data/screenShots/DSCF1379.JPG
new file mode 100644
index 0000000..ffe7586
Binary files /dev/null and b/test/data/screenShots/DSCF1379.JPG differ
diff --git a/test/data/screenShots/DSCF1380.JPG b/test/data/screenShots/DSCF1380.JPG
new file mode 100644
index 0000000..c6d5996
Binary files /dev/null and b/test/data/screenShots/DSCF1380.JPG differ
diff --git a/test/data/screenShots/DSCF1381.JPG b/test/data/screenShots/DSCF1381.JPG
new file mode 100644
index 0000000..60d9b95
Binary files /dev/null and b/test/data/screenShots/DSCF1381.JPG differ
diff --git a/test/data/screenShots/DSCF1383.JPG b/test/data/screenShots/DSCF1383.JPG
new file mode 100644
index 0000000..7ca0508
Binary files /dev/null and b/test/data/screenShots/DSCF1383.JPG differ