diff --git a/src/main.cpp b/src/main.cpp
index a193f3d..0a33493 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -159,6 +159,7 @@ void vidCb(const sensor_msgs::ImageConstPtr img)
 
 	MinimalImageB minImg((int)cv_ptr->image.cols, (int)cv_ptr->image.rows,(unsigned char*)cv_ptr->image.data);
 	ImageAndExposure* undistImg = undistorter->undistort<unsigned char>(&minImg, 1,0, 1.0f);
+	undistImg->timestamp=cv_ptr->header.stamp.toSec();
 	fullSystem->addActiveFrame(undistImg, frameID);
 	frameID++;
 	delete undistImg;
@@ -173,8 +174,6 @@ int main( int argc, char** argv )
 {
 	ros::init(argc, argv, "dso_live");
 
-
-
 	for(int i=1; i<argc;i++) parseArgument(argv[i]);
 
 
@@ -224,13 +223,12 @@ int main( int argc, char** argv )
     ros::Subscriber imgSub = nh.subscribe("image", 1, &vidCb);
 
     ros::spin();
-
+    fullSystem->printResult("result1.txt");
     for(IOWrap::Output3DWrapper* ow : fullSystem->outputWrapper)
     {
         ow->join();
         delete ow;
     }
-
     delete undistorter;
     delete fullSystem;