From 84f8b7452453bc9dae38b1bc2fe4cb8230588e63 Mon Sep 17 00:00:00 2001
From: a-jahani <a.jahaniamiri@gmail.com>
Date: Tue, 18 Apr 2017 04:42:50 -0600
Subject: [PATCH 1/2] assigning timestamps and saving camera poses

---
 src/main.cpp | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/src/main.cpp b/src/main.cpp
index a193f3d..21f7a16 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;
@@ -172,8 +173,8 @@ void vidCb(const sensor_msgs::ImageConstPtr img)
 int main( int argc, char** argv )
 {
 	ros::init(argc, argv, "dso_live");
-
-
+	printf("Hi!\n");
+	std::cerr << "starting" << std::endl;
 
 	for(int i=1; i<argc;i++) parseArgument(argv[i]);
 
@@ -223,14 +224,15 @@ int main( int argc, char** argv )
     ros::NodeHandle nh;
     ros::Subscriber imgSub = nh.subscribe("image", 1, &vidCb);
 
+	std::cout<<"cout"<<std::endl;
+	
     ros::spin();
-
+    fullSystem->printResult("result1.txt");
     for(IOWrap::Output3DWrapper* ow : fullSystem->outputWrapper)
     {
         ow->join();
         delete ow;
     }
-
     delete undistorter;
     delete fullSystem;
 

From 6222a34e727003c9cd106d815811d5c07cade0d7 Mon Sep 17 00:00:00 2001
From: a-jahani <a.jahaniamiri@gmail.com>
Date: Tue, 18 Apr 2017 04:45:43 -0600
Subject: [PATCH 2/2] deleting some extra printf.

---
 src/main.cpp | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/src/main.cpp b/src/main.cpp
index 21f7a16..0a33493 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -173,8 +173,6 @@ void vidCb(const sensor_msgs::ImageConstPtr img)
 int main( int argc, char** argv )
 {
 	ros::init(argc, argv, "dso_live");
-	printf("Hi!\n");
-	std::cerr << "starting" << std::endl;
 
 	for(int i=1; i<argc;i++) parseArgument(argv[i]);
 
@@ -224,8 +222,6 @@ int main( int argc, char** argv )
     ros::NodeHandle nh;
     ros::Subscriber imgSub = nh.subscribe("image", 1, &vidCb);
 
-	std::cout<<"cout"<<std::endl;
-	
     ros::spin();
     fullSystem->printResult("result1.txt");
     for(IOWrap::Output3DWrapper* ow : fullSystem->outputWrapper)