From 0663fb75c6bc42ccd093bed66820e92541ed419c Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Sun, 28 Jan 2018 11:45:53 -0500
Subject: Add define for FEATUREMAP

This will print the feature information in the unicsv so that the mapper
Makefile can create a feature map.
---
 src/main.cpp | 13 ++++---------
 1 file changed, 4 insertions(+), 9 deletions(-)

(limited to 'src/main.cpp')

diff --git a/src/main.cpp b/src/main.cpp
index ce99968..f1bcd30 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -463,18 +463,14 @@ main(int argc, char **argv)
     // Open camera YAML
     Camera cam(argv[1]);
 
-#ifdef  ROS_PUBLISH
-    // Create ROS publisher
-    ros::init(argc, argv, "refslam");
-    ros::NodeHandle n;
-    ros::Publisher ekfPose = n.advertise<geometry_msgs::PoseStamped>("ekfPose", 100);
-#else      /* -----  not ROS_PUBLISH  ----- */
     // Print unicsv header
+#ifdef FEATUREMAP
+    printf("Name,");
+#endif
 #if STATESIZE==13
     printf("GPS-stamp,UTM-Zone,UTM-Ch,UTM-North,UTM-East,Altitude,Vel-X,Vel-Y,Vel-Z,Quat-X,Quat-Y,Quat-Z,Quat-W,Bias-X,Bias-Y,Bias-Z,Nfeats\n");
 #else
     printf("UTM-Zone,UTM-Ch,UTM-North,UTM-East,Altitude,Vel-X,Vel-Y,Vel-Z,Bias-X,Bias-Y,Bias-Z,Nfeats\n");
-#endif
 #endif     /* -----  not ROS_PUBLISH  ----- */
     // read params file
     FILE *pfin;
@@ -531,8 +527,7 @@ main(int argc, char **argv)
 #endif
                 //printf("%f,", msg.stamp.secs+msg.stamp.nsecs*1e-9);
                 if (seenutm && seenpva && seencov) {
-                    printf("%f,", msg.stamp.secs+msg.stamp.nsecs*1e-9);
-                    mu.unicsv();
+                    mu.unicsv(msg.stamp.secs+msg.stamp.nsecs*1e-9);
                 }
                 break;
 
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