From 1cd53f14018941dda798148112b74b92232c04df Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Tue, 11 Apr 2017 18:21:19 -0500
Subject: Nice quatviz-2 result

---
 src/main.cpp | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

(limited to 'src/main.cpp')

diff --git a/src/main.cpp b/src/main.cpp
index bd31da9..57960dd 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -443,7 +443,7 @@ main(int argc, char **argv)
 #else      /* -----  not ROS_PUBLISH  ----- */
     // Print unicsv header
 #if STATESIZE==13
-    printf("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");
+    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
@@ -463,6 +463,10 @@ main(int argc, char **argv)
                 utmCallback(msg, mu,qbw);
 #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();
+                }
                 break;
 
             case IMG:	
@@ -491,8 +495,6 @@ main(int argc, char **argv)
                         geometry_msgs::PoseStamped msg;
                         ros::spinOnce();
 #else
-                    if (seenutm) mu.unicsv();
-                        //mu.unicsv();
 #endif
                     }
                 }
-- 
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