diff --git a/event_camera_simulator/esim/src/camera_simulator.cpp b/event_camera_simulator/esim/src/camera_simulator.cpp
index 470372e..e1b08c7 100644
--- a/event_camera_simulator/esim/src/camera_simulator.cpp
+++ b/event_camera_simulator/esim/src/camera_simulator.cpp
@@ -1,62 +1,99 @@
+#include "esim/common/string_format.hpp"
+#include "opencv2/imgcodecs.hpp"
+
 #include <esim/esim/camera_simulator.hpp>
+#include <fstream>
+#include <iomanip>
+#include <ostream>
+#include <ze/common/file_utils.hpp>
+
+#define FRAME_DIR_PATH "/home/arno/sim_ws/out/frames"
+
+static uint frame_number = 0;
+static std::ofstream exposures_file_;
+static std::string output_folder = "/home/arno/sim_ws/out";
 
 namespace event_camera_simulator {
 
-void ImageBuffer::addImage(Time t, const Image& img)
-{
-  if(!data_.empty())
-  {
-    // Check that the image timestamps are monotonically increasing
-    CHECK_GT(t, data_.back().stamp);
-  }
+    void ImageBuffer::addImage(Time t, const Image& img) {
+        if (!data_.empty()) {
+            // Check that the image timestamps are monotonically increasing
+            CHECK_GT(t, data_.back().stamp);
+        }
 
-  Duration exposure_time = data_.empty() ? 0 : t - data_.back().stamp;
-  VLOG(2) << "Adding image to buffer with stamp: " << t
-          << " and exposure time " << exposure_time;
-  data_.push_back(ImageData(img.clone(), t, exposure_time));
+        Duration exposure_time = data_.empty() ? 0 : t - data_.back().stamp;
+        VLOG(2) << "Adding image to buffer with stamp: " << t
+                << " and exposure time " << exposure_time;
+        data_.push_back(ImageData(img.clone(), t, exposure_time));
 
-  // Remove all the images with timestamp older than t - buffer_size_ns_
-  auto first_valid_element = std::lower_bound(data_.begin(), data_.end(), t - buffer_size_ns_,
-          [](ImageData lhs, Time rhs) -> bool { return lhs.stamp < rhs; });
+        // Remove all the images with timestamp older than t - buffer_size_ns_
+        auto first_valid_element = std::lower_bound(
+            data_.begin(),
+            data_.end(),
+            t - buffer_size_ns_,
+            [](ImageData lhs, Time rhs) -> bool { return lhs.stamp < rhs; }
+        );
 
-  data_.erase(data_.begin(), first_valid_element);
-  VLOG(3) << "first/last element in buffer: "
-          << data_.front().stamp
-          << " " << data_.back().stamp;
-  VLOG(3) << "number of images in the buffer: " << data_.size();
+        data_.erase(data_.begin(), first_valid_element);
+        VLOG(3) << "first/last element in buffer: " << data_.front().stamp
+                << " " << data_.back().stamp;
+        VLOG(3) << "number of images in the buffer: " << data_.size();
 
-  CHECK_LE(data_.back().stamp - data_.front().stamp, buffer_size_ns_);
-}
+        CHECK_LE(data_.back().stamp - data_.front().stamp, buffer_size_ns_);
+    }
+
+    bool CameraSimulator::imageCallback(
+        const Image& img, Time time, const ImagePtr& camera_image
+    ) {
+        CHECK(camera_image);
+        CHECK_EQ(camera_image->size(), img.size());
+
+        buffer_->addImage(time, img);
+
+        static const Time initial_time = time;
+        if (time - initial_time < exposure_time_) {
+            LOG_FIRST_N(WARNING, 1) << "The images do not cover a time span "
+                                       "long enough to simulate the "
+                                       "exposure time accurately.";
+            return false;
+        }
+
+        // average all the images in the buffer to simulate motion blur
+        camera_image->setTo(0);
+        ze::real_t denom = 0.;
+        for (const ImageBuffer::ImageData& img : buffer_->getRawBuffer()) {
+            *camera_image +=
+                ze::nanosecToMillisecTrunc(img.exposure_time) * img.image;
+            denom += ze::nanosecToMillisecTrunc(img.exposure_time);
+        }
+
+        static uint frame_number = 0;
+
+        std::stringstream ss;
+        ss << output_folder << "/frames/frame_" << std::setfill('0')
+           << std::setw(5) << frame_number++ << ".exr";
+        std::string frame_path = ss.str();
+        cv::imwrite(frame_path, *camera_image);
+
+        // ze::openOutputFileStream(
+        //     ze::joinPath(output_folder, "exposures.csv"),
+        //     &exposures_file_
+        // );
+
+        exposures_file_.open(
+            ze::joinPath(output_folder, "exposures.csv"),
+            std::ios::app
+        );
+        exposures_file_ << time << "," << frame_number << ","
+                        << buffer_->getExposureTime() << std::endl;
+        exposures_file_.close();
 
 
-bool CameraSimulator::imageCallback(const Image &img, Time time,
-                                    const ImagePtr& camera_image)
-{
-  CHECK(camera_image);
-  CHECK_EQ(camera_image->size(), img.size());
+        *camera_image /= denom;
+        cv::Mat disp;
+        camera_image->convertTo(disp, CV_8U, 255);
 
-  buffer_->addImage(time, img);
-
-  static const Time initial_time = time;
-  if(time - initial_time < exposure_time_)
-  {
-    LOG_FIRST_N(WARNING, 1) << "The images do not cover a time span long enough to simulate the exposure time accurately.";
-    return false;
-  }
-
-  // average all the images in the buffer to simulate motion blur
-  camera_image->setTo(0);
-  ze::real_t denom = 0.;
-  for(const ImageBuffer::ImageData& img : buffer_->getRawBuffer())
-  {
-    *camera_image += ze::nanosecToMillisecTrunc(img.exposure_time) * img.image;
-    denom += ze::nanosecToMillisecTrunc(img.exposure_time);
-  }
-  *camera_image /= denom;
-  cv::Mat disp;
-  camera_image->convertTo(disp, CV_8U, 255);
-
-  return true;
-}
+        return true;
+    }
 
 } // namespace event_camera_simulator