Save and load map about vins-fusion HOT 5 OPEN

hey @Changliu52 , I was also wondering the same thing and I have noticed that one can save the map (pose graph and the features) by entering the letter s and pressing the enter at the terminal in which loop-fusion node is running. Making this closes the node and saves the posegraph. You can see the related code at here

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I entered the letter s and pressing the enter at the terminal " rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml ", but nothing happend and no posegraph had been saved.

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Did anyone solve this issue?

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I might find a way to solve this issue. It is like that we have to run the loop_fusion node(the "optional") to save the pose_graph and trajectory results. If we only want to get the trajectory result, we just run the loop_fusion(optional) node with other node and the results will be saved in the OUT_PUT_PATH. If we still want to get the pose_graph, we have to enter the letter 's' and press the enter at the terminal in which loop-fusion node is running

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I had struggled with the issue the both vio_loop.csv and pose_graph.txt are saved 0 byte useless file. That had been fixed by running 'vins_estimator', not running 'vins_node'.

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