Dose the node loop_fusion only works with IMU? about vins-fusion HOT 6 OPEN

I have tried VINS-FUSION with kitti-dataset with stereo mode without IMU.and I find that the path of the result will not processed by Loop_fusion node even i have run it.

I have run it like this:
roslaunch vins vins_rviz.launch

rosrun loop_fusion loop_fusion_node /localhome/proprak8/catkin_ws/src/VINS-Fusion/config/kitti_odom/kitti_config00-02.yaml

rosrun vins kitti_odom_test /localhome/proprak8/catkin_ws/src/VINS-Fusion/config/kitti_odom/kitti_config00-02.yaml /localhome/proprak8/Dataset/dataset/sequences/00/

The loop_fusion node only support mono+imu and stereo+imu now. It does not support pure stereo mode.

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@ZHAORANWU1 For your information, I add loop closure function to VO mode. Thanks @pjrambo

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Thanks for the addtion!
We have tested the Loop-fusion node with stereo mode.It works now @qintonguav

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Hello, how can I get the txt file of the trajectory that has been loop closed when I use only kitti stereo mode? I can only get the .txt before loop closing in the output folder. I see that the loop data is not in the form of txt, it is in the form of csv. How can I use it? Thank you very much! @qintonguav

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Hello, can you get the pose after loop closure using stereo mode? @ZHAORANWU1

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Hello, can you get the pose after loop closure using stereo mode? @ZHAORANWU1

hello! Did you solve the problem?i can't get the pose_graph photo(=ＴェＴ=) it's empty(。•ˇˍˇ•。)

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