savePoseGraph?

[jingyang-huang]

Hi, D_VINS is a marvellous work which combines network and VIO. Thanks to your guidance, I have run this project on my own dataset, and the loop detection works pretty well. However, when I try to save the pose graph of my own dataset, the process seems to be stuck and just saves a few keyframes with very big descriptors, and it does not save any keyframes anymore. To figure out if this is caused by my own dataset, I conducted the same step in euroc dataset. But the situation is different here: loop detection works well, but the ROS loop fusion process died, and it seems no descriptors are saved. Waiting for your reply and thanks again~