Experimental Results on market sequence of OpenLORIS dataset about dynamic-vins HOT 5 CLOSED

I found the reason of saving nothing and fixed it! When I disable the pose_graph_nodelet, the problem does not occurs.
Because, the authors of VINS-Mono use a same string "VINS_RESULT_PATH" in both pose_graph_node and vins_estimator_node. When the loop_close is enabled, the two node will conflict during saving poses to *.csv. Just modify "VINS_RESULT_PATH" into different string in any node will slove the problem.

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Hi!
I run another time of the exp using the default config in openloris_vio.yaml, and output a similar result in the paper as follow:

As my experience, the discontinuity always comes with the failure of feature tracking, you could debug it by turning on the visualization (show_track: 1).

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Thanks for your reply. I run another time using the default configuration. I found that it is "loop_closure: 1" causes the discontinuity. However, I do not know why.
If I disable loop_closure, I cannot always get the estimation poses results in the *.txt file. I usually get nothing in vins_result_no_loop.txt.
When I enable loop_closure, I can get estimation poses in vins_result_no_loop.txt or vins_result_loop.txt. But I do not which file contains the poses every time before I open the file. The save path and related congiuration are as follows:
output_path: "/home/ubuntu-slam/dvins/src/Dynamic-VINS/output" #loop closure parameters loop_closure: 0 # start loop closure fast_relocalization: 0 # useful in real-time and large project load_previous_pose_graph: 0 # load and reuse previous pose graph; load from 'pose_graph_save_path' pose_graph_save_path: "/home/ubuntu-slam/dvins/src/Dynamic-VINS/output/pose_graph" # save and load path
or
output_path: "/home/ubuntu-slam/dvins/src/Dynamic-VINS/output" #loop closure parameters loop_closure: 1 # start loop closure fast_relocalization: 0 # useful in real-time and large project load_previous_pose_graph: 0 # load and reuse previous pose graph; load from 'pose_graph_save_path' pose_graph_save_path: "/home/ubuntu-slam/dvins/src/Dynamic-VINS/output/pose_graph" # save and load path

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Sorry that this repo focuses on odometry(estimator), the pose graph part is not in a well maintained state.
For your problem, that is because the estimator part doesn't have the function to save poses result, you could add-on it by imitating the function in pose_graph.

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Thank you. I will try your suggestions.

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