question about output pose file

[jaehwan-pi]

Thank you for sharing nice work!

When I run VINS-mono, there are two files
"vins_result_loop" : defined in [path to Vins folder]/pose_graph/src/pose_graph.cpp ; line 156 or 630. The format is timestamp + position(x,y, z) + quaternion(qw, qx, qy, qz).
"vins_result_no_loop": defined in [path to Vins folder]/vins_estimator/src/utility/visualization.cpp in function pubOdometry(). The format is timestamp + position(x,y, z) + quaternion(qw, qx, qy, qz) + velocity(x,y,z).

vins_result_loop is in keyframe rate, and vins_result_no_loop is in camera frame rate.

Is there any way to save "vins_result_loop' in camera frame rate?