In a Stereo cameras + IMU setup what topic publishes the odometry taking into account sensor fusion ?

[alouani-moncif]

I found myself a bit confused when testing SVO 2.0 with a stereo cameras + imu setup. My query is related to the published topics. I noticed that there are 3 different topics publishing the odometry, one for each included sensor : pose_cam/0 ; pose_cam/1 and pose_imu.

Correct me if I'm wrong, but it seems to me that those are the odometry topics for each sensor SEPARATELY. Thus, I was wondering : what topic publishes the odometry values that take into consideration the data from all of the three sensors (after the sensor fusion) ?