VINS_FUSION+GOVINS-G Pure stereo Failed!!

[zwq-slamer]

Has anyone tested pure stereo mode in VINS_FUSION+GOVINS-G? I found that the yaml file in stereo mode has not been modified. I run stereo mode only and I report a segment error.

zwq@ubuntu-to-go:~/vins_fusion$ roslaunch vins vins_covins.launch ag_n:=0
... logging to /home/zwq/.ros/log/66ec837c-7ca8-11ef-80c1-abbca537804e/roslaunch-ubuntu-to-go-58264.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.1.124:34883/

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /agent_0/
    loop_fusion_node (loop_fusion/loop_fusion_node)
    vins_node (vins/vins_node)

ROS_MASTER_URI=http://192.168.1.124:11311

process[agent_0/loop_fusion_node-1]: started with pid [58293]
process[agent_0/vins_node-2]: started with pid [58294]
++++++++++ System ++++++++++
server_ip: 192.168.1.124
port: 9033

++++++++++ Communication ++++++++++
send_updates: 1
data_to_client: 0
start_sending_after_kf: 50
kf_buffer_withold: 5
max_sent_kfs_per_iteration: 2
update_window_size: 5
to_agent_freq: 5
++++++++++ ORB-SLAM3 ++++++++++
activate_visualization: 0
imu_stamp_max_diff: 2

--> Connect to server
----> Server IP: 192.168.1.124
----> Port     : 9033
newfd_: 3
--> Connected
--> Set Client ID: 0
received client ID: 0
[ INFO] [1727439886.998915463]: init begins
config_file: /home/zwq/vins_fusion/src/VINS-COVINS-adaptation/config/euroc/euroc_stereo_config.yaml
config_file: /home/zwq/vins_fusion/src/VINS-COVINS-adaptation/config/euroc/euroc_stereo_config.yaml
USE_IMU: 0
result path ~/output//vio.csv
[ WARN] [1727439887.004648504]:  fix extrinsic param 
camera number 2
[ INFO] [1727439887.005065029]: Synchronized sensors, fix time offset: 0
[ INFO] [1727439887.005087905]: ROW: 480 COL: 752 
no imu, fix extrinsic param; no time offset calibration
 exitrinsic cam 0
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661
-0.0216401  -0.064677 0.00981073
 exitrinsic cam 1
 0.0125553  -0.999755  0.0182238
  0.999599  0.0130119  0.0251588
-0.0253898  0.0179006   0.999517
-0.0198436  0.0453689 0.00786212
set g   0   0 9.8
[ INFO] [1727439887.005198898]: reading paramerter of camera /home/zwq/vins_fusion/src/VINS-COVINS-adaptation/config/euroc/cam0_pinhole.yaml
[ INFO] [1727439887.005355138]: reading paramerter of camera /home/zwq/vins_fusion/src/VINS-COVINS-adaptation/config/euroc/cam1_pinhole.yaml
MULTIPLE_THREAD is 1
[ WARN] [1727439887.005507126]: waiting for image and imu...
vocabulary_file/home/zwq/vins_fusion/src/VINS-COVINS-adaptation/loop_fusion/../support_files/brief_k10L6.bin
loop start load vocabulary
BRIEF_PATTERN_FILE/home/zwq/vins_fusion/src/VINS-COVINS-adaptation/loop_fusion/../support_files/brief_pattern.yml
cam calib path: /home/zwq/vins_fusion/src/VINS-COVINS-adaptation/config/euroc/cam0_pinhole.yaml
VO input, perfrom 6 DoF pose graph optimization
no previous pose graph
[ INFO] [1727439890.919452856]: Initialization finish!
time: 1403636580.813555, t: -0.166676 -0.009480 0.045697 q: 0.998470 -0.004496 -0.054764 -0.006264 
[agent_0/vins_node-2] process has died [pid 58294, exit code -11, cmd /home/zwq/vins_fusion/devel/lib/vins/vins_node /home/zwq/vins_fusion/src/VINS-COVINS-adaptation/config/euroc/euroc_stereo_config.yaml /cam0/image_raw:=/cam0/image_raw0 /cam1/image_raw:=/cam1/image_raw0 /imu0:=/imu0 /agent_0/vins_node/camera_pose:=/agent_0/cam_odom __name:=vins_node __log:=/home/zwq/.ros/log/66ec837c-7ca8-11ef-80c1-abbca537804e/agent_0-vins_node-2.log].
log file: /home/zwq/.ros/log/66ec837c-7ca8-11ef-80c1-abbca537804e/agent_0-vins_node-2*.log
^C[agent_0/loop_fusion_node-1] killing on exit
terminate called without an active exception
shutting down processing monitor...
... shutting down processing monitor complete
done

In visualization.cpp, I found some changes about publishing imu data. I simply add the judgement about if USE_IMU, the code works, but in rviz, the display is incorrect, and the track is not saved properly, What should I do?