failed to generate depth

[kajo-kurisu]

when i run the command
roslaunch d2vins quadcam.launch enable_pgo:=true enable_loop:=true
the following error appeares

and here is my quadcam_single.yaml

`%YAML:1.0

#inputs
imu: 1

imu_topic: "/mavros/imu/data_raw"

imu_topic: "/dji_sdk_1/dji_sdk/imu"
image0_topic: "/arducam/image"

is_compressed_images: 1

imu_freq: 400
image_freq: 16
frame_step: 2

#Camera configuration
camera_configuration: 3 #STEREO_PINHOLE = 0, STEREO_FISHEYE = 1, PINHOLE_DEPTH = 2, FOURCORNER_FISHEYE = 3
calib_file_path: "quad_cam_calib-camchain-imucam-7-inch-n3.yaml"
image_width: 1280
image_height: 800
enable_undistort_image: 1
undistort_fov: 200
width_undistort: 800
height_undistort: 400
photometric_calib: "mask.png"
avg_photometric: 0.7

#estimation
estimate_extrinsic: 0 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it.
estimate_td: 0 # online estimate time offset between camera and imu
td: -0.186 # For new datasets with filter
estimation_mode: 0
double_counting_common_feature: 0
min_inv_dep: 0.01 #100 meter away.

#optimization parameters
max_solver_time: 0.08 # max solver itration time (ms), to guarantee real time
max_num_iterations: 8 # max solver itrations, to guarantee real time
consensus_max_steps: 4
timout_wait_sync: 100
rho_landmark: 1.0
rho_frame_T: 100
rho_frame_theta: 100
relaxation_alpha: 0.
consensus_sync_for_averaging: 0
consensus_sync_to_start: 0 #Is sync on start of the solving..
consensus_trigger_time_err_us: 100

#depth fusing
depth_far_thres: 3.0 # The max depth in frontend
depth_near_thres: 0.3
fuse_dep: 1 #if fuse depth measurement
max_depth_to_fuse: 5.0
min_depth_to_fuse: 0.3

#Multi-drone
track_remote_netvlad_thres: 0.5

#Initialization
init_method: 0 #0 IMU, 1 PnP
depth_estimate_baseline: 0.03

#sliding window
max_sld_win_size: 11
landmark_estimate_tracks: 4 #when use depth or stereo, 3 is OK.
min_solve_frames: 6

#solver
multiple_thread: 1

#outlier rejection
thres_outlier : 10.0
perform_outlier_rejection_num: 10000
tri_max_err: 0.2

#Marginalization
enable_marginalization: 1
margin_sparse_solver: 1
always_fixed_first_pose: 0
remove_base_when_margin_remote: 2

When set to 2, will use the all relevant measurements of the removing frames to compute the prior,

and the baseFrame (where!=removeID) will not be removed. This may lead to double counting of this baseFrame measurement: but it's stable.

When set to 1, will remove the baseframe's measurements of those measurements which is not base on current frame.

set to 0 those measurements (which on a landmark's baseFrame is not been removed) will be ignore.

#feature tracker parameters
max_cnt: 150 # max feature number in feature tracking
max_superpoint_cnt: 100 # max feature extraction by superpoint
max_solve_cnt: 1000
check_essential: 0
enable_lk_optical_flow: 1 #enable lk opticalflow featuretrack to enhance ego-motion estimation.
remote_min_match_num: 20
enable_superglue_local: 0
enable_superglue_remote: 0
ransacReprojThreshold: 10.0
enable_search_local_aera: 1
search_local_max_dist: 0.05
parallex_thres: 0.012
knn_match_ratio: 0.8 #This apply to superpoint feature track & loop clouse detection.

#CNN
cnn_use_onnx: 1
enable_pca_superpoint: 1
superpoint_pca_dims: 64

acc_n: 0.1 # accelerometer measurement noise standard deviation. #0.2 0.04
gyr_n: 0.05 # gyroscope measurement noise standard deviation. #0.05 0.004
acc_w: 0.002 # accelerometer bias random work noise standard deviation. #0.002
gyr_w: 0.0004 # gyroscope bias random work noise standard deviation. #4.0e-5
g_norm: 9.805 # gravity magnitude

#Loop Closure Detection
loop_detection_netvlad_thres: 0.8
enable_homography_test: 0
accept_loop_max_yaw: 10
accept_loop_max_pos: 1.0
loop_inlier_feature_num: 50
gravity_check_thres: 0.03
pgo_solver_time: 1.0
solver_timer_freq: 1.0
enable_pcm: 1
pcm_thres: 2.8

#PGO
pgo_solver_time: 0.5 # Max time to solve PGO each update in D2PGO
pgo_mode: 1 # PGO MODE=0, D2PGO collects all information and solve it in non-distributed; 1: D2PGO works in distributed mode.
pgo_rho_frame_T: 0.84 # rho for translation
pgo_rho_frame_theta: 0.25 # rho for rotation
pgo_eta_k: 0.1 # eta_k for PGO
write_g2o: 0 # If output g2o file, debug only
g2o_output_path: "output.g2o" # PGO file path
write_pgo_to_file: 1 # If write pgo data as csv.

#outputs
output_path: "/root/output/"
debug_print_sldwin: 0
debug_print_states: 0
enable_perf_output: 0
debug_write_margin_matrix: 0
show_track_id: 0`

[kajo-kurisu]

and the d2vins broke down after a while
i am currently at the commit 92a02ee