Problems with PGO

[AlbertoJaenal]

Description:
Hello

I want to build a feature on top of Kimera, and for that the first thing I did was to try a fresh run of the framework to evaluate it. However, I found that the PGO is malfunctioning in some sense.

I guess it might be a problem with the dependencies? Some of then have been updated since the repo was last updated and maybe there are some problems.

Command:

1. Build the Docker image provided in the master branch (I also tested in the feature/prerelease branch)
2. Run the stereoVIOEuroc.bash test using the V1_01 and the MH_01 with the -lcd and the -log flags. The only thing that I added was a --visualize=false flag, since my workstation has no x server.
3. Evaluate the results using the Kimera-VIO-Evaluation code

Console output:

V1_01_easy
VIO APE translation: 0.053886
PGO APE translation: 0.830561

MH_01_easy
VIO APE translation: 0.197499
PGO APE translation: 5.891507

Additional files:
Please attach all the files needed to reproduce the error.

Please give also the following information:

• Kimera-Vio branch, tag or commit used: master (also prerelease)
• GTSAM version used: e5866799d (also tried with 4.2.0)
• OpenGV version used: master (984e0d76a19e0afa9435f03adbc8aaccc9f92c23)
• OpenCV version used: tried with 4.2.0 and 3.4.2
• Operating system and version (e.g. Ubuntu 16.04 or Windows 10): Ubuntu 20.04
• Did you change the source code? (yes / no): no