can't run okvis_app_synchronous

[xlla]

xlla@mini-slim-u:~/git/okvis$ build/okvis_app_synchronous config/config_fpga_p2_euroc.yaml /downloads/data/MH_01_easy/mav0/
I1010 15:51:30.207585 19285 VioParametersReader.cpp:85] Opened configuration file: config/config_fpga_p2_euroc.yaml
I1010 15:51:30.208144 19285 VioParametersReader.cpp:173] imageDelay=0
I1010 15:51:30.208281 19285 VioParametersReader.cpp:275] Custom World frame provided T_Wc_W=
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
I1010 15:51:30.208602 19285 VioParametersReader.cpp:554] Found calibration in configuration file for camera 0
I1010 15:51:30.208679 19285 VioParametersReader.cpp:554] Found calibration in configuration file for camera 1
I1010 15:51:30.209362 19285 VioParametersReader.cpp:363] Radial tangential pinhole camera 0 with T_SC=
0.0148655 -0.999881 0.0041403 -0.0216401
0.999557 0.0149672 0.0257155 -0.064677
-0.0257744 0.00375619 0.999661 0.00981073
0 0 0 1
I1010 15:51:30.408726 19285 VioParametersReader.cpp:363] Radial tangential pinhole camera 1 with T_SC=
0.0125553 -0.999755 0.0182238 -0.0198436
0.999599 0.0130119 0.0251588 0.0453689
-0.0253898 0.0179006 0.999517 0.00786212
0 0 0 1
I1010 15:51:30.408761 19285 VioParametersReader.cpp:412] IMU with transformation T_BS=
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
I1010 15:51:31.626840 19285 okvis_app_synchronous.cpp:248] No. IMU measurements: 36820
I1010 15:51:31.680320 19285 okvis_app_synchronous.cpp:281] No. cam 0 images: 3682
I1010 15:51:31.707971 19285 okvis_app_synchronous.cpp:281] No. cam 1 images: 3682
W1010 15:51:31.742808 19310 Frontend.cpp:282] - Skipping propagation as only one IMU measurement has been given to frontend. Normal when starting up.
terminate called after throwing an instance of 'std::out_of_range'
what(): vector::_M_range_check: __n (which is 0) >= this->size() (which is 0)
Aborted (core dumped)

my env:
ubuntu 18.04
eigen 3.3.7
all other libs were build with eigen 3.3.7

-- A library with BLAS API found.
-- Found AMD library: /usr/local/lib/libamd.so
-- Found AMD header in: /usr/local/include
-- Found CAMD library: /usr/local/lib/libcamd.so
-- Found CAMD header in: /usr/local/include
-- Found COLAMD library: /usr/local/lib/libcolamd.so
-- Found COLAMD header in: /usr/local/include
-- Found CCOLAMD library: /usr/local/lib/libccolamd.so
-- Found CCOLAMD header in: /usr/local/include
-- Found CHOLMOD library: /usr/local/lib/libcholmod.so
-- Found CHOLMOD header in: /usr/local/include
-- Found SuiteSparseQR library: /usr/local/lib/libspqr.so
-- Found SuiteSparseQR header in: /usr/local/include
-- Found Intel Thread Building Blocks (TBB) library: /usr/lib/x86_64-linux-gnu/libtbb.so, assuming SuiteSparseQR was compiled with TBB.
-- Found Intel Thread Building Blocks (TBB) Malloc library: /usr/lib/x86_64-linux-gnu/libtbbmalloc.so
-- Found SuiteSparse_config library: /usr/local/lib/libsuitesparseconfig.so
-- Found SuiteSparse_config header in: /usr/local/include
-- Adding librt: /usr/lib/x86_64-linux-gnu/librt.so to SuiteSparse_config libraries (required on Linux & Unix [not OSX] if SuiteSparse is compiled with timing).
-- Found METIS library: /usr/local/lib/libmetis.so.
-- Found installed version of Eigen: /usr/local/lib/cmake/eigen3
-- Found required Ceres dependency: Eigen version 3.3.7 in /usr/local/include/eigen3
-- Found installed version of glog: /usr/local/lib/cmake/glog
-- Detected glog version: 0.4.0
-- Found required Ceres dependency: glog
-- Found installed version of gflags: /usr/local/lib/cmake/gflags
-- Detected gflags version: 2.2.2
-- Found required Ceres dependency: gflags
-- Found Ceres version: 2.0.0 installed in: /usr/local with components: [EigenSparse, SparseLinearAlgebraLibrary, LAPACK, SuiteSparse, CXSparse, SchurSpecializations]
-- Using system Ceres.
-- OpenMP found
-- NOTE: Suppressing some warnings when compiling OpenGV.
-- Deactivating timers.
-- Deactivating timers.
-- /home/xlla/git/okvis/build/okvis_multisensor_processing/okvisConfig.hpp
-- Boost version: 1.65.1
-- Found the following Boost libraries:
-- filesystem
-- system
-- Configuring done
-- Generating done