Misalignment of output frame trajectory file

[ateacu]

Hi, I've been testing ORB-SLAM3 on the EuRoC dataset with the Examples/Stereo-Inertial/stereo_inertial_euroc program, using the modified EuRoC example code, and the output frames & keyframes trajectory files (e.g. f_dataset_V101_stereoi.txt) are extremely misaligned with the ground truth data, as shown below.

The visualization during execution seems to be aligned correctly, with the top-down view in the visualization window aligning with the ground truth top-down, however on output to the .txt file, it seems like a consistent misalignment is happening. I've tried multiple datasets slightly altered from V101_easy and they're all misaligned along the same axis but somehow have different offsets and rotations relative to each other in the same plane, as shown below:

I've tested this on both the current main branch and the v0.4 beta, with the same results.
Here is the .sh file I use to run ORB-SLAM3:

#!/bin/bash
pathDatasetEuroc='/home/user/project/data_euroc/V1_01_easy' #Example, it is necesary to change it by the dataset path

#------------------------------------

echo "Launching V101 with Stereo-Inertial sensor"
./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc" ./Stereo-Inertial/EuRoC_TimeStamps/V101.txt dataset-V101_stereoi