90 degree rotated camera setup
Deok-min opened this issue · comments
Hi, I'm trying to run Kimera-VIO with a 90 degree rotated d435i camera. But the constructed 3d mesh is not fine.
It's like below video( It is 5 times speed up).
Could you give some advice to construct good meshes?
I run the below commands under the non-parallel configuration.
roslaunch kimera_vio_ros kimera_vio_ros_realsense_IR.launch
rviz -d $(rospack find kimera_vio_ros)/rviz/kimera_vio_tesse.rvizand during the runtime, it says,
I1221 02:29:35.219280 22445 StereoVisionImuFrontend.cpp:113] ------------------- Processing frame k = 4--------------------
I1221 02:29:35.219341 22445 StereoVisionImuFrontend.cpp:138] Current IMU Preintegration frequency: 172414 Hz. (58 us).
I1221 02:29:35.221277 22445 Tracker.cpp:147] Optical Flow Timing [ms]: 1
I1221 02:29:35.221923 22445 ThreadsafeQueue.h:305] Queue with id: mesher_frontend is getting full, size: 3
W1221 02:29:35.221935 22445 PipelineModule.h:399] Module: VioBackend - Input queue: backend_input_queue didn't return an output.
I1221 02:29:35.221944 22445 MesherModule.cpp:38] Module: Mesher - Backend queue is empty or down
I1221 02:29:35.221951 22445 Visualizer3DModule.cpp:62] Module: Visualizer - visualizer_backend_queue queue is down
I1221 02:29:35.221958 22445 KimeraVioRos.cpp:244] Statistics
----------- # log hz {avg +- std} [min, max] last
Display [ms] 1 9.2 {0.0 +- 0.0} [0.0, 0.0] 0.0
Mesher [ms] 1 657.0 {1.0 +- 0.0} [1.0, 1.0] 1.0
VioBackend [ms] 1 1342.4 {0.0 +- 0.0} [0.0, 0.0] 0.0
VioFrontend Frame Rate [ms] 3 56.0 {2.7 +- 1.2} [2.0, 4.0] 2.0
VioFrontend [ms] 4 39.3 {13.2 +- 21.2} [2.0, 45.0] 2.0
Visualizer [ms] 1 4690.6 {0.0 +- 0.0} [0.0, 0.0] 0.0
backend_input_queue Size [#] 1 4.1 {1.0 +- 0.0} [1.0, 1.0] 1.0
data_provider_left_frame_queue Size [#] 5 22.0 {1.0 +- 0.0} [1.0, 1.0] 1.0
data_provider_right_frame_queue Size [#] 5 22.0 {1.2 +- 0.4} [1.0, 2.0] 1.0
display_input_queue Size [#] 1 4.1 {1.0 +- 0.0} [1.0, 1.0] 1.0
frontend_input_queue Size [#] 4 13.5 {1.0 +- 0.0} [1.0, 1.0] 1.0
mesher_backend Size [#] 1 5.8 {1.0 +- 0.0} [1.0, 1.0] 1.0
mesher_frontend Size [#] 4 17.5 {1.8 +- 1.0} [1.0, 3.0] 3.0
visualizer_backend_queue Size [#] 1 5.8 {1.0 +- 0.0} [1.0, 1.0] 1.0
visualizer_frontend_queue Size [#] 1 5.8 {1.0 +- 0.0} [1.0, 1.0] 1.0
visualizer_mesher_queue Size [#] 1 5.7 {1.0 +- 0.0} [1.0, 1.0] 1.0
I1221 02:29:35.229018 22445 Pipeline.cpp:102] Spinning Kimera-VIO.
I1221 02:29:35.229038 22445 MonoDataProviderModule.cpp:135] Module: Stereo Data Provider - queue is empty or down
I1221 02:29:35.229043 22445 KimeraVioRos.cpp:244] Statistics
----------- # log hz {avg +- std} [min, max] last
Display [ms] 1 9.2 {0.0 +- 0.0} [0.0, 0.0] 0.0
Mesher [ms] 1 657.0 {1.0 +- 0.0} [1.0, 1.0] 1.0
VioBackend [ms] 1 1342.4 {0.0 +- 0.0} [0.0, 0.0] 0.0
VioFrontend Frame Rate [ms] 3 56.0 {2.7 +- 1.2} [2.0, 4.0] 2.0
VioFrontend [ms] 4 39.3 {13.2 +- 21.2} [2.0, 45.0] 2.0
Visualizer [ms] 1 4690.6 {0.0 +- 0.0} [0.0, 0.0] 0.0
backend_input_queue Size [#] 1 4.1 {1.0 +- 0.0} [1.0, 1.0] 1.0
data_provider_left_frame_queue Size [#] 5 22.0 {1.0 +- 0.0} [1.0, 1.0] 1.0
data_provider_right_frame_queue Size [#] 5 22.0 {1.2 +- 0.4} [1.0, 2.0] 1.0
display_input_queue Size [#] 1 4.1 {1.0 +- 0.0} [1.0, 1.0] 1.0
frontend_input_queue Size [#] 4 13.5 {1.0 +- 0.0} [1.0, 1.0] 1.0
mesher_backend Size [#] 1 5.8 {1.0 +- 0.0} [1.0, 1.0] 1.0
mesher_frontend Size [#] 4 17.5 {1.8 +- 1.0} [1.0, 3.0] 3.0
visualizer_backend_queue Size [#] 1 5.8 {1.0 +- 0.0} [1.0, 1.0] 1.0
visualizer_frontend_queue Size [#] 1 5.8 {1.0 +- 0.0} [1.0, 1.0] 1.0
visualizer_mesher_queue Size [#] 1 5.7 {1.0 +- 0.0} [1.0, 1.0] 1.0
I1221 02:29:35.238714 22445 Pipeline.cpp:102] Spinning Kimera-VIO.
I1221 02:29:35.238734 22445 MonoDataProviderModule.cpp:135] Module: Stereo Data Provider - queue is empty or down
I1221 02:29:35.238740 22445 KimeraVioRos.cpp:244] Statistics
----------- # log hz {avg +- std} [min, max] last
Display [ms] 1 9.2 {0.0 +- 0.0} [0.0, 0.0] 0.0
Mesher [ms] 1 657.0 {1.0 +- 0.0} [1.0, 1.0] 1.0
VioBackend [ms] 1 1342.4 {0.0 +- 0.0} [0.0, 0.0] 0.0
VioFrontend Frame Rate [ms] 3 56.0 {2.7 +- 1.2} [2.0, 4.0] 2.0
VioFrontend [ms] 4 39.3 {13.2 +- 21.2} [2.0, 45.0] 2.0
Visualizer [ms] 1 4690.6 {0.0 +- 0.0} [0.0, 0.0] 0.0
backend_input_queue Size [#] 1 4.1 {1.0 +- 0.0} [1.0, 1.0] 1.0
data_provider_left_frame_queue Size [#] 5 22.0 {1.0 +- 0.0} [1.0, 1.0] 1.0
data_provider_right_frame_queue Size [#] 5 22.0 {1.2 +- 0.4} [1.0, 2.0] 1.0
display_input_queue Size [#] 1 4.1 {1.0 +- 0.0} [1.0, 1.0] 1.0
frontend_input_queue Size [#] 4 13.5 {1.0 +- 0.0} [1.0, 1.0] 1.0
mesher_backend Size [#] 1 5.8 {1.0 +- 0.0} [1.0, 1.0] 1.0
mesher_frontend Size [#] 4 17.5 {1.8 +- 1.0} [1.0, 3.0] 3.0
visualizer_backend_queue Size [#] 1 5.8 {1.0 +- 0.0} [1.0, 1.0] 1.0
visualizer_frontend_queue Size [#] 1 5.8 {1.0 +- 0.0} [1.0, 1.0] 1.0
visualizer_mesher_queue Size [#] 1 5.7 {1.0 +- 0.0} [1.0, 1.0] 1.0
I1221 02:29:35.248896 22445 Pipeline.cpp:102] Spinning Kimera-VIO.
I1221 02:29:35.248929 22445 MonoDataProviderModule.cpp:135] Module: Stereo Data Provider - queue is empty or down
I1221 02:29:35.248939 22445 StereoVisionImuFrontend.cpp:113] ------------------- Processing frame k = 5--------------------
I1221 02:29:35.248968 22445 StereoVisionImuFrontend.cpp:138] Current IMU Preintegration frequency: 416667 Hz. (24 us).
I1221 02:29:35.250912 22445 Tracker.cpp:147] Optical Flow Timing [ms]: 1
I1221 02:29:35.252046 22445 Tracker.cpp:367] Low mono disparity.
I1221 02:29:35.275588 22445 FeatureDetector.cpp:208] Number of points detected : 1128
I1221 02:29:35.275607 22445 FeatureDetector.cpp:222] Need n corners: 75
I1221 02:29:35.275732 22445 NonMaximumSuppression.cpp:102] Running Binning: 6
I1221 02:29:35.275751 22445 NonMaximumSuppression.cpp:119] Non Maximum Suppression Timing [ms]: 0
I1221 02:29:35.280579 22445 FeatureDetector.cpp:293] Corner Sub Pixel Refinement Timing [ms]: 4
I1221 02:29:35.280735 22445 StereoMatcher.cpp:130] sparseStereoMatching: StereoFrame is already rectified!
I1221 02:29:35.280742 22445 StereoCamera.cpp:273] Rectifying already rectified stereo frame ...
I1221 02:29:35.294643 22445 StereoVisionImuFrontend.cpp:180] Keyframe 5 with: 295 smart measurements
I1221 02:29:35.294698 22445 ThreadsafeQueue.h:305] Queue with id: mesher_frontend is getting full, size: 4
I1221 02:29:35.294895 22445 RegularVioBackend.cpp:214] Tracker has a LOW_DISPARITY status.
I1221 02:29:35.295295 22445 VioBackend.cpp:1375] Backend: Update IMU Bias.
W1221 02:29:35.295351 22445 Mesher.cpp:1455] Missing landmark information to build 3D Mesh.
I1221 02:29:35.296854 22445 ThreadsafeQueue.h:305] Queue with id: display_input_queue is getting full, size: 2
I1221 02:29:35.326288 22445 KimeraVioRos.cpp:244] Statistics
----------- # log hz {avg +- std} [min, max] last
Display [ms] 2 7.5 {14.5 +- 20.5} [0.0, 29.0] 29.0
Mesher [ms] 2 15.3 {1.0 +- 0.0} [1.0, 1.0] 1.0
VioBackend [ms] 2 15.4 {0.0 +- 0.0} [0.0, 0.0] 0.0
VioFrontend Frame Rate [ms] 3 56.0 {2.7 +- 1.2} [2.0, 4.0] 2.0
VioFrontend Keyframe Rate [ms] 1 7.9 {45.0 +- 0.0} [45.0, 45.0] 45.0
VioFrontend [ms] 5 28.6 {19.6 +- 23.2} [2.0, 45.0] 45.0
Visualizer [ms] 2 15.5 {0.0 +- 0.0} [0.0, 0.0] 0.0
backend_input_queue Size [#] 2 5.4 {1.0 +- 0.0} [1.0, 1.0] 1.0
data_provider_left_frame_queue Size [#] 6 23.4 {1.0 +- 0.0} [1.0, 1.0] 1.0
data_provider_right_frame_queue Size [#] 6 23.4 {1.2 +- 0.4} [1.0, 2.0] 1.0
display_input_queue Size [#] 3 8.0 {1.3 +- 0.6} [1.0, 2.0] 2.0
frontend_input_queue Size [#] 5 15.4 {1.0 +- 0.0} [1.0, 1.0] 1.0
mesher_backend Size [#] 2 6.6 {1.0 +- 0.0} [1.0, 1.0] 1.0
mesher_frontend Size [#] 5 16.6 {2.2 +- 1.3} [1.0, 4.0] 4.0
visualizer_backend_queue Size [#] 2 6.6 {1.0 +- 0.0} [1.0, 1.0] 1.0
visualizer_frontend_queue Size [#] 2 6.6 {1.0 +- 0.0} [1.0, 1.0] 1.0
visualizer_mesher_queue Size [#] 2 6.6 {1.0 +- 0.0} [1.0, 1.0] 1.0
I1221 02:29:35.326620 22445 Pipeline.cpp:102] Spinning Kimera-VIO.
I1221 02:29:35.326651 22445 MonoDataProviderModule.cpp:135] Module: Stereo Data Provider - queue is empty or down
I1221 02:29:35.326666 22445 StereoVisionImuFrontend.cpp:113] ------------------- Processing frame k = 6--------------------thank you for reading.