Missing landmark information to build 3D Mesh. Delaunay Triangle out of image (size: x: 0, y: 0, height: 480, width 848

[Haoyuelll]

Description: I'm running kimera with realsense D455, and have problem with the mesher Mesher sometimes failed when the robot moves

Command:

<launch>
  <arg name="dataset_name" value="RealSenseIR"/>
  <arg name="online" default="true" />

  <arg name="log_output" default="false"/>
  <arg name="log_output_path" default="$(find kimera_vio_ros)/output_logs/" if="$(arg log_output)"/>
  <arg name="log_gt_data" default="false"/>
  <arg name="gt_topic" default=""/>
  <!-- Set use_sim_time to true if you use rosbag with clock argument -->
  <arg name="should_use_sim_time" default="false"/>
  <!-- Only here for convenience -->
  <arg name="run_stereo_dense" default="true"/>

  <!-- Only used when parsing a rosbag -->
  <arg name="rosbag_path" default="default.bag" unless="$(arg online)"/>

  <!-- Frame IDs. These DO NOT match frame id's on the video streams, as the 
    RealSense and Kimera publish conflicting Tf's -->
  <arg name="world_frame_id" value="world"/>
  <arg name="base_link_frame_id" value="base_link"/>
  <arg name="map_frame_id" value="kimera_map"/>
  <arg name="left_cam_frame_id" value="left_cam"/>
  <arg name="right_cam_frame_id" value="right_cam"/>

  <!-- Subscribed Topics -->
  <arg name="left_cam_topic" value="/camera/infra1/image_rect_raw"/>
  <arg name="right_cam_topic" value="/camera/infra2/image_rect_raw"/>
  <arg name="imu_topic" value="/camera/imu"/>

  <param name="robot_description1" command="xacro '$(find tinker_description)/urdf/kimera1.urdf.xacro'" />
  <node name="robot_state_publisher1" pkg="robot_state_publisher" type="robot_state_publisher">
    <remap from="robot_description" to="robot_description1" />
  </node>

  <param name="robot_description" command="xacro '$(find tinker_description)/urdf/kimera2.urdf.xacro'" />
  <node name="robot_state_publisher2" pkg="robot_state_publisher" type="robot_state_publisher" />

  <include file="$(find tinker_navigation)/launch/rs_camera.launch"/>
      <remap from="/cam1/camera_info" to="/camera/infra2/camera_info"/> -->
  <remap from="/odom" to="/kimera_vio_ros/odometry"/>
  <include file="$(find tinker_navigation)/launch/nav.launch"/>

  <!-- Launch actual pipeline -->
  <include file="$(find kimera_vio_ros)/launch/kimera_vio_ros.launch" pass_all_args="true"/>

  <!-- Launch static TF node from base_link to velo_link -->
  <node pkg="tf" type="static_transform_publisher" name="velo_link_broadcaster" args="0 0 0 0 0 0 1 base_link velo_link 100"/>

  <node pkg="tf" type="static_transform_publisher" name="kim_base_trans" args="-0.225 0 1.35 3.6407 0 0.7853 1 base_link camera_link 100"/>

  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find tinker_navigation)/config/slam/laser_rgbd_slam.rviz" />

  <node pkg="tf" type="static_transform_publisher" name="kimera_map_trans" args="0 0 0 0 0 0 camera_link kimera_map 10" />
  <node pkg="tf" type="static_transform_publisher" name="world_map_trans" args="0 0 0 0 0 0 world map 10" />
  <node pkg="tf" type="static_transform_publisher" name="base2_trans" args="0 0 0 0 0 0 base_link2 base_link 100" />

</launch>

Console output:

W0825 23:47:20.203195  6839 DataProviderModule.cpp:68] Waiting for IMU data...

0825 23:37:13.745052 30688 Tracker.cpp:574] 1-point RANSAC (voting) could not find a solution.
W0825 23:37:13.778784 30688 StereoMatcher.cpp:130] sparseStereoMatching: StereoFrame is already rectified!
W0825 23:37:13.778856 30688 StereoCamera.cpp:263] Rectifying already rectified stereo frame ...
I0825 23:37:13.819227 30689 RegularVioBackend.cpp:212] Tracker has a LOW_DISPARITY status.
W0825 23:37:13.840852 30690 Mesher.cpp:1377] Missing landmark information to build 3D Mesh.
E0825 23:37:13.841150 30690 Mesher.cpp:1729] Delaunay Triangle out of image (size: x: 0, y: 0, height: 480, width 848
 Triangle: x, y: 
0, 2544
2544, 0
-2544, -2544

Thanks soooo much!

[nadiawangberg]

I'm having the same issue, did you manage to find a solution?