Can't build mesh with Intel RealSense D435i

[Breno-de-Angelo]

Description:
I installed Kimera-VIO-ROS following the installation README and solved compiling errors with the instructions in this issue #180 . The camera seems to be working properly, I can see both the RGB and depth images in rviz, but mesh is not being generated. I used the commands below and got all 0s in the statistics that are printed to the console. I tried modifying kimera_vio_ros.launch file matching the subscribed topics to the camera topics, but, as shown in "Console output", it didn't help.

Command:

roscore
roslaunch realsense2_camera rs_camera.launch enable_gyro:=true enable_accel:=true enable_infra1:=true enable_infra2:=true unite_imu_method:=linear_interpolation infra_width:=848 infra_height:=480 infra_fps:=30
roslaunch kimera_vio_ros kimera_vio_ros_realsense_IR.launch
rviz -d $(rospack find kimera_semantics_ros)/rviz/kimera_realsense_metric.rviz

Console output:

$ roslaunch kimera_vio_ros kimera_vio_ros_realsense_IR.launch online:=true should_use_sim_time:=false
... logging to /home/breno/.ros/log/9c8691b4-902b-11ed-adc9-7404f15057d0/roslaunch-breno-Predator-PH315-54-25053.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://breno-Predator-PH315-54:44621/

SUMMARY
========

PARAMETERS
 * /kimera_vio_ros/kimera_vio_ros_node/base_link_frame_id: base_link
 * /kimera_vio_ros/kimera_vio_ros_node/left_cam_frame_id: left_cam
 * /kimera_vio_ros/kimera_vio_ros_node/map_frame_id: map
 * /kimera_vio_ros/kimera_vio_ros_node/mono_ransac_threshold: 30
 * /kimera_vio_ros/kimera_vio_ros_node/online_run: True
 * /kimera_vio_ros/kimera_vio_ros_node/params_folder_path: /home/breno/kimer...
 * /kimera_vio_ros/kimera_vio_ros_node/position_det_threshold: 0.3
 * /kimera_vio_ros/kimera_vio_ros_node/right_cam_frame_id: right_cam
 * /kimera_vio_ros/kimera_vio_ros_node/stereo_ransac_threshold: 20
 * /kimera_vio_ros/kimera_vio_ros_node/use_lcd: False
 * /kimera_vio_ros/kimera_vio_ros_node/use_online_cam_params: False
 * /kimera_vio_ros/kimera_vio_ros_node/velocity_det_threshold: 0.1
 * /kimera_vio_ros/kimera_vio_ros_node/world_frame_id: world
 * /kimera_vio_ros/posegraph_viewer/frame_id: world
 * /rosdistro: melodic
 * /rosversion: 1.14.13
 * /use_sim_time: False

NODES
  /
    velo_link_broadcaster (tf/static_transform_publisher)
  /kimera_vio_ros/
    kimera_vio_ros_node (kimera_vio_ros/kimera_vio_ros_node)
    posegraph_viewer (pose_graph_tools/visualizer_node)

ROS_MASTER_URI=http://localhost:11311

process[kimera_vio_ros/kimera_vio_ros_node-1]: started with pid [25068]
process[kimera_vio_ros/posegraph_viewer-2]: started with pid [25069]
process[velo_link_broadcaster-3]: started with pid [25070]
[ INFO] [1673275334.203140580]: Initializing pose graph visualizer
I0109 11:42:14.301340 25068 RegularVioBackend.cpp:114] Using Regular VIO Backend.
I0109 11:42:14.301426 25068 PipelineModule.h:449] MISO Pipeline Module: Display has no output queue registered.
I0109 11:42:14.301515 25068 Pipeline.cpp:296] Pipeline Modules launched (parallel_run set to 1).
I0109 11:42:14.301661 25093 Pipeline.cpp:89] Spinning Kimera-VIO.
I0109 11:42:14.301643 25068 KimeraVioRos.cpp:137] Statistics
-----------                                  #	Log Hz	{avg     +- std    }	[min,max]
Mesher [ms]                             	    0	
VioBackend [ms]                         	    0	
VioFrontend [ms]                        	    0	
Visualizer [ms]                         	    0	
backend_input_queue Size [#]            	    0	
data_provider_left_frame_queue Size [#] 	    0	
data_provider_right_frame_queue Size [#]	    0	
display_input_queue Size [#]            	    0	
frontend_input_queue Size [#]           	    0	
mesher_backend Size [#]                 	    0	
mesher_frontend Size [#]                	    0	
visualizer_backend_queue Size [#]       	    0	
visualizer_frontend_queue Size [#]      	    0	
visualizer_mesher_queue Size [#]        	    0	
I0109 11:42:15.301731 25068 KimeraVioRos.cpp:137] Statistics
-----------                                  #	Log Hz	{avg     +- std    }	[min,max]
Display [ms]                            	    0	
Mesher [ms]                             	    0	
Stereo Data Provider [ms]               	    0	
VioBackend [ms]                         	    0	
VioFrontend [ms]                        	    0	
Visualizer [ms]                         	    0	
backend_input_queue Size [#]            	    0	
data_provider_left_frame_queue Size [#] 	   25	25.5505	{1.00000 +- 0.00000}	[1,1]
data_provider_right_frame_queue Size [#]	   25	25.5480	{13.0000 +- 7.35980}	[1,25]
display_input_queue Size [#]            	    0	
frontend_input_queue Size [#]           	    0	
mesher_backend Size [#]                 	    0	
mesher_frontend Size [#]                	    0	
visualizer_backend_queue Size [#]       	    0	
visualizer_frontend_queue Size [#]      	    0	
visualizer_mesher_queue Size [#]        	    0	
I0109 11:42:16.301743 25068 KimeraVioRos.cpp:137] Statistics
-----------                                  #	Log Hz	{avg     +- std    }	[min,max]
Display [ms]                            	    0	
Mesher [ms]                             	    0	
Stereo Data Provider [ms]               	    0	
VioBackend [ms]                         	    0	
VioFrontend [ms]                        	    0	
Visualizer [ms]                         	    0	
backend_input_queue Size [#]            	    0	
data_provider_left_frame_queue Size [#] 	   55	27.7900	{1.00000 +- 0.00000}	[1,1]
data_provider_right_frame_queue Size [#]	   55	27.7888	{28.0000 +- 16.0208}	[1,55]
display_input_queue Size [#]            	    0	
frontend_input_queue Size [#]           	    0	
mesher_backend Size [#]                 	    0	
mesher_frontend Size [#]                	    0	
visualizer_backend_queue Size [#]       	    0	
visualizer_frontend_queue Size [#]      	    0	
visualizer_mesher_queue Size [#]        	    0	
I0109 11:42:17.301785 25068 KimeraVioRos.cpp:137] Statistics

Additional files:
kimera_vio_ros.launch.txt
The change in the file above was replacing

  <!-- Subscribed Topics -->
  <arg name="left_cam_topic"                    default="/cam0/image_raw"/>
  <arg name="left_cam_info_topic"               default="/cam0/camera_info"/>
  <arg name="right_cam_topic"                   default="/cam1/image_raw"/>
  <arg name="right_cam_info_topic"              default="/cam1/camera_info"/>
  <arg name="imu_topic"                         default="/imu0"/>

by

  <!-- Subscribed Topics -->
  <arg name="left_cam_topic"                    default="/camera/infra1/image_rect_raw"/>
  <arg name="left_cam_info_topic"               default="/cam0/camera_info"/>
  <arg name="right_cam_topic"                   default="/camera/infra2/image_rect_raw"/>
  <arg name="right_cam_info_topic"              default="/cam1/camera_info"/>
  <arg name="imu_topic"                         default="/camera/imu"/>

• KimeraVIO branch, tag or commit used:
• GTSAM version used:
• OpenGV version used:
• OpenCV version used: type opencv_version
• Operating system and version (e.g. Ubuntu 16.04 or Windows 10): Ubuntu 18.04
• Did you change the source code? (yes / no): Only the file attached

[DragonOnGit]

hi there, the problem you faced is use the wrong camera info topic here:

<!-- Subscribed Topics -->
<arg name="left_cam_topic"                    default="/camera/infra1/image_rect_raw"/>
<arg name="left_cam_info_topic"               default="/cam0/camera_info"/>
<arg name="right_cam_topic"                   default="/camera/infra2/image_rect_raw"/>
<arg name="right_cam_info_topic"              default="/cam1/camera_info"/>
<arg name="imu_topic"                         default="/camera/imu"/>

and i recommend you change the topic in the file named kimera_vio_ros_realsense_IR.launch by the following codes:

      <param name="input_camera_info_from_ros_params" value="false"/>

      <param name="first_camera_namespace"  value="/camera/infra1"/>
      <param name="second_camera_namespace" value="/camera/infra2"/>
      <param name="first_camera_info"  value="/camera/infra1/camera_info"/>
      <param name="second_camera_info"  value="/camera/infra2/camera_info"/>
      <param name="first_output_frame"      value="left_cam_base_link"/>
      <param name="second_output_frame"     value="right_cam_base_link"/>

this may solve your problem.