Mesher queue empty warning, poor mesh generation?

[zippyzoo77]

Hello, I am trying to get the mesher working properly, and I keep getting very odd results that don't seem to line up with the environment, and I am wondering if that is due to the mesher queue issues that keep coming up? I put a piece of the outputs below so you can see, as well as a screenshot of what the mesh looks like. Any idea what is going wrong here and how to fix it to get a better mesh?

I1207 15:28:41.334957 932942 ThreadsafeQueue.h:305] Queue with id: mesher_frontend is getting full, size: 3
I1207 15:28:41.334964 932942 ThreadsafeQueue.h:305] Queue with id: lcd_frontend_queue is getting full, size: 3
I1207 15:28:41.334965 932942 ThreadsafeQueue.h:305] Queue with id: visualizer_frontend_queue is getting full, size: 3
W1207 15:28:41.366852 932864 Visualizer3DModule.cpp:133] Mesher queue is empty, yet Backend or Frontend queue is not!This should not happen since Mesher runs at Backend pace!
W1207 15:28:41.366900 932864 Visualizer3DModule.cpp:133] Mesher queue is empty, yet Backend or Frontend queue is not!This should not happen since Mesher runs at Backend pace!
I1207 15:28:41.366964 932864 KimeraVioRos.cpp:215] Statistics
-----------                                  #	Log Hz	{avg     +- std    }	[min,max]
Display [ms]                            	   61	0.616744	{0.704918 +- 2.59065}	[0,20]
Lcd [ms]                                	   31	0.313430	{69.0000 +- 4.26615}	[64,83]
Mesher [ms]                             	   31	0.313614	{3.61290 +- 1.68676}	[2,8]
Stereo Data Provider [ms]               	    0	
VioBackend [ms]                         	   31	0.313639	{4.22581 +- 2.33395}	[0,11]
VioFrontend Frame Rate [ms]             	 1452	14.7060	{2.91736 +- 0.529818}	[2,9]
VioFrontend Keyframe Rate [ms]          	   30	0.304269	{66.5333 +- 6.46334}	[53,90]
VioFrontend [ms]                        	 1483	14.9846	{4.27175 +- 12.8059}	[2,90]
Visualizer [ms]                         	   31	0.313427	{0.516129 +- 0.724383}	[0,3]
backend_input_queue Size [#]            	   31	0.312995	{1.00000 +- 0.00000}	[1,1]
data_provider_left_frame_queue Size [#] 	 1485	14.9738	{1.00000 +- 0.00000}	[1,1]
data_provider_right_frame_queue Size [#]	 1485	14.9738	{1.00067 +- 0.00000}	[1,2]
display_input_queue Size [#]            	   61	0.615418	{1.00000 +- 0.00000}	[1,1]
frontend_input_queue Size [#]           	 1483	14.9529	{1.00000 +- 0.00000}	[1,1]
lcd_backend_queue Size [#]              	   31	0.313532	{1.00000 +- 0.00000}	[1,1]
lcd_frontend_queue Size [#]             	 1483	14.9795	{36.3122 +- 22.7148}	[1,77]
mesher_backend Size [#]                 	   31	0.312982	{1.00000 +- 0.00000}	[1,1]
mesher_frontend Size [#]                	 1483	14.9532	{36.3122 +- 22.7148}	[1,77]
visualizer_backend_queue Size [#]       	   31	0.313626	{1.00000 +- 0.00000}	[1,1]
visualizer_frontend_queue Size [#]      	 1483	14.9835	{36.3122 +- 22.7148}	[1,77]
visualizer_lcd_queue Size [#]           	   31	0.313429	{1.00000 +- 0.00000}	[1,1]
visualizer_mesher_queue Size [#]        	   31	0.313613	{1.00000 +- 0.00000}	[1,1]
I1207 15:28:41.398730 932942 StereoVisionImuFrontend.cpp:113] ------------------- Processing frame k = 1485--------------------
I1207 15:28:41.398806 932942 StereoVisionImuFrontend.cpp:138] Current IMU Preintegration frequency: 192308 Hz. (52 us).
I1207 15:28:41.401396 932942 Tracker.cpp:149] Optical Flow Timing [ms]: 2
I1207 15:28:41.401603 932942 Frame.h:144] Frame id: 1485 at timestamp: 1701991721269879569
isKeyframe_: 0
nr keypoints_: 301
nr valid keypoints_: 301
nr landmarks_: 301
nr versors_: 301
size descriptors_: [0 x 0]
I1207 15:28:41.401628 932942 CameraParams.cpp:293]                                                            
******************** Camera Parameters ********************
Name                                                  Value
-----------------------------------------------------------
Camera ID ..........................................left_cam
Intrinsics: 
- fx....................................1071.58
- fy.................................................1072.37
- cu.................................................659.288
- cv.................................................399.247
frame_rate_: ....................................4.65661e-10
image_size_: 
- width...................................1280
- height.................................................720
depth_: 
- virtual_baseline.............................0.01
- depth_to_meters..........................................1
- min_depth................................................0
- max_depth...............................................10
- is_registered............................................1
-----------------------------------------------------------
I1207 15:28:41.401636 932942 CameraParams.cpp:294] - body_Pose_cam_: R: [
	0, 1.11022e-16, 1;
	-1, -2.22045e-16, 1.11022e-16;
	0, -1, 0
]
t: 000000 0.0375 000000
- K: [1071.578979492188, 0, 659.2884521484375;
 0, 1072.369140625, 399.2466430664062;
 0, 0, 1]
- Distortion Model:1
- Distortion Coeff:[0, 0, 0, 0, 0]
I1207 15:28:41.402297 932942 Tracker.cpp:368] Low mono disparity.
W1207 15:28:41.416780 932864 Visualizer3DModule.cpp:133] Mesher queue is empty, yet Backend or Frontend queue is not!This should not happen since Mesher runs at Backend pace!
I1207 15:28:41.436164 932942 FeatureDetector.cpp:208] Number of points detected : 766
I1207 15:28:41.436188 932942 FeatureDetector.cpp:222] Need n corners: 0
I1207 15:28:41.436221 932942 NonMaximumSuppression.cpp:102] Running Binning: 6
I1207 15:28:41.436228 932942 NonMaximumSuppression.cpp:119] Non Maximum Suppression Timing [ms]: 0
W1207 15:28:41.436231 932942 FeatureDetector.cpp:160] No corners extracted for frame with id: 1485
I1207 15:28:41.436241 932942 StereoMatcher.cpp:130] sparseStereoMatching: StereoFrame is already rectified!
I1207 15:28:41.436242 932942 StereoCamera.cpp:278] Rectifying already rectified stereo frame ...
I1207 15:28:41.459314 932942 StereoVisionImuFrontend.cpp:180] Keyframe 1485 with: 301 smart measurements
I1207 15:28:41.459421 932942 ThreadsafeQueue.h:305] Queue with id: mesher_frontend is getting full, size: 4
I1207 15:28:41.459427 932942 ThreadsafeQueue.h:305] Queue with id: lcd_frontend_queue is getting full, size: 4
I1207 15:28:41.459430 932942 ThreadsafeQueue.h:305] Queue with id: visualizer_frontend_queue is getting full, size: 4
I1207 15:28:41.459582 932943 RegularVioBackend.cpp:214] Tracker has a LOW_DISPARITY status.
I1207 15:28:41.463665 932943 VioBackend.cpp:1380] Backend: Update IMU Bias.
I1207 15:28:41.465530 932942 StereoVisionImuFrontend.cpp:113] ------------------- Processing frame k = 1486--------------------
I1207 15:28:41.465595 932942 StereoVisionImuFrontend.cpp:138] Current IMU Preintegration frequency: 217391 Hz. (46 us).
W1207 15:28:41.466771 932864 Visualizer3DModule.cpp:133] Mesher queue is empty, yet Backend or Frontend queue is not!This should not happen since Mesher runs at Backend pace!
I1207 15:28:41.468376 932942 Tracker.cpp:149] Optical Flow Timing [ms]: 2
I1207 15:28:41.468643 932942 Frame.h:144] Frame id: 1486 at timestamp: 1701991721336546086
isKeyframe_: 0
nr keypoints_: 301
nr valid keypoints_: 301
nr landmarks_: 301
nr versors_: 301
size descriptors_: [0 x 0]

[yes0605]

我有一样的问题　
兄弟　你解决了吗

[zippyzoo77]

I have not solved it yet unfortunately. I have found that I get the same issue with the Euroc V1_01_easy.bag file.

[OmarZahra]

I am also having similar problems when working with the oak-d camera (not even getting meshes) which I believe are related. Can you please share the camera configuration yaml file, the params (in the Kimera_VIO resources), the launch file, and the rviz file. It would be nice to share as well which linux and ROS version you are using and gtsam version.