Already rectified stereo frame, low disparity tracker status ... are these actually errors?

[ssemenova]

Description:
Hello! I am running Kimera on Ubuntu 20 with ROS Noetic, and am continually seeing these three errors/warnings on some of the euroc datasets:

sparseStereoMatching: StereoFrame is already rectified
Tracker has a LOW_DISPARITY status.
Delaunay Triangle out of image

Are these actually issues or can I safely ignore them? Fwiw, the trajectory in the RVIZ output looks ok to me (although the mesher visualization doesn't work, but I think that's a separate issue).

Command:

roslaunch kimera_vio_ros kimera_vio_ros_euroc.launch online:=true visualize:=true use_lcd:=true log_output:=true visualize_feature_tracks:=true log_output_path:=/home/sofiya/kimera_exps/

Console output:

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://oscar-Galago-Pro:35811/

SUMMARY
========

PARAMETERS
 * /gt_accel_bias: [-0.012492, 0.547...
 * /gt_gyro_bias: [-0.002229, 0.020...
 * /kimera_vio_ros/kimera_vio_ros_node/base_link_frame_id: base_link
 * /kimera_vio_ros/kimera_vio_ros_node/left_cam_frame_id: cam0
 * /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/sofiya/catk...
 * /kimera_vio_ros/kimera_vio_ros_node/position_det_threshold: 0.3
 * /kimera_vio_ros/kimera_vio_ros_node/right_cam_frame_id: cam1
 * /kimera_vio_ros/kimera_vio_ros_node/stereo_ransac_threshold: 20
 * /kimera_vio_ros/kimera_vio_ros_node/use_lcd: True
 * /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: noetic
 * /rosversion: 1.15.15
 * /use_sim_time: True

NODES
  /kimera_vio_ros/
    kimera_vio_ros_node (kimera_vio_ros/kimera_vio_ros_node)
    posegraph_viewer (pose_graph_tools/visualizer_node)

auto-starting new master
process[master]: started with pid [329225]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to c8e243b0-9e87-11ed-bcab-f5ab0e51477b
process[rosout-1]: started with pid [329235]
started core service [/rosout]
process[kimera_vio_ros/kimera_vio_ros_node-2]: started with pid [329242]
process[kimera_vio_ros/posegraph_viewer-3]: started with pid [329243]
[ INFO] [1674854155.311871225]: Initializing pose graph visualizer
I0127 16:15:55.557229 329242 RosOnlineDataProvider.cpp:45] Waiting for ROS time to be valid... 
(Sim Time is enabled; run rosbag with --clock argument)
I0127 16:16:04.054414 329242 RosOnlineDataProvider.cpp:56] Requested initialization from ground-truth. Initializing ground-truth odometry one-shot subscriber.
W0127 16:16:04.056092 329242 RosOnlineDataProvider.cpp:65] Waiting for ground-truth pose to initialize VIO on ros topic: /kimera_vio_ros/gt_odom
E0127 16:16:07.057170 329242 RosOnlineDataProvider.cpp:82] Missing ground-truth pose while trying for 3.00285 seconds.
Enabling autoInitialize and continuing without ground-truth pose.
I0127 16:16:07.078408 329242 Logger.cpp:59] Opening output file: output_frontend_stats.csv
I0127 16:16:07.078553 329242 Logger.cpp:59] Opening output file: output_frontend_ransac_mono.csv
I0127 16:16:07.078655 329242 Logger.cpp:59] Opening output file: output_frontend_ransac_stereo.csv
I0127 16:16:07.078862 329242 Logger.cpp:59] Opening output file: traj_vio.csv
I0127 16:16:07.078949 329242 Logger.cpp:59] Opening output file: output_smartFactors.csv
I0127 16:16:07.079017 329242 Logger.cpp:59] Opening output file: output_pim_navstates.csv
I0127 16:16:07.079105 329242 Logger.cpp:59] Opening output file: output_backendFactors.csv
I0127 16:16:07.079150 329242 Logger.cpp:59] Opening output file: output_backendTiming.csv
I0127 16:16:07.079252 329242 RegularVioBackend.cpp:114] Using Regular VIO Backend.
I0127 16:16:07.079453 329242 LoopClosureDetector.cpp:116] LoopClosureDetector:: Loading vocabulary from /home/sofiya/catkin_ws/src/Kimera-VIO/vocabulary/ORBvoc.yml
I0127 16:16:13.847489 329242 LoopClosureDetector.cpp:119] Loaded vocabulary with 971815 visual words.
I0127 16:16:13.913175 329242 Logger.cpp:59] Opening output file: output_lcd_result.csv
I0127 16:16:13.913296 329242 Logger.cpp:59] Opening output file: traj_pgo.csv
I0127 16:16:13.913338 329242 Logger.cpp:59] Opening output file: output_lcd_status.csv
I0127 16:16:13.972733 329242 PipelineModule.h:449] MISO Pipeline Module: Display has no output queue registered.
I0127 16:16:13.972983 329242 Pipeline.cpp:296] Pipeline Modules launched (parallel_run set to 1).
I0127 16:16:13.973167 329242 KimeraVioRos.cpp:137] Statistics
-----------                                  #	Log Hz	{avg     +- std    }	[min,max]
Display [ms]                            	    0	
Lcd [ms]                                	    0	
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	
lcd_backend_queue Size [#]              	    0	
lcd_frontend_queue Size [#]             	    0	
mesher_backend Size [#]                 	    0	
mesher_frontend Size [#]                	    0	
visualizer_backend_queue Size [#]       	    0	
visualizer_frontend_queue Size [#]      	    0	
visualizer_lcd_queue Size [#]           	    0	
visualizer_mesher_queue Size [#]        	    0	
I0127 16:16:13.973199 329293 Pipeline.cpp:89] Spinning Kimera-VIO.
I0127 16:16:14.030175 329286 VioBackend.h:167] ------------------- Initialize Pipeline: timestamp = 1403637140438319000--------------------
W0127 16:16:14.030197 329286 InitializationFromImu.cpp:25] InitializationFromImu: assumes that the vehicle is stationary and upright along some axis,and gravity vector is along a single axis!
W0127 16:16:14.031105 329287 Mesher.cpp:1377] Missing landmark information to build 3D Mesh.
E0127 16:16:14.031383 329287 Mesher.cpp:1729] Delaunay Triangle out of image (size: x: 0, y: 0, height: 480, width 752
 Triangle: x, y: 
2256, 0
0, 2256
640.113, 394.313
W0127 16:16:14.045218 329288 StereoMatcher.cpp:130] sparseStereoMatching: StereoFrame is already rectified!
W0127 16:16:14.045243 329288 StereoCamera.cpp:263] Rectifying already rectified stereo frame ...
W0127 16:16:14.250285 329285 StereoMatcher.cpp:130] sparseStereoMatching: StereoFrame is already rectified!
W0127 16:16:14.250310 329285 StereoCamera.cpp:263] Rectifying already rectified stereo frame ...
W0127 16:16:14.267726 329287 Mesher.cpp:1377] Missing landmark information to build 3D Mesh.
W0127 16:16:14.286449 329288 StereoMatcher.cpp:130] sparseStereoMatching: StereoFrame is already rectified!
W0127 16:16:14.286482 329288 StereoCamera.cpp:263] Rectifying already rectified stereo frame ...
W0127 16:16:14.419418 329285 StereoMatcher.cpp:130] sparseStereoMatching: StereoFrame is already rectified!
W0127 16:16:14.419448 329285 StereoCamera.cpp:263] Rectifying already rectified stereo frame ...
I0127 16:16:14.437251 329286 RegularVioBackend.cpp:212] Tracker has a LOW_DISPARITY status.
W0127 16:16:14.437942 329287 Mesher.cpp:1377] Missing landmark information to build 3D Mesh.
W0127 16:16:14.452297 329288 StereoMatcher.cpp:130] sparseStereoMatching: StereoFrame is already rectified!
W0127 16:16:14.452322 329288 StereoCamera.cpp:263] Rectifying already rectified stereo frame ...
W0127 16:16:14.650451 329285 StereoMatcher.cpp:130] sparseStereoMatching: StereoFrame is already rectified!
W0127 16:16:14.650477 329285 StereoCamera.cpp:263] Rectifying already rectified stereo frame ...
I0127 16:16:14.669231 329286 RegularVioBackend.cpp:212] Tracker has a LOW_DISPARITY status.
W0127 16:16:14.669925 329287 Mesher.cpp:1377] Missing landmark information to build 3D Mesh.
W0127 16:16:14.683430 329288 StereoMatcher.cpp:130] sparseStereoMatching: StereoFrame is already rectified!
W0127 16:16:14.683450 329288 StereoCamera.cpp:263] Rectifying already rectified stereo frame ...
W0127 16:16:14.844213 329285 StereoMatcher.cpp:130] sparseStereoMatching: StereoFrame is already rectified!
W0127 16:16:14.844236 329285 StereoCamera.cpp:263] Rectifying already rectified stereo frame ...
I0127 16:16:14.856117 329286 RegularVioBackend.cpp:212] Tracker has a LOW_DISPARITY status.
W0127 16:16:14.856945 329287 Mesher.cpp:1377] Missing landmark information to build 3D Mesh.
W0127 16:16:14.869890 329288 StereoMatcher.cpp:130] sparseStereoMatching: StereoFrame is already rectified!
W0127 16:16:14.869915 329288 StereoCamera.cpp:263] Rectifying already rectified stereo frame ...
I0127 16:16:14.966499 329242 KimeraVioRos.cpp:137] Statistics
-----------                                  #	Log Hz	{avg     +- std    }	[min,max]
Display [ms]                            	    9	9.52982	{4.88889 +- 14.6667}	[0,44]
Lcd [ms]                                	    5	5.29435	{61.2000 +- 7.32803}	[56,74]
Mesher [ms]                             	    5	5.64194	{2.00000 +- 0.00000}	[2,2]
Stereo Data Provider [ms]               	    0	
VioBackend [ms]                         	    5	5.65611	{0.00000 +- 0.00000}	[0,0]
VioFrontend Frame Rate [ms]             	   15	16.6227	{4.66667 +- 2.87021}	[2,12]
VioFrontend Keyframe Rate [ms]          	    4	4.90325	{66.2500 +- 13.9851}	[47,78]
VioFrontend [ms]                        	   20	20.6254	{18.7500 +- 26.3116}	[2,78]
Visualizer [ms]                         	    5	5.29390	{0.00000 +- 0.00000}	[0,0]
backend_input_queue Size [#]            	    5	0.642157	{1.00000 +- 0.00000}	[1,1]
data_provider_left_frame_queue Size [#] 	   21	2.67132	{1.00000 +- 0.00000}	[1,1]
data_provider_right_frame_queue Size [#]	   21	2.67131	{1.00000 +- 0.00000}	[1,1]
display_input_queue Size [#]            	    9	1.14682	{1.00000 +- 0.00000}	[1,1]
frontend_input_queue Size [#]           	   20	2.54132	{1.00000 +- 0.00000}	[1,1]
lcd_backend_queue Size [#]              	    5	5.55286	{1.00000 +- 0.00000}	[1,1]
lcd_frontend_queue Size [#]             	   20	20.2815	{2.35000 +- 1.13671}	[1,4]
mesher_backend Size [#]                 	    5	0.642878	{1.00000 +- 0.00000}	[1,1]
mesher_frontend Size [#]                	   20	2.54349	{2.35000 +- 1.13671}	[1,4]
visualizer_backend_queue Size [#]       	    5	5.64152	{1.00000 +- 0.00000}	[1,1]
visualizer_frontend_queue Size [#]      	   20	20.5335	{2.35000 +- 1.13671}	[1,4]
visualizer_lcd_queue Size [#]           	    5	5.29276	{1.00000 +- 0.00000}	[1,1]
visualizer_mesher_queue Size [#]        	    5	5.63990	{1.00000 +- 0.00000}	[1,1]
W0127 16:16:15.043530 329285 StereoMatcher.cpp:130] sparseStereoMatching: StereoFrame is already rectified!
W0127 16:16:15.043560 329285 StereoCamera.cpp:263] Rectifying already rectified stereo frame ...
I0127 16:16:15.055153 329286 RegularVioBackend.cpp:212] Tracker has a LOW_DISPARITY status.
W0127 16:16:15.058240 329287 Mesher.cpp:1377] Missing landmark information to build 3D Mesh.
E0127 16:16:15.058545 329287 Mesher.cpp:1729] Delaunay Triangle out of image (size: x: 0, y: 0, height: 480, width 752
 Triangle: x, y: 
641.382, 395.105
0, 2256
450.45, 431.697

Additional files:
Please attach all the files needed to reproduce the error.

Please give also the following information:

• KimeraVIO branch, tag or commit used: Latest on master
• GTSAM version used: This commit: 686e16aaae26c9a4f23d4af7f2d4a504125ec9c3, as suggested in another github issue
• OpenGV version used: Not sure, I just used the defaults that came with the kimera-vio-ros package
• OpenCV version used: 3.4.2
• Operating system and version (e.g. Ubuntu 16.04 or Windows 10): Ubuntu 20.04
• Did you change the source code? (yes / no): no

I also changed the catkin_build command to this: catkin build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_STANDARD=14 because it fixed some compilation errors I was seeing