90 degree rotated camera setup

[Deok-min]

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.rviz

and 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.