@Alex-Kushleyev
the voxl 2 boots, when i click on the voxl-portal to see the tflite detection,that point of time the board reboots.
at the same time i am getting the hires camera data. and all other camera feeds.
this is the first time i am facing this kind of error.
I dont think it is a cable issue, since everything else is working. The same time, I am using VOXL 2 to FC v2 to ESC.
@Alex-Kushleyev @Vinny @Eric-Katzfey @Zachary-Lowell-0
Hey , I am facing an unusual error. where when i try to start tflite server, the voxl 2 board is rebooting up. it is only when i run the server or try to visualize it in the portal.
I tried with the latest tflite version still the same error.
could anyone help me with this
voxl2:/$ voxl-tflite-server
=================================================================
skip_n_frames: 0
=================================================================
model: /usr/bin/dnn/lite-model_movenet_singlepose_lightning_tflite_float16_4.tflite
=================================================================
input_pipe: /run/mpa/hires_front_small_color/
=================================================================
delegate: gpu
=================================================================
allow_multiple: false
=================================================================
output_pipe_prefix: mobilenet
=================================================================
existing instance of voxl-tflite-server found, attempting to stop it
INFO: Created TensorFlow Lite delegate for GPU.
ERROR: Following operations are not supported by GPU delegate:
ARG_MAX: Operation is not supported.
CAST: Not supported cast case
CONCATENATION: OP is supported, but tensor type/shape isn't compatible.
DEQUANTIZE:
FLOOR_DIV: OP is supported, but tensor type/shape isn't compatible.
GATHER_ND: Operation is not supported.
MUL: OP is supported, but tensor type/shape isn't compatible.
PACK: OP is supported, but tensor type/shape isn't compatible.
RESHAPE: OP is supported, but tensor type/shape isn't compatible.
SUB: OP is supported, but tensor type/shape isn't compatible.
UNPACK: Operation is not supported.
97 operations will run on the GPU, and the remaining 200 operations will run on the CPU.
INFO: Initialized OpenCL-based API.
INFO: Created 1 GPU delegate kernels.
INFO: Created TensorFlow Lite XNNPACK delegate for CPU.
Successfully built interpreter
------VOXL TFLite Server------
4 5 6
4 5 6
Connected to camera server
^C
received SIGINT Ctrl-C
Re: TFLite multiple model execution
@nickk14 Hey, I wanted to know whether you are running the same tflite server with changes , or you created a custom tflite server and running it parallely. I would like to know whether the changes you have made are open source or not, if yes, could help me out here.
Re: Drone losing position / crashing in Offboard mode
@Eric-Katzfey @Alex-Kushleyev @Zachary-Lowell-0
Even though earlier I was able to solve the error with help from you, now i am facing the same errors. the odometry is not published on the terminal and the drone is coming down.
VOXL 2 with FC V2 is used, SDK 1.4.0 and PX4 firmware is 1.14.0dev
@Evan-Hertafeld Hey I wanted to know whether you were able to connect to mpa server and access the data inside mavsdk
Hey @Alex-Kushleyev @Vinny @Eric-Katzfey @tom
I want to use TOF data with MAVSDK to follow a path with collision prevention. how to achieve it, i am able to see that mpa data is available inside the docker, I would like to have a guidance how to access the data and incorporate it inside mavsdk
I am attaching an issue i am facing, the drone is stable in a mat, but as soon as i bring it back i loses the position and drifts out and goes crazy when i try to give pilot input
INFO] world : 1.000000 1.000000 (2)
ERROR in insert_data, detected timestamp out of order ov, 1440558439657 vs 1440591773303
ERROR in insert_data, detected timestamp out of order ov, 1456191779391 vs 1456191779391
ERROR in insert_data, detected timestamp out of order ov, 1460758438920 vs 1460791771472
ERROR in insert_data, detected timestamp out of order ov, 1461691774910 vs 1461691774910
ERROR in insert_data, detected timestamp out of order ov, 1461858441212 vs 1461858441212
ERROR in insert_data, detected timestamp out of order ov, 1462091774232 vs 1462125109024
ERROR in insert_data, detected timestamp out of order ov, 1462258438295 vs 1462291773555
ERROR in insert_data, detected timestamp out of order ov, 1462491774024 vs 1462525106316
ERROR in insert_data, detected timestamp out of order ov, 1462658436524 vs 1462725109597
ERROR in insert_data, detected timestamp out of order ov, 1462825106628 vs 1462891775690
ERROR in insert_data, detected timestamp out of order ov, 1462991771420 vs 1463058439440
ERROR in insert_data, detected timestamp out of order ov, 1464125106211 vs 1464125106211
ERROR in insert_data, detected timestamp out of order ov, 1464291773919 vs 1464291773919
ERROR in insert_data, detected timestamp out of order ov, 1464458441002 vs 1464458441002
ERROR in insert_data, detected timestamp out of order ov, 1464691773398 vs 1464725105273
ERROR in insert_data, detected timestamp out of order ov, 1465425110585 vs 1465558437773
ERROR in insert_data, detected timestamp out of order ov, 1465658438450 vs 1465825104596
ERROR in insert_data, detected timestamp out of order ov, 1465925106418 vs 1466091986731
ERROR in insert_data, detected timestamp out of order ov, 1466091986731 vs 1466225109387
ERROR in insert_data, detected timestamp out of order ov, 1466258441991 vs 1466391773450
ERROR in insert_data, detected timestamp out of order ov, 1467658442251 vs 1467691776314
ERROR in insert_data, detected timestamp out of order ov, 1470658438812 vs 1470658438812
ERROR in insert_data, detected timestamp out of order ov, 1470791773187 vs 1470858439698
ERROR in insert_data, detected timestamp out of order ov, 1470958439854 vs 1471025104073
ERROR in insert_data, detected timestamp out of order ov, 1471125105010 vs 1471191771000
ERROR in insert_data, detected timestamp out of order ov, 1471325106781 vs 1471358439125
ERROR in insert_data, detected timestamp out of order ov, 1471491772927 vs 1472058437406
ERROR in insert_data, detected timestamp out of order ov, 1471658438604 vs 1472225105843
ERROR in insert_data, detected timestamp out of order ov, 1471791775375 vs 1472225105843
ERROR in insert_data, detected timestamp out of order ov, 1471958440114 vs 1472425105999
ERROR in insert_data, detected timestamp out of order ov, 1472125105427 vs 1472592004124
ERROR in insert_data, detected timestamp out of order ov, 1472291774385 vs 1472758439489
ERROR in insert_data, detected timestamp out of order ov, 1472491771728 vs 1472925109124
waiting for enough clone states (1 of 5)....
waiting for enough clone states (2 of 5)....
waiting for enough clone states (3 of 5)....
waiting for enough clone states (4 of 5)....
ERROR in insert_data, detected timestamp out of order ov, 1474458439176 vs 1474458439176
ERROR in insert_data, detected timestamp out of order ov, 1474858440061 vs 1475625107196
ERROR in insert_data, detected timestamp out of order ov, 1474891775321 vs 1475625107196
ERROR in insert_data, detected timestamp out of order ov, 1474925109957 vs 1475625107196
ERROR in insert_data, detected timestamp out of order ov, 1474958443290 vs 1475625107196
ERROR in insert_data, detected timestamp out of order ov, 1474991770946 vs 1475625107196
ERROR in insert_data, detected timestamp out of order ov, 1475025106050 vs 1475625107196
ERROR in insert_data, detected timestamp out of order ov, 1475058439748 vs 1475625107196
[WARN] Motion detected, going to full processing
ERROR in insert_data, detected timestamp out of order ov, 1475091775165 vs 1475625107196
ERROR in insert_data, detected timestamp out of order ov, 1475125106571 vs 1475625107196
ERROR in insert_data, detected timestamp out of order ov, 1475158441363 vs 1475625107196
ERROR in insert_data, detected timestamp out of order ov, 1475191774279 vs 1475625107196
ERROR in insert_data, detected timestamp out of order ov, 1475225106988 vs 1475625107196
ERROR in insert_data, detected timestamp out of order ov, 1475258438550 vs 1475625107196
ERROR in insert_data, detected timestamp out of order ov, 1475291774540 vs 1475625107196
ERROR in insert_data, detected timestamp out of order ov, 1475325106311 vs 1475625107196
ERROR in insert_data, detected timestamp out of order ov, 1475458439384 vs 1477225106518
ERROR in insert_data, detected timestamp out of order ov, 1475491771415 vs 1477225106518
ERROR in insert_data, detected timestamp out of order ov, 1475691776883 vs 1477558441674
ERROR in insert_data, detected timestamp out of order ov, 1475725110738 vs 1477558441674
ERROR in insert_data, detected timestamp out of order ov, 1475758443863 vs 1477558441674
ERROR in insert_data, detected timestamp out of order ov, 1475791778446 vs 1477558441674
ERROR in insert_data, detected timestamp out of order ov, 1475825110321 vs 1477558441674
ERROR in insert_data, detected timestamp out of order ov, 1475858439383 vs 1477558441674
ERROR in insert_data, detected timestamp out of order ov, 1475891772613 vs 1477558441674
ERROR in insert_data, detected timestamp out of order ov, 1475925110581 vs 1477558441674
ERROR in insert_data, detected timestamp out of order ov, 1475958442873 vs 1477558441674
ERROR in insert_data, detected timestamp out of order ov, 1475991771154 vs 1477558441674
ERROR in insert_data, detected timestamp out of order ov, 1476291770633 vs 1478191770789
ERROR in insert_data, detected timestamp out of order ov, 1476325110946 vs 1478191770789
ERROR in insert_data, detected timestamp out of order ov, 1476358440894 vs 1478191770789
ERROR in insert_data, detected timestamp out of order ov, 1476392017456 vs 1478191770789
ERROR in insert_data, detected timestamp out of order ov, 1476425106258 vs 1478191770789
ERROR in insert_data, detected timestamp out of order ov, 1476458439956 vs 1478191770789
ERROR in insert_data, detected timestamp out of order ov, 1476491775894 vs 1478191770789
ERROR in insert_data, detected timestamp out of order ov, 1476525105946 vs 1478191770789
ERROR in insert_data, detected timestamp out of order ov, 1478325107247 vs 1480091772507
ERROR in insert_data, detected timestamp out of order ov, 1478358437924 vs 1480091772507
ERROR in insert_data, detected timestamp out of order ov, 1478391771674 vs 1480091772507
ERROR in insert_data, detected timestamp out of order ov, 1478425108653 vs 1480091772507
ERROR in insert_data, detected timestamp out of order ov, 1478458442768 vs 1480091772507
ERROR: invalid metadata, magic number=387521565, expected 1448040524
most likely client fell behind and pipe overflowed
ERROR in insert_data, detected timestamp out of order ov, 1514291774160 vs 1514291774160
ERROR: features were 0 for a long time! cur: 1, min_req: 15 (are you bench testing?)
[VIO_BAD_STATE] No Stable feature.
WARNING auto-resetting, Bad VIO, State: true Q: -1 Vel: 1.738034 Uncert: 0.000915 State: 0(1)
ERROR DIAGONAL WENT NEGATIVE
ERROR DIAGONAL WENT NEGATIVE
ERROR DIAGONAL WENT NEGATIVE
ERROR DIAGONAL WENT NEGATIVE
ERROR DIAGONAL WENT NEGATIVE
ERROR DIAGONAL WENT NEGATIVE
voxl-open-vins-server: /builds/voxl-public/voxl-sdk/third-party/voxl-open-vins/open_vins/ov_msckf/src/state/StateHelper.cpp:114: Assertion `!found_neg' failed.
Aborted
voxl2:~$ voxl-inspect-vins
waiting for server at /run/mpa/ov_extended
T_imu_wrt_vio (m) |Roll Pitch Yaw (deg)| state| error_code
0.00 0.00 0.00| -0.8 -2.7 0.0| OKAY | DROPPED_IMU
voxl-open-vins-server disconnected
T_imu_wrt_vio (m) |Roll Pitch Yaw (deg)| state| error_code
0.00 0.00 0.00| -0.9 -2.7 0.0| OKAY | ERROR validating EXT VIO t
read 8424 bytes, but it should be a multiple of 5268
ERROR validating EXT VIO data received through pipe: read partial packet
read 8424 bytes, but it should be a multiple of 5268
ERROR validating EXT VIO data received through pipe: read partial packet
read 4224 bytes, but it should be a multiple of 5268
0.00 0.00 0.00| -0.9 -2.7 0.0| OKAY | ERROR validating EXT VIO t
read 8424 bytes, but it should be a multiple of 5268
ERROR validating EXT VIO data received through pipe: read partial packet
read 2112 bytes, but it should be a multiple of 5268
0.00 0.00 0.00| -0.9 -2.7 0.0| OKAY | ERROR validating EXT VIO t
read 8424 bytes, but it should be a multiple of 5268
ERROR validating EXT VIO data received through pipe: read partial packet
read 2112 bytes, but it should be a multiple of 5268
-0.00 -0.00 0.00| -0.9 -2.8 0.0| OKAY | ERROR validating EXT VIO t
read 8424 bytes, but it should be a multiple of 5268
ERROR validating EXT VIO data received through pipe: read partial packet
read 8424 bytes, but it should be a multiple of 5268
ERROR validating EXT VIO data received through pipe: read partial packet
read 8424 bytes, but it should be a multiple of 5268
ERROR validating EXT VIO data received through pipe: read partial packet
read 6336 bytes, but it should be a multiple of 5268
-0.00 -0.00 0.00| -0.9 -2.8 0.0| OKAY | ERROR validating EXT VIO t
read 8424 bytes, but it should be a multiple of 5268
ERROR validating EXT VIO data received through pipe: read partial packet
read 2112 bytes, but it should be a multiple of 5268
-0.00 -0.00 0.00| -0.9 -2.8 0.0| OKAY | ERROR validating EXT VIO t
read 8424 bytes, but it should be a multiple of 5268
ERROR validating EXT VIO data received through pipe: read partial packet
read 2112 bytes, but it should be a multiple of 5268
-0.00 -0.00 0.00| -0.9 -2.8 0.0| OKAY | ERROR validating EXT VIO t
read 8424 bytes, but it should be a multiple of 5268
ERROR validating EXT VIO data received through pipe: read partial packet
read 7380 bytes, but it should be a multiple of 5268
-0.00 -0.00 0.00| -0.9 -2.8 0.0| OKAY | ERROR validating EXT VIO t
read 8424 bytes, but it should be a multiple of 5268
ERROR validating EXT VIO data received through pipe: read partial packet
read 7380 bytes, but it should be a multiple of 5268
4.38 -1.43 1.78| -1.6 19.3 -4.9| OKAY |
voxl-open-vins-server disconnected
ERROR in pipe_client_open opening request pipe: No such device or address
Most likely the server stopped without cleaning up
Client is cleaning up pipes for the server
The temperature rise is when i run the voxl-camera-server. I tried with turning off and on individual server and as soon as i turn on the camera server temperature rises up by 30 to 40 degree celsius, that is upto 88-90 degree celsius. this affects the performance
@Alex-Kushleyev Thank you for reverting, I didnt change anything with respect to the fc or ESC, the firmware is the same.
could you help me with understanding why it was working earlier , it is not now.
The firmware of the FC is voxl-fpv-dev version, and when i tried to build again it is giving error, and not building.
I still dont know whether the issue is with respect to FC firmware or ESC
@zauberflote1 @Alex-Kushleyev @Cliff-Wong Thank you for reverting, I have setted up the openvins server now, the major cause of drift was improper extrinsic value, now the drone is much stable, but still drifting with in a small area, the vio data is fed into fc v2 . can that be an issue for the drifting
Hey @Alex-Kushleyev @Eric-Katzfey
I am facing an issue of over heating and servers or wifi not working properly. Even with out any flight , a drone that is kept open, causes the voxl 2 board to reach 60 degree Celsius very fast, with in a matter 2 - 3 minutes.
What could be the reason for the sudden temperature rise.
I am running with 2 tracking, 1 hires, 1 TOF connected to Voxl2 . along with camera, mapper, openvins, and vision servers.
The px4 is running on the external flight controller.
Also while booting itself the flight controller is showing random height as reference in QGC, after rebooting it settles, what could be the reason for this error too.
please clarify my doubts
hey @Alex-Kushleyev
I am facing the same issue again, the ESC is not initialising when connected through fc v2 , i have followed all the suggestions you mentioned earlier. the FC as well as VOXL 2 is powered through ESC.
nsh> voxl_esc start
INFO [voxl_esc] VOXL_ESC: Starting VOXL ESC driver
INFO [voxl_esc] Params: VOXL_ESC_CONFIG: 1
INFO [voxl_esc] Params: VOXL_ESC_MODE: 0
INFO [voxl_esc] Params: VOXL_ESC_BAUD: 2000000
INFO [voxl_esc] Params: VOXL_ESC_FUNC1: 101
INFO [voxl_esc] Params: VOXL_ESC_FUNC2: 104
INFO [voxl_esc] Params: VOXL_ESC_FUNC3: 102
INFO [voxl_esc] Params: VOXL_ESC_FUNC4: 103
INFO [voxl_esc] Params: VOXL_ESC_SDIR1: 0
INFO [voxl_esc] Params: VOXL_ESC_SDIR2: 0
INFO [voxl_esc] Params: VOXL_ESC_SDIR3: 0
INFO [voxl_esc] Params: VOXL_ESC_SDIR4: 0
INFO [voxl_esc] Params: VOXL_ESC_RPM_MIN: 5500
INFO [voxl_esc] Params: VOXL_ESC_RPM_MAX: 15000
INFO [voxl_esc] Params: VOXL_ESC_T_PERC: 90
INFO [voxl_esc] Params: VOXL_ESC_T_DEAD: 20
INFO [voxl_esc] Params: VOXL_ESC_T_EXPO: 35
INFO [voxl_esc] Params: VOXL_ESC_T_MINF: 0.150000
INFO [voxl_esc] Params: VOXL_ESC_T_COSP: 0.990000
INFO [voxl_esc] Params: VOXL_ESC_VLOG: 0
INFO [voxl_esc] Params: VOXL_ESC_PUB_BST: 1
INFO [voxl_esc] Params: VOXL_ESC_T_WARN: 0
INFO [voxl_esc] Params: VOXL_ESC_T_OVER: 0
INFO [voxl_esc] Params: GPIO_CTL_CH: 0
nsh> voxl_esc status
INFO [voxl_esc] not running
nsh> voxl_esc start
INFO [voxl_esc] VOXL_ESC: Starting VOXL ESC driver
INFO [voxl_esc] Params: VOXL_ESC_CONFIG: 1
INFO [voxl_esc] Params: VOXL_ESC_MODE: 0
INFO [voxl_esc] Params: VOXL_ESC_BAUD: 2000000
INFO [voxl_esc] Params: VOXL_ESC_FUNC1: 101
INFO [voxl_esc] Params: VOXL_ESC_FUNC2: 104
INFO [voxl_esc] Params: VOXL_ESC_FUNC3: 102
INFO [voxl_esc] Params: VOXL_ESC_FUNC4: 103
INFO [voxl_esc] Params: VOXL_ESC_SDIR1: 0
INFO [voxl_esc] Params: VOXL_ESC_SDIR2: 0
INFO [voxl_esc] Params: VOXL_ESC_SDIR3: 0
INFO [voxl_esc] Params: VOXL_ESC_SDIR4: 0
INFO [voxl_esc] Params: VOXL_ESC_RPM_MIN: 5500
INFO [voxl_esc] Params: VOXL_ESC_RPM_MAX: 15000
INFO [voxl_esc] Params: VOXL_ESC_T_PERC: 90
INFO [voxl_esc] Params: VOXL_ESC_T_DEAD: 20
INFO [voxl_esc] Params: VOXL_ESC_T_EXPO: 35
INFO [voxl_esc] Params: VOXL_ESC_T_MINF: 0.150000
INFO [voxl_esc] Params: VOXL_ESC_T_COSP: 0.990000
INFO [voxl_esc] Params: VOXL_ESC_VLOG: 0
INFO [voxl_esc] Params: VOXL_ESC_PUB_BST: 1
INFO [voxl_esc] Params: VOXL_ESC_T_WARN: 0
INFO [voxl_esc] Params: VOXL_ESC_T_OVER: 0
INFO [voxl_esc] Params: GPIO_CTL_CH: 0
nsh>
@Alex-Kushleyev can you help me with this
also which is the preferred imu for the extrinsic when I am using voxl 2 + fc v2 + M1073
@zauberflote1 I will the imu temp file and remove it for test.
The ov overlay and map created by mapper, shows that the drone is not drifting in ground test, but in actual test the drone is jumping up and down. i would like to know why this is happening, this is only when when i use tracking camera data, when i use an optical flow that is directly connected to fc v2 the drone is very stable, and collision prevention is also working.
All the camera where calibrated before the tests and calibration was successful. I have already checked out the obvious issues, and they all are fine, am i missing out something. help me out to get a better position hold and autonomy without drifting of the system
@Alex-Kushleyev Thank you for reverting, I will check this out and get back to you
@zauberflote1 @Alex-Kushleyev @Eric-Katzfey @tom
I am providing my config file here for your reference.
the drone contains a voxl 2 board, M1073 camera coax board with 2 tracking camera and 1 tof and 1 hires camers along with one flight core v2 as external fc.
The drone is losing position very easily. within the few seconds of take off
"en_auto_reset": true,
"auto_reset_max_velocity": 20,
"auto_reset_max_v_cov_instant": 0.10000000149011612,
"auto_reset_max_v_cov": 0.10000000149011612,
"auto_reset_max_v_cov_timeout_s": 0.5,
"auto_reset_min_features": 1,
"auto_reset_min_feature_timeout_s": 3,
"auto_fallback_timeout_s": 3,
"auto_fallback_min_v": 0.600000023841858,
"en_cont_yaw_checks": true,
"fast_yaw_thresh": 5,
"fast_yaw_timeout_s": 1.75,
"do_fej": true,
"imu_avg": true,
"use_rk4_integration": true,
"cam_to_imu_refinement": true,
"cam_intrins_refinement": true,
"cam_imu_ts_refinement": true,
"max_clone_size": 8,
"max_slam_features": 35,
"max_slam_in_update": 10,
"max_msckf_in_update": 10,
"feat_rep_msckf": 4,
"feat_rep_slam": 4,
"cam_imu_time_offset": 0,
"slam_delay": 1,
"gravity_mag": 9.80665,
"init_window_time": 1,
"init_imu_thresh": 1,
"imu_sigma_w": 0.00013990944749616306,
"imu_sigma_wb": 4.1189724174615527e-07,
"imu_sigma_a": 0.0038947538150776763,
"imu_sigma_ab": 5.538346201712153e-05,
"msckf_chi2_multiplier": 1,
"slam_chi2_multiplier": 40,
"zupt_chi2_multiplier": 1,
"refine_features": true,
"pyr_levels": 6,
"grid_x": 5,
"grid_y": 5,
"msckf_sigma_px": 1,
"slam_sigma_px": 1.8,
"zupt_sigma_px": 1,
"try_zupt": true,
"zupt_max_velocity": 0.03,
"zupt_only_at_beginning": true,
"zupt_noise_multiplier": 1,
"zupt_max_disparity": 8,
"init_dyn_use": false,
"triangulate_1d": false,
"max_runs": 5,
"init_lamda": 0.001,
"max_lamda": 10000000000,
"min_dx": 1e-06,
"min_dcost": 1e-06,
"lam_mult": 10,
"min_dist": 0.1,
"max_dist": 60,
"max_baseline": 40,
"max_cond_number": 600000,
"use_mask": false,
"use_stereo": false,
"use_baro": true,
"num_opencv_threads": 4,
"fast_threshold": 15,
"histogram_method": 1,
"knn_ratio": 0.7,
"take_cam":0,
"takeoff_accel_threshold": 0.5,
"takeoff_threshold": -0.1,
"use_stats": false,
"max_allowable_cep": 1,
"en_force_init": true,
"en_force_ned_2_flu": false,
"en_imu_frame_output": true,
"track_frequency": 15,
"publish_frequency": 5,
"en_vio_always_on": false,
"en_ext_feature_tracker": false,
"en_gpu_for_tracking": true,
"num_features_to_track": 30,
"raansac_gn": false,
"raansac_tri": true,
"en_thermal_enhance": false,
"en_overlay_landscape": false,
"thermal_brightness": 1,
"thermal_brightness_bos": 1
}
@zauberflote1 i am using the latest sdk 1.4.5
I have calibrated the imu, as well as imu temp
@Alex-Kushleyev @tom @Vinny @zauberflote1 @Eric-Katzfey
My drone is drifting off when i fly VOXL 2 with 2 tracking camera using voxl-open-vins-server.
I am getting the following warnings on the terminal and i would to get some help get my drone flying without any errors and drift.
The major drift is when the drone is yawing, it is drifting both is ground test and flight test
voxl2:~$ voxl-open-vins-server
Setting printing level to: SILENT
=================================================================
=========================AUTO RESET==============================
en_auto_reset: 1
auto_reset_max_velocity: 20.000
auto_reset_max_v_cov_instant: 0.100
auto_reset_max_v_cov: 0.100
auto_reset_max_v_cov_timeout_s: 0.500
auto_reset_min_features: 1
auto_reset_min_feature_timeout_s: 3.000
auto_fallback_timeout_s: 3.000
auto_fallback_min_v: 0.600
en_cont_yaw_checks: false
fast_yaw_thresh: 5.000
fast_yaw_timeout_s: 1.750
===========================STATE=================================
do fej: true
imu avg: true
use rk4 integration: true
cam to imu refinement: true
cam intrins refinement: true
cam imu ts refinement: true
max clone size: 8
max slam features: 35
max slam in update: 10
max msckf in update: 10
feat rep msckf: ANCHORED_MSCKF_INVERSE_DEPTH
feat rep slam: ANCHORED_MSCKF_INVERSE_DEPTH
cam imu time offset: 0.00000
slam delay: 1.00000
pyr levels: 6
grid x: 5
grid y: 5
=================================================================
=====================INERTIAL INITIALIZER========================
gravity mag: 9.80665
init window time: 1.00000
init imu thresh: 1.00000
init dyn use: false
=================================================================
==========================IMU NOISE==============================
imu sigma w: 0.00014
imu sigma wb: 0.00000
imu sigma a: 0.00389
imu sigma ab: 0.00006
=================================================================
========================FEATURE NOISE============================
msckf chi^2 multiplier: 1.00000
msckf sigma px: 1.00000
slam chi^2 multiplier: 40.00000
slam sigma px: 1.80000
zupt chi^2 multiplier: 1.00000
zupt sigma px: 1.00000
=================================================================
=============================ZUPT================================
refine features: true
max runs: 5
try zupt: true
en_ext_feature_tracker: 0
en_gpu_for_tracking: 1
raansac_gn: false
raansac_tri: true
zupt max velocity: 0.03000
zupt only at beginning: true
zupt noise multiplier: 1.00000
zupt max disparity: 8.00000
=================================================================
use mask: false
use stereo: false
use baro: false
=================================================================
========================FEATURE INITIALIZER======================
triangulate 1d: false
init lamda: 0.00100
max lamda: 10000000000.00000
min dx: 0.00000
min dcost: 0.00000
lam mult: 10.00000
min dist: 0.10000
max dist: 60.00000
max baseline: 40.00000
num_opencv_threads: 4
fast_threshold: 15
histogram_method: HISTOGRAM
knn_ratio: 0.70000
track_frequency: 15.00000
publish_frequency: 5
imu takeoff accel thresh: 0.50000
force init on takeoff: true
takeoff_threshold(m): -0.100000
publish stats: false
max_allowable_cep: 1.00000
force FLU to NED transform: true
publish IMU frame: false
VIO always on (for bench testing): true
num_features_to_track: 20
Enable Thermal Enhance: false
Enable Overlay Landscape: false
Thermal Brightness: 1.00000
Thermal Brightness BOSON: 1.00000
=================================================================
=================================================================
vio_cam config:
cam 0:
enable: 1
name: tracking_front
pipe_for_preview: tracking_front
pipe_for_tracking: tracking_front
is_occluded_on_ground: 0
imu: imu_apps
is_extrinsic_present: 1
extrinsic cam wrt imu:
parent: imu_apps
child: tracking_front
T_cam_wrt_imu: 0.131 0.017 0.033
RPY_imu_to_cam: 0.0 90.0 90.0
R_cam_to_imu: 0.000 -0.000 1.000
1.000 0.000 -0.000
-0.000 1.000 0.000
cal file: opencv_tracking_front_intrinsics.yml
is_cal_present: 1
cam cal intrinsics:
width: 1280
height: 800
fx: 462.958
fy: 464.368
cx: 632.240
cy: 398.053
n_coeffs: 4
is_fisheye: 1
D: 0.0672 0.0019 0.0062 -0.0040
cam 1:
enable: 1
name: tracking_down
pipe_for_preview: tracking_down
pipe_for_tracking: tracking_down
is_occluded_on_ground: 1
imu: imu_apps
is_extrinsic_present: 1
extrinsic cam wrt imu:
parent: imu_apps
child: tracking_down
T_cam_wrt_imu: 0.106 0.017 0.050
RPY_imu_to_cam: 0.0 0.0 180.0
R_cam_to_imu: -1.000 -0.000 0.000
0.000 -1.000 -0.000
0.000 0.000 1.000
cal file: opencv_tracking_down_intrinsics.yml
is_cal_present: 1
cam cal intrinsics:
width: 1280
height: 800
fx: 467.157
fy: 468.573
cx: 652.260
cy: 381.475
n_coeffs: 4
is_fisheye: 1
D: 0.0618 0.0066 0.0043 -0.0039
=================================================================
vio cam: 0 is occluded: 0
[INFO] Camera: 0 -- converted extrinsics *in FLU* are: Roll: -0.000000, Pitch 90.000000, Yaw 90.000000 (1.570796)
vio cam: 1 is occluded: 1
[INFO] Camera: 1 -- converted extrinsics *in FLU* are: Roll: -0.000000, Pitch 0.000000, Yaw -180.000000 (-3.141593)
WORLD QUATERNION: -0.000000 0.000000 -0.000000 1.000000
OpenVINS using fisheye camera
OpenVINS FINAL Cam extrinsics to IMU for tracking_front: 7
0.5
0.5
0.5
0.5
0.131119
-0.01686
-0.032587
OpenVINS using fisheye camera
OpenVINS FINAL Cam extrinsics to IMU for tracking_down: 7
-0
0
-1
6.12323e-17
0.10642
-0.017472
-0.049789
++++++++++++++++++++++++++
OpenVINS reports number of cameras being used, regardless of delivery method (pipe, merge, etc...): 2
++++++++++++++++++++++++++
Set camera intrinsics and extrinsics
====> Using Internal KLT feature tracker (w/ GPU) <====
initialized ocl manager
>>>>>>>>>> Current reference counts:
trackDB: 1
trackFEATS: 1
propagator: 2
updaterMSCKF: 1
updaterSLAM: 1
active_tracks_initializer: 1
initializer: 1
existing instance of voxl-open-vins-server found, attempting to stop it
thread is locked to cores: 4 5 6 7
create_server_pipes
connecting client pipes
imu pipe name: imu_apps
Number of Cameras active: 2
Camera merge --- > ch: 1 to cam id: 0
Opening camera pipe: tracking_front
tmp_camera_pipe_names.push_back(): tracking_front
Camera merge --- > ch: 2 to cam id: 1
Opening camera pipe: tracking_down
tmp_camera_pipe_names.push_back(): tracking_down
[WARN] (0.005173 and 0.429242) Cannot initialize FRD to IMU transform--too much drift: your IMU may need to be recalibrated or is OVERHEATED!
[WARN] (0.005557 and 0.414437) Cannot initialize FRD to IMU transform--too much drift: your IMU may need to be recalibrated or is OVERHEATED!
[WARN] (0.004569 and 0.410084) Cannot initialize FRD to IMU transform--too much drift: your IMU may need to be recalibrated or is OVERHEATED!
[INFO] world : 1.000000 1.000000 (2)
[WARN] (0.002892 and 0.391982) Cannot initialize FRD to IMU transform--too much drift: your IMU may need to be recalibrated or is OVERHEATED!
[WARN] (0.005072 and 0.376832) Cannot initialize FRD to IMU transform--too much drift: your IMU may need to be recalibrated or is OVERHEATED!
[WARN] (0.003555 and 0.430667) Cannot initialize FRD to IMU transform--too much drift: your IMU may need to be recalibrated or is OVERHEATED!
[WARN] (0.005692 and 0.390681) Cannot initialize FRD to IMU transform--too much drift: your IMU may need to be recalibrated or is OVERHEATED!
[WARN] (0.004505 and 0.402070) Cannot initialize FRD to IMU transform--too much drift: your IMU may need to be recalibrated or is OVERHEATED!
[WARN] (0.003865 and 0.396118) Cannot initialize FRD to IMU transform--too much drift: your IMU may need to be recalibrated or is OVERHEATED!
[WARN] (0.002470 and 0.419256) Cannot initialize FRD to IMU transform--too much drift: your IMU may need to be recalibrated or is OVERHEATED!
[WARN] (0.005667 and 0.413984) Cannot initialize FRD to IMU transform--too much drift: your IMU may need to be recalibrated or is OVERHEATED!
[WARN] (0.003450 and 0.391701) Cannot initialize FRD to IMU transform--too much drift: your IMU may need to be recalibrated or is OVERHEATED!
[WARN] (0.004175 and 0.414603) Cannot initialize FRD to IMU transform--too much drift: your IMU may need to be recalibrated or is OVERHEATED!
[WARN] (0.002370 and 0.406459) Cannot initialize FRD to IMU transform--too much drift: your IMU may need to be recalibrated or is OVERHEATED!
[WARN] (0.005461 and 0.382791) Cannot initialize FRD to IMU transform--too much drift: your IMU may need to be recalibrated or is OVERHEATED!
[WARN] (0.005294 and 0.429766) Cannot initialize FRD to IMU transform--too much drift: your IMU may need to be recalibrated or is OVERHEATED!
[WARN] (0.004939 and 0.415523) Cannot initialize FRD to IMU transform--too much drift: your IMU may need to be recalibrated or is OVERHEATED!
[WARN] (0.005433 and 0.415484) Cannot initialize FRD to IMU transform--too much drift: your IMU may need to be recalibrated or is OVERHEATED!
[WARN] (0.002918 and 0.386400) Cannot initialize FRD to IMU transform--too much drift: your IMU may need to be recalibrated or is OVERHEATED!
[WARN] (0.005973 and 0.424467) Cannot initialize FRD to IMU transform--too much drift: your IMU may need to be recalibrated or is OVERHEATED!
[WARN] (0.005410 and 0.394569) Cannot initialize FRD to IMU transform--too much drift: your IMU may need to be recalibrated or is OVERHEATED!
[WARN] (0.003912 and 0.405820) Cannot initialize FRD to IMU transform--too much drift: your IMU may need to be recalibrated or is OVERHEATED!
[WARN] (0.004101 and 0.405439) Cannot initialize FRD to IMU transform--too much drift: your IMU may need to be recalibrated or is OVERHEATED!
[WARN] (0.003168 and 0.391471) Cannot initialize FRD to IMU transform--too much drift: your IMU may need to be recalibrated or is OVERHEATED!
[ERROR] In init too long, timeout, retry RESET 5016505415
[WARN] (0.004056 and 0.424981) Cannot initialize FRD to IMU transform--too much drift: your IMU may need to be recalibrated or is OVERHEATED!
[WARN] (0.005692 and 0.399984) Cannot initialize FRD to IMU transform--too much drift: your IMU may need to be recalibrated or is OVERHEATED!
[WARN] (0.003530 and 0.413739) Cannot initialize FRD to IMU transform--too much drift: your IMU may need to be recalibrated or is OVERHEATED!
[WARN] (0.005548 and 0.375363) Cannot initialize FRD to IMU transform--too much drift: your IMU may need to be recalibrated or is OVERHEATED!
[WARN] (0.004837 and 0.385353) Cannot initialize FRD to IMU transform--too much drift: your IMU may need to be recalibrated or is OVERHEATED!
[WARN] (0.004894 and 0.413352) Cannot initialize FRD to IMU transform--too much drift: your IMU may need to be recalibrated or is OVERHEATED!
[WARN] (0.005565 and 0.399380) Cannot initialize FRD to IMU transform--too much drift: your IMU may need to be recalibrated or is OVERHEATED!
[WARN] (0.005435 and 0.386146) Cannot initialize FRD to IMU transform--too much drift: your IMU may need to be recalibrated or is OVERHEATED!
[WARN] (0.004120 and 0.409839) Cannot initialize FRD to IMU transform--too much drift: your IMU may need to be recalibrated or is OVERHEATED!
^C
voxl2:~$ voxl-open-vins-server
Setting printing level to: SILENT
=================================================================
=========================AUTO RESET==============================
en_auto_reset: 1
auto_reset_max_velocity: 20.000
auto_reset_max_v_cov_instant: 0.100
auto_reset_max_v_cov: 0.100
auto_reset_max_v_cov_timeout_s: 0.500
auto_reset_min_features: 1
auto_reset_min_feature_timeout_s: 3.000
auto_fallback_timeout_s: 3.000
auto_fallback_min_v: 0.600
en_cont_yaw_checks: false
fast_yaw_thresh: 5.000
fast_yaw_timeout_s: 1.750
===========================STATE=================================
do fej: true
imu avg: true
use rk4 integration: true
cam to imu refinement: true
cam intrins refinement: true
cam imu ts refinement: true
max clone size: 8
max slam features: 35
max slam in update: 10
max msckf in update: 10
feat rep msckf: ANCHORED_MSCKF_INVERSE_DEPTH
feat rep slam: ANCHORED_MSCKF_INVERSE_DEPTH
cam imu time offset: 0.00000
slam delay: 1.00000
pyr levels: 6
grid x: 5
grid y: 5
=================================================================
=====================INERTIAL INITIALIZER========================
gravity mag: 9.80665
init window time: 1.00000
init imu thresh: 1.00000
init dyn use: false
=================================================================
==========================IMU NOISE==============================
imu sigma w: 0.00014
imu sigma wb: 0.00000
imu sigma a: 0.00389
imu sigma ab: 0.00006
=================================================================
========================FEATURE NOISE============================
msckf chi^2 multiplier: 1.00000
msckf sigma px: 1.00000
slam chi^2 multiplier: 40.00000
slam sigma px: 1.80000
zupt chi^2 multiplier: 1.00000
zupt sigma px: 1.00000
=================================================================
=============================ZUPT================================
refine features: true
max runs: 5
try zupt: true
en_ext_feature_tracker: 0
en_gpu_for_tracking: 1
raansac_gn: false
raansac_tri: true
zupt max velocity: 0.03000
zupt only at beginning: true
zupt noise multiplier: 1.00000
zupt max disparity: 8.00000
=================================================================
use mask: false
use stereo: false
use baro: false
=================================================================
========================FEATURE INITIALIZER======================
triangulate 1d: false
init lamda: 0.00100
max lamda: 10000000000.00000
min dx: 0.00000
min dcost: 0.00000
lam mult: 10.00000
min dist: 0.10000
max dist: 60.00000
max baseline: 40.00000
num_opencv_threads: 4
fast_threshold: 15
histogram_method: HISTOGRAM
knn_ratio: 0.70000
track_frequency: 15.00000
publish_frequency: 5
imu takeoff accel thresh: 0.50000
force init on takeoff: true
takeoff_threshold(m): -0.100000
publish stats: false
max_allowable_cep: 1.00000
force FLU to NED transform: false
publish IMU frame: true
VIO always on (for bench testing): true
num_features_to_track: 30
Enable Thermal Enhance: false
Enable Overlay Landscape: false
Thermal Brightness: 1.00000
Thermal Brightness BOSON: 1.00000
=================================================================
=================================================================
vio_cam config:
cam 0:
enable: 1
name: tracking_front
pipe_for_preview: tracking_front
pipe_for_tracking: tracking_front
is_occluded_on_ground: 0
imu: imu_apps
is_extrinsic_present: 1
extrinsic cam wrt imu:
parent: imu_apps
child: tracking_front
T_cam_wrt_imu: 0.131 0.017 0.033
RPY_imu_to_cam: 0.0 90.0 90.0
R_cam_to_imu: 0.000 -0.000 1.000
1.000 0.000 -0.000
-0.000 1.000 0.000
cal file: opencv_tracking_front_intrinsics.yml
is_cal_present: 1
cam cal intrinsics:
width: 1280
height: 800
fx: 462.958
fy: 464.368
cx: 632.240
cy: 398.053
n_coeffs: 4
is_fisheye: 1
D: 0.0672 0.0019 0.0062 -0.0040
cam 1:
enable: 1
name: tracking_down
pipe_for_preview: tracking_down
pipe_for_tracking: tracking_down
is_occluded_on_ground: 1
imu: imu_apps
is_extrinsic_present: 1
extrinsic cam wrt imu:
parent: imu_apps
child: tracking_down
T_cam_wrt_imu: 0.106 0.017 0.050
RPY_imu_to_cam: 0.0 0.0 180.0
R_cam_to_imu: -1.000 -0.000 0.000
0.000 -1.000 -0.000
0.000 0.000 1.000
cal file: opencv_tracking_down_intrinsics.yml
is_cal_present: 1
cam cal intrinsics:
width: 1280
height: 800
fx: 467.157
fy: 468.573
cx: 652.260
cy: 381.475
n_coeffs: 4
is_fisheye: 1
D: 0.0618 0.0066 0.0043 -0.0039
=================================================================
vio cam: 0 is occluded: 0
[INFO] Camera: 0 -- converted extrinsics *in FLU* are: Roll: -0.000000, Pitch 90.000000, Yaw -90.000000 (-1.570796)
vio cam: 1 is occluded: 1
[INFO] Camera: 1 -- converted extrinsics *in FLU* are: Roll: -0.000000, Pitch 180.000000, Yaw -360.000000 (-6.283185)
WORLD QUATERNION: -0.000000 0.000000 -0.000000 1.000000
OpenVINS using fisheye camera
OpenVINS FINAL Cam extrinsics to IMU for tracking_front: 7
-0.5
0.5
-0.5
0.5
0.131119
-0.01686
-0.032587
OpenVINS using fisheye camera
OpenVINS FINAL Cam extrinsics to IMU for tracking_down: 7
-1.22465e-16
-1
-7.4988e-33
-6.12323e-17
0.10642
-0.017472
-0.049789
++++++++++++++++++++++++++
OpenVINS reports number of cameras being used, regardless of delivery method (pipe, merge, etc...): 2
++++++++++++++++++++++++++
Set camera intrinsics and extrinsics
====> Using Internal KLT feature tracker (w/ GPU) <====
initialized ocl manager
>>>>>>>>>> Current reference counts:
trackDB: 1
trackFEATS: 1
propagator: 2
updaterMSCKF: 1
updaterSLAM: 1
active_tracks_initializer: 1
initializer: 1
thread is locked to cores: 4 5 6 7
create_server_pipes
connecting client pipes
imu pipe name: imu_apps
Number of Cameras active: 2
Camera merge --- > ch: 1 to cam id: 0
Opening camera pipe: tracking_front
tmp_camera_pipe_names.push_back(): tracking_front
Camera merge --- > ch: 2 to cam id: 1
Opening camera pipe: tracking_down
tmp_camera_pipe_names.push_back(): tracking_down
[INFO] world : 1.000000 1.000000 (2)
client "voxl-portal63468110" connected to overlay
FAILED TO FETCH IMG RINGBUF at time 0 -2 -2 -2 -2 -2
FAILED TO FETCH IMG RINGBUF at time 0 -2 -2 -2 -2 -2
FAILED TO FETCH IMG RINGBUF at time 0 -2 -2 -2 -2 -2
FAILED TO FETCH IMG RINGBUF at time 0 -2 -2 -2 -2 -2
FAILED TO FETCH IMG RINGBUF at time 0 -2 -2 -2 -2 -2
FAILED TO FETCH IMG RINGBUF at time 0 -2 -2 -2 -2 -2
FAILED TO FETCH IMG RINGBUF at time 0 -2 -2 -2 -2 -2
FAILED TO FETCH IMG RINGBUF at time 0 -2 -2 -2 -2 -2
FAILED TO FETCH IMG RINGBUF at time 0 -2 -2 -2 -2 -2
FAILED TO FETCH IMG RINGBUF at time 0 -2 -2 -2 -2 -2
FAILED TO FETCH IMG RINGBUF at time 0 -2 -2 -2 -2 -2
FAILED TO FETCH IMG RINGBUF at time 0 -2 -2 -2 -2 -2
FAILED TO FETCH IMG RINGBUF at time 0 -2 -2 -2 -2 -2
FAILED TO FETCH IMG RINGBUF at time 0 -2 -2 -2 -2 -2
FAILED TO FETCH IMG RINGBUF at time 0 -2 -2 -2 -2 -2
FAILED TO FETCH IMG RINGBUF at time 0 -2 -2 -2 -2 -2
FAILED TO FETCH IMG RINGBUF at time 0 -2 -2 -2 -2 -2
FAILED TO FETCH IMG RINGBUF at time 0 -2 -2 -2 -2 -2
FAILED TO FETCH IMG RINGBUF at time 0 -2 -2 -2 -2 -2
FAILED TO FETCH IMG RINGBUF at time 0 -2 -2 -2 -2 -2
FAILED TO FETCH IMG RINGBUF at time 0 -2 -2 -2 -2 -2
FAILED TO FETCH IMG RINGBUF at time 0 -2 -2 -2 -2 -2
FAILED TO FETCH IMG RINGBUF at time 0 -2 -2 -2 -2 -2
^C
received SIGINT Ctrl-C
FAILED TO FETCH IMG RINGBUF at time 0 -2 -2 -2 -2 -2
Quiting OpenVINS server
QUIT REQUESTED
Exiting Cleanly
voxl2:~$
@Alex-Kushleyev I had checked the with the command and it did not recognize the hires camera at all and the tracking camera in certain and totally independent conditions. which makes me able to understand what is the cause of error.
voxl2:~$ voxl-camera-server -l
DEBUG: Attempting to open the hal module
DEBUG: SUCCESS: Camera module opened on attempt 0
DEBUG: ----------- Number of cameras: 1
DEBUG: Cam idx: 0, Cam slot: 4, Slave Address: 0x00E2, Sensor Id: 0x7750
DEBUG: Note: This list comes from the HAL module and may not be indicative
DEBUG: of configurations that have full pipelines
DEBUG: Number of cameras: 1
====================================
Stats for camera: 0
ANDROID_SCALER_AVAILABLE_RAW_SIZES:
These are likely supported by the sensor
640 x 480
640 x 480
640 x 480
ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
These are NOT necessarily supported by the sensor
640 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 480 HAL_PIXEL_FORMAT_BLOB
640 x 400 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 400 HAL_PIXEL_FORMAT_BLOB
640 x 360 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 360 HAL_PIXEL_FORMAT_BLOB
352 x 288 HAL_PIXEL_FORMAT_YCbCr_420_888
352 x 288 HAL_PIXEL_FORMAT_BLOB
320 x 240 HAL_PIXEL_FORMAT_YCbCr_420_888
320 x 240 HAL_PIXEL_FORMAT_BLOB
240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888
240 x 320 HAL_PIXEL_FORMAT_BLOB
176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888
176 x 144 HAL_PIXEL_FORMAT_BLOB
640 x 480 HAL_PIXEL_FORMAT_RAW10
640 x 480 HAL_PIXEL_FORMAT_RAW12
640 x 480 HAL_PIXEL_FORMAT_RAW16
640 x 480 HAL_PIXEL_FORMAT_RAW_OPAQUE
ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
min = 54
max = 3451
ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
3451
ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
min = 0ns
max = 1266732525ns
====================================
Number of cameras detected: 1
====================================
@Alex-Kushleyev @tom @modaltb @Eric-Katzfey
I would like to reopen the query , which i was never able to solve .
I am still facing the same error. this time i am using the new PMD TOF LIOW , with old tracking camer and old hires.
The TOF is working perfect but tracking camera is getting stalled. Also this time hires is not at all starting.
Starting Camera: hires (id #1)
ERROR: Camera 1 failed to find supported stream config: 1024x768
WARNING: Failed to start cam hires due to invalid resolution
WARNING: assuming cam is missing and trying to compensate
Starting Camera: tracking (originally id #2) with id offset: 1
setting ov7251 BLC register for cam id 1
------ voxl-camera-server: Started 2 of 3 cameras
------ voxl-camera-server: Camera server is now running
WARNING: [ROYALE_WARNING] {ROYALE_FRAME_DROP}: Dropped 5561 frame(s).
WARNING: [ROYALE_WARNING] {ROYALE_RAW_FRAME_STATS}: Raw frame drop stats: Bridge 5561 frames dropped, FC 0 frames dropped, 9 frames delivered.
WARNING: [ROYALE_WARNING] {ROYALE_FRAME_DROP}: Dropped 9 frame(s).
WARNING: [ROYALE_WARNING] {ROYALE_RAW_FRAME_STATS}: Raw frame drop stats: Bridge 9 frames dropped, FC 0 frames dropped, 81 frames delivered.
voxl2:/$ voxl-camera-server
existing instance of voxl-camera-server found, attempting to stop it
detected system image 1.7.10
using new imx214 defaults
=================================================================
configuration for 3 cameras:
cam #0
name: tof
sensor type: pmd-tof-liow2
isEnabled: 1
camId: 0
camId2: -1
fps: 10
en_rotate: 1
en_rotate2: 0
en_preview: 1
pre_width: 240
pre_height: 1629
en_raw_preview: 1
en_small_video: 0
small_video_width: -1
small_video_height: -1
en_large_video: 0
large_video_width: -1
large_video_height: -1
en_snapshot: 0
snap_width: -1
snap_height: -1
exif_focal_length: 0.000000
exif_focal_len_35mm_format:0
exif_fnumber: 0.000000
ae_mode: off
msv_exposure_min_us: 0
msv_exposure_max_us: 6000
standby_enabled: 0
decimator: 5
independent_exposure:0
cam #1
name: hires
sensor type: imx214
isEnabled: 1
camId: 1
camId2: -1
fps: 30
en_rotate: 0
en_rotate2: 0
en_preview: 0
pre_width: 640
pre_height: 480
en_raw_preview: 0
en_small_video: 1
small_video_width: 1920
small_video_height: 1080
en_large_video: 1
large_video_width: 4208
large_video_height: 3120
en_snapshot: 1
snap_width: 4208
snap_height: 3120
exif_focal_length: 0.000000
exif_focal_len_35mm_format:0
exif_fnumber: 0.000000
ae_mode: isp
msv_exposure_min_us: 20
msv_exposure_max_us: 33000
standby_enabled: 0
decimator: 1
independent_exposure:0
cam #2
name: tracking
sensor type: ov7251
isEnabled: 1
camId: 2
camId2: -1
fps: 30
en_rotate: 0
en_rotate2: 0
en_preview: 1
pre_width: 640
pre_height: 480
en_raw_preview: 1
en_small_video: 0
small_video_width: -1
small_video_height: -1
en_large_video: 0
large_video_width: -1
large_video_height: -1
en_snapshot: 0
snap_width: -1
snap_height: -1
exif_focal_length: 0.000000
exif_focal_len_35mm_format:0
exif_fnumber: 0.000000
ae_mode: lme_msv
msv_exposure_min_us: 20
msv_exposure_max_us: 33000
standby_enabled: 0
decimator: 1
independent_exposure:0
fsync_en: 0
fsync_gpio: 109
=================================================================
connected to mavlink pipe
Starting Camera: tof (id #0)
Connected to cpu-monitor
gbm_create_device(156): Info: backend name is: msm_drm
Starting Camera: hires (id #1)
ERROR: Camera 1 failed to find supported stream config: 1920x1080
WARNING: Failed to start cam hires due to invalid resolution
WARNING: assuming cam is missing and trying to compensate
Starting Camera: tracking (originally id #2) with id offset: 1
setting ov7251 BLC register for cam id 1
------ voxl-camera-server: Started 2 of 3 cameras
------ voxl-camera-server: Camera server is now running
WARNING: [ROYALE_WARNING] {ROYALE_FRAME_DROP}: Dropped 44792 frame(s).
WARNING: [ROYALE_WARNING] {ROYALE_RAW_FRAME_STATS}: Raw frame drop stats: Bridge 44792 frames dropped, FC 0 frames dropped, 9 frames delivered.
WARNING: [ROYALE_WARNING] {ROYALE_FRAME_DROP}: Dropped 9 frame(s).
WARNING: [ROYALE_WARNING] {ROYALE_RAW_FRAME_STATS}: Raw frame drop stats: Bridge 9 frames dropped, FC 0 frames dropped, 81 frames delivered.
^C
received SIGINT Ctrl-C
------ voxl-camera-server: Camera server is now stopping
WARNING: Deleting buffers: 6 of 16 still in use
WARNING: Deleting buffers: 6 of 16 still in use
------ voxl-camera-server: Camera server exited gracefully, returning 0
Help me to solve this error .