首先感谢您的开源，在您想项目学到很多，我的版本是ubunut22.04,下载您的2.1.0版本，使用源码编译，调整了一些过老的依赖库问题后，可以成功编译了，但是一直有上诉问题，请问您能否给我一些提示，下面是报错显示：
leo@leo-Legion-R9000P-ADR10:~/work/lidar-slam-detection$ sudo tools/scripts/start_system.sh
run server python script
dpkg-query: 没有找到与 nvidia-l4t-core 相匹配的软件包
Running on board: v2.1.0-x86_64-x86_64-20.04
/usr/lib/python3/dist-packages/google/protobuf/init.py:37: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
import('pkg_resources').declare_namespace(name)
/usr/lib/python3/dist-packages/google/protobuf/init.py:37: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
import('pkg_resources').declare_namespace(name)
2025-08-05 14:53:44,119[41839:41839][module_manager.py: 47] pipeline: Source connect to SLAM
2025-08-05 14:53:44,119[41839:41839][module_manager.py: 47] pipeline: SLAM connect to Sink
2025-08-05 14:53:44,119[41839:41839][module_manager.py: 71] start to setup module: SLAM
2025-08-05 14:53:44.120[41839:41845][localization.cpp:13] Localization: release static resources
2025-08-05 14:53:44.120[41839:41845][hdl_graph_slam_nodelet.cpp:123] releasing hdl graph nodelet...
2025-08-05 14:53:44,120[41839:41845][ slam.py: 55] SLAM use sensors: ['IMU', '1-Ouster-OS1']
2025-08-05 14:53:44,120[41839:41839][module_manager.py: 73] setup module: SLAM, done
2025-08-05 14:53:44,120[41839:41839][module_manager.py: 71] start to setup module: Sink
2025-08-05 14:53:44,131[41846:41846][sink_template.py: 50] deamon UdpSink starts
2025-08-05 14:53:44,132[41839:41839][module_manager.py: 73] setup module: Sink, done
2025-08-05 14:53:44,132[41839:41839][module_manager.py: 71] start to setup module: Source
iKD-Tree Multi thread started
2025-08-05 14:53:44.135[41839:41845][prefiltering_nodelet.cpp:39] downsample: VOXELGRID 0.2
2025-08-05 14:53:44.135[41839:41845][prefiltering_nodelet.cpp:78] outlier_removal: NONE
2025-08-05 14:53:44.135[41839:41845][hdl_graph_slam_nodelet.cpp:52] initializing hdl graph nodelet...
2025-08-05 14:53:44.135[41839:41845][graph_slam.cpp:56] construct solver: lm_fix6_3_cholmod
2025-08-05 14:53:44.135[41839:41845][loop_detector.hpp:50] initializing loop detection...
2025-08-05 14:53:44.135[41839:41845][registrations.cpp:57] registration: FAST_VGICP
2025-08-05 14:53:44.135[41839:41845][registrations.cpp:34] registration: FAST_GICP
2025-08-05 14:53:44,140[41839:41839][player_data_manager.py:136] player have 201 frames, duration 19.971323 s
- Serving Flask app 'module.source.player_data_manager'
- Debug mode: off
2025-08-05 14:53:44,231[41839:41839][source_manager.py: 31] Source, start to setup: lidar
WARNING: This is a development server. Do not use it in a production deployment. Use a production WSGI server instead.
- Running on http://127.0.0.1:38000
Press CTRL+C to quit
2025-08-05 14:53:44.234[41839:41839][lidar_driver_wrapper.cpp:34] lidar 0:Ouster-OS1 open success
2025-08-05 14:53:44.234[41839:41839][lidar_driver_wrapper.cpp:46] set lidar 0:Ouster-OS1 external parameter [-0.03368380293250084, -0.660768985748291, 1.7658969163894653, 177.67449951171875, 135.47140502929688, -177.0221710205078]
2025-08-05 14:53:44.234[41839:41839][lidar_driver_wrapper.cpp:58] set lidar 0:Ouster-OS1 range filter [-72, -72, -2, 72, 72, 4]
2025-08-05 14:53:44.234[41839:41839][lidar_driver_wrapper.cpp:70] set lidar 0:Ouster-OS1 exclude [-2.13, -2.01, -5, 2.92, 0.5, 5]
2025-08-05 14:53:44.236[41839:41839][lidar_driver_wrapper.cpp:34] lidar 1:Ouster-OS1 open success
2025-08-05 14:53:44.236[41839:41839][lidar_driver_wrapper.cpp:46] set lidar 1:Ouster-OS1 external parameter [0, 0, 1.88961923122406, 179.99972534179688, 179.9855194091797, -177.86497497558594]
2025-08-05 14:53:44.236[41839:41839][lidar_driver_wrapper.cpp:58] set lidar 1:Ouster-OS1 range filter [-72, -72, -2, 72, 72, 4]
2025-08-05 14:53:44.236[41839:41839][lidar_driver_wrapper.cpp:70] set lidar 1:Ouster-OS1 exclude [-3.37, -3.02, -4.15, 3.16, 2.33, 4.7]
2025-08-05 14:53:44.238[41839:41839][lidar_driver_wrapper.cpp:34] lidar 2:Ouster-OS1 open success
2025-08-05 14:53:44.238[41839:41839][lidar_driver_wrapper.cpp:46] set lidar 2:Ouster-OS1 external parameter [-0.09995567798614502, 0.6768492460250854, 1.7785784006118774, 1.0974562168121338, -44.20530319213867, 2.35439395904541]
2025-08-05 14:53:44.238[41839:41839][lidar_driver_wrapper.cpp:58] set lidar 2:Ouster-OS1 range filter [-72, -72, -2, 72, 72, 4]
2025-08-05 14:53:44.238[41839:41839][lidar_driver_wrapper.cpp:70] set lidar 2:Ouster-OS1 exclude [-3.37, -3.14, -4.92, 3.16, 1.44, 4.58]
2025-08-05 14:53:44,238[41839:41839][source_manager.py: 34] Source, setup: lidar, done
2025-08-05 14:53:44,238[41839:41839][source_manager.py: 31] Source, start to setup: camera
2025-08-05 14:53:44,274[41839:41839][camera_data_manager.py:195] Camera: 0, try cap: souphttpsrc timeout=0 location=http://127.0.0.1:38000/v1/camera/0 ! jpegparse ! jpegdec ! video/x-raw ! videoscale ! video/x-raw,width=1920,height=1080 ! videoconvert ! video/x-raw,width=1920,height=1080,format=I420 ! tee name=t
t. ! queue ! jpegenc ! shmsink socket-path=/tmp/camera_jpeg_0 sync=false
t. ! queue ! appsink sync=false
127.0.0.1 - - [05/Aug/2025 14:53:44] "GET /v1/camera/0 HTTP/1.1" 200 -
[ WARN:0] global ./modules/videoio/src/cap_gstreamer.cpp (1100) open OpenCV | GStreamer warning: Cannot query video position: status=1, value=0, duration=-1
2025-08-05 14:53:44,298[41839:41839][camera_data_manager.py:205] Camera: 0 open success
2025-08-05 14:53:44,298[41839:41839][camera_data_manager.py:195] Camera: 1, try cap: souphttpsrc timeout=0 location=http://127.0.0.1:38000/v1/camera/1 ! jpegparse ! jpegdec ! video/x-raw ! videoscale ! video/x-raw,width=1920,height=1080 ! videoconvert ! video/x-raw,width=1920,height=1080,format=I420 ! tee name=t
t. ! queue ! jpegenc ! shmsink socket-path=/tmp/camera_jpeg_1 sync=false
t. ! queue ! appsink sync=false
127.0.0.1 - - [05/Aug/2025 14:53:44] "GET /v1/camera/1 HTTP/1.1" 200 -
[ WARN:0] global ./modules/videoio/src/cap_gstreamer.cpp (1100) open OpenCV | GStreamer warning: Cannot query video position: status=1, value=0, duration=-1
2025-08-05 14:53:44,309[41839:41839][camera_data_manager.py:205] Camera: 1 open success
2025-08-05 14:53:44,309[41839:41839][camera_data_manager.py:195] Camera: 2, try cap: souphttpsrc timeout=0 location=http://127.0.0.1:38000/v1/camera/2 ! jpegparse ! jpegdec ! video/x-raw ! videoscale ! video/x-raw,width=1920,height=1080 ! videoconvert ! video/x-raw,width=1920,height=1080,format=I420 ! tee name=t
t. ! queue ! jpegenc ! shmsink socket-path=/tmp/camera_jpeg_2 sync=false
t. ! queue ! appsink sync=false
127.0.0.1 - - [05/Aug/2025 14:53:44] "GET /v1/camera/2 HTTP/1.1" 200 -
[ WARN:0] global ./modules/videoio/src/cap_gstreamer.cpp (1100) open OpenCV | GStreamer warning: Cannot query video position: status=1, value=0, duration=-1
2025-08-05 14:53:44,318[41839:41839][camera_data_manager.py:205] Camera: 2 open success
2025-08-05 14:53:44,318[41839:41839][camera_data_manager.py:195] Camera: 3, try cap: souphttpsrc timeout=0 location=http://127.0.0.1:38000/v1/camera/3 ! jpegparse ! jpegdec ! video/x-raw ! videoscale ! video/x-raw,width=1920,height=1080 ! videoconvert ! video/x-raw,width=1920,height=1080,format=I420 ! tee name=t
t. ! queue ! jpegenc ! shmsink socket-path=/tmp/camera_jpeg_3 sync=false
t. ! queue ! appsink sync=false
127.0.0.1 - - [05/Aug/2025 14:53:44] "GET /v1/camera/3 HTTP/1.1" 200 -
[ WARN:0] global ./modules/videoio/src/cap_gstreamer.cpp (1100) open OpenCV | GStreamer warning: Cannot query video position: status=1, value=0, duration=-1
2025-08-05 14:53:44,328[41839:41839][camera_data_manager.py:205] Camera: 3 open success
2025-08-05 14:53:44,328[41839:41839][source_manager.py: 34] Source, setup: camera, done
2025-08-05 14:53:44,328[41839:41839][source_manager.py: 31] Source, start to setup: radar
2025-08-05 14:53:44,329[41839:41839][source_manager.py: 34] Source, setup: radar, done
2025-08-05 14:53:44,329[41839:41839][source_manager.py: 31] Source, start to setup: ins
2025-08-05 14:53:44.329[41839:41839][ins_driver_wrapper.cpp:18] INS open success
2025-08-05 14:53:44.329[41839:41839][ins_driver_wrapper.cpp:29] set INS extrinsic parameter [0.09695542603731155, 1.2899638414382935, -0.11553408205509186, 87.35172271728516, -0.02054435946047306, -0.8822724223136902]
2025-08-05 14:53:44,329[41839:41839][source_manager.py: 34] Source, setup: ins, done
2025-08-05 14:53:44,329[41839:41839][module_manager.py: 73] setup module: Source, done
2025-08-05 14:53:44,329[41839:41891][manager_template.py: 80] SLAM, FPS: 2.4
2025-08-05 14:53:44,329[41839:41893][data_manager_template.py: 53] Camera: 0: acquire_loop start
2025-08-05 14:53:44,329[41839:41839][ perception.py: 34] start success
2025-08-05 14:53:44,332[41839:41896][data_manager_template.py: 53] Camera: 1: acquire_loop start
2025-08-05 14:53:44,332[41839:41899][data_manager_template.py: 53] Camera: 2: acquire_loop start
2025-08-05 14:53:44,333[41839:41900][data_manager_template.py: 53] Camera: 3: acquire_loop start
2025-08-05 14:53:44,333[41839:41892][camera_data_manager.py:307] JPEG: 0, try cap: shmsrc is-live=true socket-path=/tmp/camera_jpeg_0 do-timestamp=1 ! queue ! image/jpeg,width=1920,height=1080,framerate=(fraction)0 ! appsink sync=false
2025-08-05 14:53:45,329[41839:41891][slam_manager.py: 97] frame queue is Empty
2025-08-05 14:53:45,330[41839:41894][module_manager.py:116] system status Running, running thread/process information:
2025-08-05 14:53:45,331[41839:41894][module_manager.py:120] Thread 41839:Perception daemon False ident 0x76f9d6c497c0
2025-08-05 14:53:45,331[41839:41894][module_manager.py:120] Thread 41845:FastLIO daemon True ident 0x76f9b0979640
2025-08-05 14:53:45,331[41839:41894][module_manager.py:120] Thread 41891:SLAM daemon True ident 0x76f952ffd640
2025-08-05 14:53:45,331[41839:41894][module_manager.py:120] Thread 41892:Source daemon True ident 0x76f9527fc640
2025-08-05 14:53:45,331[41839:41894][module_manager.py:120] Thread 41893:Py-C0 daemon True ident 0x76f951ffb640
2025-08-05 14:53:45,331[41839:41894][module_manager.py:120] Thread 41895:zerorpc daemon True ident 0x76f950ff9640
2025-08-05 14:53:45,331[41839:41894][module_manager.py:120] Thread 41896:Py-C1 daemon True ident 0x76f933fff640
2025-08-05 14:53:45,331[41839:41894][module_manager.py:120] Thread 41899:Py-C2 daemon True ident 0x76f9327fc640
2025-08-05 14:53:45,331[41839:41894][module_manager.py:120] Thread 41900:Py-C3 daemon True ident 0x76f931ffb640
2025-08-05 14:53:46,330[41839:41891][slam_manager.py: 97] frame queue is Empty
2025-08-05 14:53:47,330[41839:41891][slam_manager.py: 97] frame queue is Empty
2025-08-05 14:53:48,330[41839:41891][slam_manager.py: 97] frame queue is Empty
2025-08-05 14:53:49,330[41839:41891][slam_manager.py: 97] frame queue is Empty
2025-08-05 14:53:50,331[41839:41891][slam_manager.py: 97] frame queue is Empty
2025-08-05 14:53:51,331[41839:41891][slam_manager.py: 97] frame queue is Empty
2025-08-05 14:53:52,331[41839:41891][slam_manager.py: 97] frame queue is Empty
2025-08-05 14:53:53,332[41839:41891][slam_manager.py: 97] frame queue is Empty
2025-08-05 14:53:54,332[41839:41891][slam_manager.py: 97] frame queue is Empty
2025-08-05 14:53:55,332[41839:41891][slam_manager.py: 97] frame queue is Empty
2025-08-05 14:53:55,441[41839:41894][module_manager.py:137] Process 41846:UdpSink CPU 0.0%, Mem 151 MB
2025-08-05 14:53:55,542[41839:41894][module_manager.py:137] Process 41852:playback CPU 0.0%, Mem 190 MB
2025-08-05 14:53:55,642[41839:41894][module_manager.py:137] Process 41839:Perception CPU 0.0%, Mem 364 MB
2025-08-05 14:53:56,332[41839:41891][slam_manager.py: 97] frame queue is Empty
^CProcess UdpSink:
KeyboardInterrupt
2025-08-05T06:53:57Z
KeyboardInterrupt
2025-08-05T06:53:57Z
Traceback (most recent call last):
File "/home/leo/work/lidar-slam-detection/web_backend/server.py", line 100, in
http_server.serve_forever()
File "/home/leo/.local/lib/python3.10/site-packages/gevent/baseserver.py", line 400, in serve_forever
self._stop_event.wait()
File "src/gevent/event.py", line 164, in gevent._gevent_cevent.Event.wait
File "src/gevent/_abstract_linkable.py", line 521, in gevent._gevent_c_abstract_linkable.AbstractLinkable._wait
File "src/gevent/_abstract_linkable.py", line 487, in gevent._gevent_c_abstract_linkable.AbstractLinkable._wait_core
File "src/gevent/_abstract_linkable.py", line 490, in gevent._gevent_c_abstract_linkable.AbstractLinkable._wait_core
File "src/gevent/_abstract_linkable.py", line 442, in gevent._gevent_c_abstract_linkable.AbstractLinkable._AbstractLinkable__wait_to_be_notified
File "src/gevent/_abstract_linkable.py", line 451, in gevent._gevent_c_abstract_linkable.AbstractLinkable._switch_to_hub
File "src/gevent/_greenlet_primitives.py", line 61, in gevent._gevent_c_greenlet_primitives.SwitchOutGreenletWithLoop.switch
File "src/gevent/_greenlet_primitives.py", line 65, in gevent._gevent_c_greenlet_primitives.SwitchOutGreenletWithLoop.switch
File "src/gevent/_gevent_c_greenlet_primitives.pxd", line 35, in gevent._gevent_c_greenlet_primitives._greenlet_switch
KeyboardInterrupt
Process Process-1:
2025-08-05 14:53:57,125[41839:41900][camera_data_manager.py:216] Camera: 3, get invalid data
2025-08-05 14:53:57,125[41839:41899][camera_data_manager.py:216] Camera: 2, get invalid data
2025-08-05 14:53:57,125[41839:41896][camera_data_manager.py:216] Camera: 1, get invalid data
2025-08-05 14:53:57,125[41839:41893][camera_data_manager.py:216] Camera: 0, get invalid data
Traceback (most recent call last):
File "/usr/lib/python3.10/multiprocessing/process.py", line 314, in _bootstrap
self.run()
File "/usr/lib/python3.10/multiprocessing/process.py", line 108, in run
self._target(*self._args, **self._kwargs)
File "/home/leo/work/lidar-slam-detection/web_backend/server.py", line 25, in perception_main
start_perception_server(perception, "ipc:///tmp/perception")
File "/home/leo/work/lidar-slam-detection/web_backend/server.py", line 14, in start_perception_server
s.run()
File "/home/leo/.local/lib/python3.10/site-packages/zerorpc/core.py", line 176, in run
self._acceptor_task.get()
File "src/gevent/greenlet.py", line 818, in gevent._gevent_cgreenlet.Greenlet.get
File "src/gevent/greenlet.py", line 806, in gevent._gevent_cgreenlet.Greenlet.get
File "src/gevent/_greenlet_primitives.py", line 65, in gevent._gevent_c_greenlet_primitives.SwitchOutGreenletWithLoop.switch
File "src/gevent/_gevent_c_greenlet_primitives.pxd", line 35, in gevent._gevent_c_greenlet_primitives._greenlet_switch
KeyboardInterrupt
首先感谢您的开源，在您想项目学到很多，我的版本是ubunut22.04,下载您的2.1.0版本，使用源码编译，调整了一些过老的依赖库问题后，可以成功编译了，但是一直有上诉问题，请问您能否给我一些提示，下面是报错显示：
leo@leo-Legion-R9000P-ADR10:~/work/lidar-slam-detection$ sudo tools/scripts/start_system.sh
run server python script
dpkg-query: 没有找到与 nvidia-l4t-core 相匹配的软件包
Running on board: v2.1.0-x86_64-x86_64-20.04
/usr/lib/python3/dist-packages/google/protobuf/init.py:37: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
import('pkg_resources').declare_namespace(name)
/usr/lib/python3/dist-packages/google/protobuf/init.py:37: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
import('pkg_resources').declare_namespace(name)
2025-08-05 14:53:44,119[41839:41839][module_manager.py: 47] pipeline: Source connect to SLAM
2025-08-05 14:53:44,119[41839:41839][module_manager.py: 47] pipeline: SLAM connect to Sink
2025-08-05 14:53:44,119[41839:41839][module_manager.py: 71] start to setup module: SLAM
2025-08-05 14:53:44.120[41839:41845][localization.cpp:13] Localization: release static resources
2025-08-05 14:53:44.120[41839:41845][hdl_graph_slam_nodelet.cpp:123] releasing hdl graph nodelet...
2025-08-05 14:53:44,120[41839:41845][ slam.py: 55] SLAM use sensors: ['IMU', '1-Ouster-OS1']
2025-08-05 14:53:44,120[41839:41839][module_manager.py: 73] setup module: SLAM, done
2025-08-05 14:53:44,120[41839:41839][module_manager.py: 71] start to setup module: Sink
2025-08-05 14:53:44,131[41846:41846][sink_template.py: 50] deamon UdpSink starts
2025-08-05 14:53:44,132[41839:41839][module_manager.py: 73] setup module: Sink, done
2025-08-05 14:53:44,132[41839:41839][module_manager.py: 71] start to setup module: Source
iKD-Tree Multi thread started
2025-08-05 14:53:44.135[41839:41845][prefiltering_nodelet.cpp:39] downsample: VOXELGRID 0.2
2025-08-05 14:53:44.135[41839:41845][prefiltering_nodelet.cpp:78] outlier_removal: NONE
2025-08-05 14:53:44.135[41839:41845][hdl_graph_slam_nodelet.cpp:52] initializing hdl graph nodelet...
2025-08-05 14:53:44.135[41839:41845][graph_slam.cpp:56] construct solver: lm_fix6_3_cholmod
2025-08-05 14:53:44.135[41839:41845][loop_detector.hpp:50] initializing loop detection...
2025-08-05 14:53:44.135[41839:41845][registrations.cpp:57] registration: FAST_VGICP
2025-08-05 14:53:44.135[41839:41845][registrations.cpp:34] registration: FAST_GICP
2025-08-05 14:53:44,140[41839:41839][player_data_manager.py:136] player have 201 frames, duration 19.971323 s
2025-08-05 14:53:44,231[41839:41839][source_manager.py: 31] Source, start to setup: lidar
WARNING: This is a development server. Do not use it in a production deployment. Use a production WSGI server instead.
Press CTRL+C to quit
2025-08-05 14:53:44.234[41839:41839][lidar_driver_wrapper.cpp:34] lidar 0:Ouster-OS1 open success
2025-08-05 14:53:44.234[41839:41839][lidar_driver_wrapper.cpp:46] set lidar 0:Ouster-OS1 external parameter [-0.03368380293250084, -0.660768985748291, 1.7658969163894653, 177.67449951171875, 135.47140502929688, -177.0221710205078]
2025-08-05 14:53:44.234[41839:41839][lidar_driver_wrapper.cpp:58] set lidar 0:Ouster-OS1 range filter [-72, -72, -2, 72, 72, 4]
2025-08-05 14:53:44.234[41839:41839][lidar_driver_wrapper.cpp:70] set lidar 0:Ouster-OS1 exclude [-2.13, -2.01, -5, 2.92, 0.5, 5]
2025-08-05 14:53:44.236[41839:41839][lidar_driver_wrapper.cpp:34] lidar 1:Ouster-OS1 open success
2025-08-05 14:53:44.236[41839:41839][lidar_driver_wrapper.cpp:46] set lidar 1:Ouster-OS1 external parameter [0, 0, 1.88961923122406, 179.99972534179688, 179.9855194091797, -177.86497497558594]
2025-08-05 14:53:44.236[41839:41839][lidar_driver_wrapper.cpp:58] set lidar 1:Ouster-OS1 range filter [-72, -72, -2, 72, 72, 4]
2025-08-05 14:53:44.236[41839:41839][lidar_driver_wrapper.cpp:70] set lidar 1:Ouster-OS1 exclude [-3.37, -3.02, -4.15, 3.16, 2.33, 4.7]
2025-08-05 14:53:44.238[41839:41839][lidar_driver_wrapper.cpp:34] lidar 2:Ouster-OS1 open success
2025-08-05 14:53:44.238[41839:41839][lidar_driver_wrapper.cpp:46] set lidar 2:Ouster-OS1 external parameter [-0.09995567798614502, 0.6768492460250854, 1.7785784006118774, 1.0974562168121338, -44.20530319213867, 2.35439395904541]
2025-08-05 14:53:44.238[41839:41839][lidar_driver_wrapper.cpp:58] set lidar 2:Ouster-OS1 range filter [-72, -72, -2, 72, 72, 4]
2025-08-05 14:53:44.238[41839:41839][lidar_driver_wrapper.cpp:70] set lidar 2:Ouster-OS1 exclude [-3.37, -3.14, -4.92, 3.16, 1.44, 4.58]
2025-08-05 14:53:44,238[41839:41839][source_manager.py: 34] Source, setup: lidar, done
2025-08-05 14:53:44,238[41839:41839][source_manager.py: 31] Source, start to setup: camera
2025-08-05 14:53:44,274[41839:41839][camera_data_manager.py:195] Camera: 0, try cap: souphttpsrc timeout=0 location=http://127.0.0.1:38000/v1/camera/0 ! jpegparse ! jpegdec ! video/x-raw ! videoscale ! video/x-raw,width=1920,height=1080 ! videoconvert ! video/x-raw,width=1920,height=1080,format=I420 ! tee name=t
t. ! queue ! jpegenc ! shmsink socket-path=/tmp/camera_jpeg_0 sync=false
t. ! queue ! appsink sync=false
127.0.0.1 - - [05/Aug/2025 14:53:44] "GET /v1/camera/0 HTTP/1.1" 200 -
[ WARN:0] global ./modules/videoio/src/cap_gstreamer.cpp (1100) open OpenCV | GStreamer warning: Cannot query video position: status=1, value=0, duration=-1
2025-08-05 14:53:44,298[41839:41839][camera_data_manager.py:205] Camera: 0 open success
2025-08-05 14:53:44,298[41839:41839][camera_data_manager.py:195] Camera: 1, try cap: souphttpsrc timeout=0 location=http://127.0.0.1:38000/v1/camera/1 ! jpegparse ! jpegdec ! video/x-raw ! videoscale ! video/x-raw,width=1920,height=1080 ! videoconvert ! video/x-raw,width=1920,height=1080,format=I420 ! tee name=t
t. ! queue ! jpegenc ! shmsink socket-path=/tmp/camera_jpeg_1 sync=false
t. ! queue ! appsink sync=false
127.0.0.1 - - [05/Aug/2025 14:53:44] "GET /v1/camera/1 HTTP/1.1" 200 -
[ WARN:0] global ./modules/videoio/src/cap_gstreamer.cpp (1100) open OpenCV | GStreamer warning: Cannot query video position: status=1, value=0, duration=-1
2025-08-05 14:53:44,309[41839:41839][camera_data_manager.py:205] Camera: 1 open success
2025-08-05 14:53:44,309[41839:41839][camera_data_manager.py:195] Camera: 2, try cap: souphttpsrc timeout=0 location=http://127.0.0.1:38000/v1/camera/2 ! jpegparse ! jpegdec ! video/x-raw ! videoscale ! video/x-raw,width=1920,height=1080 ! videoconvert ! video/x-raw,width=1920,height=1080,format=I420 ! tee name=t
t. ! queue ! jpegenc ! shmsink socket-path=/tmp/camera_jpeg_2 sync=false
t. ! queue ! appsink sync=false
127.0.0.1 - - [05/Aug/2025 14:53:44] "GET /v1/camera/2 HTTP/1.1" 200 -
[ WARN:0] global ./modules/videoio/src/cap_gstreamer.cpp (1100) open OpenCV | GStreamer warning: Cannot query video position: status=1, value=0, duration=-1
2025-08-05 14:53:44,318[41839:41839][camera_data_manager.py:205] Camera: 2 open success
2025-08-05 14:53:44,318[41839:41839][camera_data_manager.py:195] Camera: 3, try cap: souphttpsrc timeout=0 location=http://127.0.0.1:38000/v1/camera/3 ! jpegparse ! jpegdec ! video/x-raw ! videoscale ! video/x-raw,width=1920,height=1080 ! videoconvert ! video/x-raw,width=1920,height=1080,format=I420 ! tee name=t
t. ! queue ! jpegenc ! shmsink socket-path=/tmp/camera_jpeg_3 sync=false
t. ! queue ! appsink sync=false
127.0.0.1 - - [05/Aug/2025 14:53:44] "GET /v1/camera/3 HTTP/1.1" 200 -
[ WARN:0] global ./modules/videoio/src/cap_gstreamer.cpp (1100) open OpenCV | GStreamer warning: Cannot query video position: status=1, value=0, duration=-1
2025-08-05 14:53:44,328[41839:41839][camera_data_manager.py:205] Camera: 3 open success
2025-08-05 14:53:44,328[41839:41839][source_manager.py: 34] Source, setup: camera, done
2025-08-05 14:53:44,328[41839:41839][source_manager.py: 31] Source, start to setup: radar
2025-08-05 14:53:44,329[41839:41839][source_manager.py: 34] Source, setup: radar, done
2025-08-05 14:53:44,329[41839:41839][source_manager.py: 31] Source, start to setup: ins
2025-08-05 14:53:44.329[41839:41839][ins_driver_wrapper.cpp:18] INS open success
2025-08-05 14:53:44.329[41839:41839][ins_driver_wrapper.cpp:29] set INS extrinsic parameter [0.09695542603731155, 1.2899638414382935, -0.11553408205509186, 87.35172271728516, -0.02054435946047306, -0.8822724223136902]
2025-08-05 14:53:44,329[41839:41839][source_manager.py: 34] Source, setup: ins, done
2025-08-05 14:53:44,329[41839:41839][module_manager.py: 73] setup module: Source, done
2025-08-05 14:53:44,329[41839:41891][manager_template.py: 80] SLAM, FPS: 2.4
2025-08-05 14:53:44,329[41839:41893][data_manager_template.py: 53] Camera: 0: acquire_loop start
2025-08-05 14:53:44,329[41839:41839][ perception.py: 34] start success
2025-08-05 14:53:44,332[41839:41896][data_manager_template.py: 53] Camera: 1: acquire_loop start
2025-08-05 14:53:44,332[41839:41899][data_manager_template.py: 53] Camera: 2: acquire_loop start
2025-08-05 14:53:44,333[41839:41900][data_manager_template.py: 53] Camera: 3: acquire_loop start
2025-08-05 14:53:44,333[41839:41892][camera_data_manager.py:307] JPEG: 0, try cap: shmsrc is-live=true socket-path=/tmp/camera_jpeg_0 do-timestamp=1 ! queue ! image/jpeg,width=1920,height=1080,framerate=(fraction)0 ! appsink sync=false
2025-08-05 14:53:45,329[41839:41891][slam_manager.py: 97] frame queue is Empty
2025-08-05 14:53:45,330[41839:41894][module_manager.py:116] system status Running, running thread/process information:
2025-08-05 14:53:45,331[41839:41894][module_manager.py:120] Thread 41839:Perception daemon False ident 0x76f9d6c497c0
2025-08-05 14:53:45,331[41839:41894][module_manager.py:120] Thread 41845:FastLIO daemon True ident 0x76f9b0979640
2025-08-05 14:53:45,331[41839:41894][module_manager.py:120] Thread 41891:SLAM daemon True ident 0x76f952ffd640
2025-08-05 14:53:45,331[41839:41894][module_manager.py:120] Thread 41892:Source daemon True ident 0x76f9527fc640
2025-08-05 14:53:45,331[41839:41894][module_manager.py:120] Thread 41893:Py-C0 daemon True ident 0x76f951ffb640
2025-08-05 14:53:45,331[41839:41894][module_manager.py:120] Thread 41895:zerorpc daemon True ident 0x76f950ff9640
2025-08-05 14:53:45,331[41839:41894][module_manager.py:120] Thread 41896:Py-C1 daemon True ident 0x76f933fff640
2025-08-05 14:53:45,331[41839:41894][module_manager.py:120] Thread 41899:Py-C2 daemon True ident 0x76f9327fc640
2025-08-05 14:53:45,331[41839:41894][module_manager.py:120] Thread 41900:Py-C3 daemon True ident 0x76f931ffb640
2025-08-05 14:53:46,330[41839:41891][slam_manager.py: 97] frame queue is Empty
2025-08-05 14:53:47,330[41839:41891][slam_manager.py: 97] frame queue is Empty
2025-08-05 14:53:48,330[41839:41891][slam_manager.py: 97] frame queue is Empty
2025-08-05 14:53:49,330[41839:41891][slam_manager.py: 97] frame queue is Empty
2025-08-05 14:53:50,331[41839:41891][slam_manager.py: 97] frame queue is Empty
2025-08-05 14:53:51,331[41839:41891][slam_manager.py: 97] frame queue is Empty
2025-08-05 14:53:52,331[41839:41891][slam_manager.py: 97] frame queue is Empty
2025-08-05 14:53:53,332[41839:41891][slam_manager.py: 97] frame queue is Empty
2025-08-05 14:53:54,332[41839:41891][slam_manager.py: 97] frame queue is Empty
2025-08-05 14:53:55,332[41839:41891][slam_manager.py: 97] frame queue is Empty
2025-08-05 14:53:55,441[41839:41894][module_manager.py:137] Process 41846:UdpSink CPU 0.0%, Mem 151 MB
2025-08-05 14:53:55,542[41839:41894][module_manager.py:137] Process 41852:playback CPU 0.0%, Mem 190 MB
2025-08-05 14:53:55,642[41839:41894][module_manager.py:137] Process 41839:Perception CPU 0.0%, Mem 364 MB
2025-08-05 14:53:56,332[41839:41891][slam_manager.py: 97] frame queue is Empty
^CProcess UdpSink:
KeyboardInterrupt
2025-08-05T06:53:57Z
KeyboardInterrupt
2025-08-05T06:53:57Z
Traceback (most recent call last):
File "/home/leo/work/lidar-slam-detection/web_backend/server.py", line 100, in
http_server.serve_forever()
File "/home/leo/.local/lib/python3.10/site-packages/gevent/baseserver.py", line 400, in serve_forever
self._stop_event.wait()
File "src/gevent/event.py", line 164, in gevent._gevent_cevent.Event.wait
File "src/gevent/_abstract_linkable.py", line 521, in gevent._gevent_c_abstract_linkable.AbstractLinkable._wait
File "src/gevent/_abstract_linkable.py", line 487, in gevent._gevent_c_abstract_linkable.AbstractLinkable._wait_core
File "src/gevent/_abstract_linkable.py", line 490, in gevent._gevent_c_abstract_linkable.AbstractLinkable._wait_core
File "src/gevent/_abstract_linkable.py", line 442, in gevent._gevent_c_abstract_linkable.AbstractLinkable._AbstractLinkable__wait_to_be_notified
File "src/gevent/_abstract_linkable.py", line 451, in gevent._gevent_c_abstract_linkable.AbstractLinkable._switch_to_hub
File "src/gevent/_greenlet_primitives.py", line 61, in gevent._gevent_c_greenlet_primitives.SwitchOutGreenletWithLoop.switch
File "src/gevent/_greenlet_primitives.py", line 65, in gevent._gevent_c_greenlet_primitives.SwitchOutGreenletWithLoop.switch
File "src/gevent/_gevent_c_greenlet_primitives.pxd", line 35, in gevent._gevent_c_greenlet_primitives._greenlet_switch
KeyboardInterrupt
Process Process-1:
2025-08-05 14:53:57,125[41839:41900][camera_data_manager.py:216] Camera: 3, get invalid data
2025-08-05 14:53:57,125[41839:41899][camera_data_manager.py:216] Camera: 2, get invalid data
2025-08-05 14:53:57,125[41839:41896][camera_data_manager.py:216] Camera: 1, get invalid data
2025-08-05 14:53:57,125[41839:41893][camera_data_manager.py:216] Camera: 0, get invalid data
Traceback (most recent call last):
File "/usr/lib/python3.10/multiprocessing/process.py", line 314, in _bootstrap
self.run()
File "/usr/lib/python3.10/multiprocessing/process.py", line 108, in run
self._target(*self._args, **self._kwargs)
File "/home/leo/work/lidar-slam-detection/web_backend/server.py", line 25, in perception_main
start_perception_server(perception, "ipc:///tmp/perception")
File "/home/leo/work/lidar-slam-detection/web_backend/server.py", line 14, in start_perception_server
s.run()
File "/home/leo/.local/lib/python3.10/site-packages/zerorpc/core.py", line 176, in run
self._acceptor_task.get()
File "src/gevent/greenlet.py", line 818, in gevent._gevent_cgreenlet.Greenlet.get
File "src/gevent/greenlet.py", line 806, in gevent._gevent_cgreenlet.Greenlet.get
File "src/gevent/_greenlet_primitives.py", line 65, in gevent._gevent_c_greenlet_primitives.SwitchOutGreenletWithLoop.switch
File "src/gevent/_gevent_c_greenlet_primitives.pxd", line 35, in gevent._gevent_c_greenlet_primitives._greenlet_switch
KeyboardInterrupt