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Please tell me if when using v1.6.1 you get the same errors.
Could you tell me what sensor you are using?
Also, the optical flow source code is available here: https://github.com/intel-aero/aero-optical-flow/tree/master/src
I just conducted the same refrigeration experiment as mentioned in this thread: Optical flow thermal issue . When sitting at room temperature, the downward facing camera has poor quality in the right portion frame of the image and the frame rate decays well below 70 fps (required for optical flow). However, when I put the drone in a fridge, the image quality and the frame rate increases. After ~5 minutes in the fridge, nominal camera behavior is regained. This definitely seems to be a thermal issue...