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    • Chad SweetC
      Chad Sweet ModalAI Team
      last edited by

      If voxl-inspect-qvio is showing good VIO data, there should be no need to change things on VOXL. the VOXL services are working properly.

      You are most likely having issues with PX4 which runs on Flight Core. Please load the parameter files recommended and report back the result.

      KrisK 4 Replies Last reply Reply Quote 0
      • KrisK
        Kris @Chad Sweet
        last edited by Kris

        @Chad-Sweet I tried loading those two files again, but they are the same as what I already have loaded in PX4.
        nodifferences.png
        I got this message for both of the files (Seeker_v1_param_rev_A) and (ekf2_indoor_vio).

        1 Reply Last reply Reply Quote 0
        • KrisK
          Kris @Chad Sweet
          last edited by

          @Chad-Sweet
          PX4 Sensor Status
          PX4 Sensor Status.png

          1 Reply Last reply Reply Quote 0
          • KrisK
            Kris
            last edited by Kris

            I suppose I can disable voa and only have vio enabled in voxl-vision-px4.conf file and see if that gets the vio to work.

            1 Reply Last reply Reply Quote 0
            • KrisK
              Kris @Chad Sweet
              last edited by

              @Chad-Sweet
              I think the QVIO data looks a little blurry on the right side.
              Could this be the cause?

              QVIO-r.png

              1 Reply Last reply Reply Quote 0
              • KrisK
                Kris @Chad Sweet
                last edited by Kris

                @Chad-Sweet
                I ran the commandvoxl-inspect-cam qvioand these are the results.

                | Pipe Name |size(bytes)| height | width  |exposure(ms)| gain | frame id |latency(ms)|Framt
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: only read 1520 bytes of data, expected 983401498
                ERROR: only read 1520 bytes of data, expected 983149407
                ERROR: only read 1520 bytes of data, expected 983930947
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: only read 1520 bytes of data, expected 983422103
                ERROR: received unreasonably large camera frame size
                ERROR: only read 1520 bytes of data, expected 983595126
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: only read 1520 bytes of data, expected 983464840
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: only read 1520 bytes of data, expected 983415196
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: only read 1520 bytes of data, expected 983527753
                ERROR: only read 1520 bytes of data, expected 983349143
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: only read 1520 bytes of data, expected 983865918
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: only read 1520 bytes of data, expected 983142625
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: only read 1520 bytes of data, expected 983727796
                ERROR: only read 1520 bytes of data, expected 983669901
                ERROR: only read 1520 bytes of data, expected 983405545
                ERROR: received unreasonably large camera frame size
                ERROR: only read 1520 bytes of data, expected 983563131
                ERROR: only read 1520 bytes of data, expected 984096255
                ERROR: only read 1520 bytes of data, expected 983959335
                ERROR: received unreasonably large camera frame size
                ERROR: only read 1520 bytes of data, expected 983599080
                ERROR: only read 1520 bytes of data, expected 983627034
                ERROR: received unreasonably large camera frame size
                ERROR: only read 1520 bytes of data, expected 983492744
                ERROR: received unreasonably large camera frame size
                ERROR: only read 1520 bytes of data, expected 983316928
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: only read 1520 bytes of data, expected 983339417
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: only read 1520 bytes of data, expected 982167476
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: only read 1520 bytes of data, expected 983328375
                ERROR: only read 1520 bytes of data, expected 982822047
                ERROR: only read 1520 bytes of data, expected 982820284
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: only read 1520 bytes of data, expected 982943181
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: only read 1520 bytes of data, expected 983051188
                ERROR: received unreasonably large camera frame size
                ERROR: only read 1520 bytes of data, expected 982898929
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: only read 1520 bytes of data, expected 983097249
                ERROR: received unreasonably large camera frame size
                ERROR: only read 1520 bytes of data, expected 983276539
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: received unreasonably large camera frame size
                ERROR: only read 1520 bytes of data, expected 983529139
                ^C
                received SIGINT Ctrl-C
                ERROR: only read 896 bytes of data, expected 983179045
                

                This is what I get for tracking;

                | Pipe Name |size(bytes)| height | width  |exposure(ms)| gain | frame id |latency(ms)|Framt
                |  tracking |   307200  |    480 |    640 |       7.50 |  150 |   45466  |      13.5 |    8
                

                This is what I get for stereo;

                | Pipe Name |size(bytes)| height | width  |exposure(ms)| gain | frame id |latency(ms)|Framt
                |    stereo |   614400  |    480 |    640 |       2.92 |  100 |   47266  |      46.3 |    8
                

                and this is what I get for tof;

                | Pipe Name |size(bytes)| height | width  |exposure(ms)| gain | frame id |latency(ms)|Framt
                |       tof |        0  |      0 |      0 |       0.00 |    0 |       0  |      18.1 |    8
                ERROR: invalid metadata, magic number=0, expected 1448040524
                

                It looks like the problem is coming from the tof right?

                So I ran the command voxl-inspect-tofand was only receiving 0.0 in the values. So I waved my hand back in forth in front of the tof cam (roughly 3 inches away from tof) and 0.2 was the highest value I could get.

                timestamp(ms)| center point (m)
                     1979507 | -0.0   0.0   0.2^C
                

                However the voxl-inspect-qvio appears to be fine.

                voxl:~$ voxl-inspect-qvio
                waiting for server
                
                    T_imu_wrt_vio (m)   |Roll Pitch Yaw (deg)| state| error_code
                    0.00   -0.00   -0.00|   0.0   -0.0   -0.0| OKAY | 
                    0.00   -0.00   -0.00|  -0.0   -0.0    0.0| OKAY | 
                    0.00    0.00    0.00|  -0.0   -0.2    0.1| OKAY | 
                    0.00   -0.00   -0.00|  -0.0   -0.2    0.1| OKAY | 
                   -0.00   -0.00   -0.00|  -0.2    0.8   -0.2| OKAY | 
                    0.01   -0.01   -0.00|  -0.4    4.1    7.9| OKAY | 
                   -0.00   -0.03    0.01|  -0.9   -1.3  -10.3| OKAY | 
                    0.01   -0.00   -0.01|   0.0    3.7   -0.6| OKAY | 
                    0.01   -0.00   -0.01|  -0.0    3.7   -0.6| OKAY | ^C
                received SIGINT Ctrl-C
                

                I rotated the voxl slightly to the left and to the right to obtain those values.

                1 Reply Last reply Reply Quote 0
                • Chad SweetC
                  Chad Sweet ModalAI Team
                  last edited by Chad Sweet

                  The QVIO overlay looks good, so VIO is working. There is nothing wrong with the image sensor and VOXL setup if VIO is working.

                  TOF and stereo have nothing to do with VIO.

                  VIO is publishing valid data, but PX4 is not receiving it for some reason

                  KrisK 2 Replies Last reply Reply Quote 0
                  • KrisK
                    Kris @Chad Sweet
                    last edited by Kris

                    @Chad-Sweet I have been working on putting together some information/data. I will be posting it here soon.

                    1 Reply Last reply Reply Quote 0
                    • KrisK
                      Kris @Chad Sweet
                      last edited by

                      @Chad-Sweet below is some data I have collected.

                      voxl-inspect-points tof_pc

                      timestamp(ms)| # points | # bytes |     1st point     | Format 
                            436351 |    38528 |  462336 |   0.0   0.0   0.0 | Float XYZ
                            438151 |    38528 |  462336 |   0.0   0.0   0.0 | Float XYZ
                            440885 |    38528 |  462336 |   0.0   0.0   0.0 | Float XYZ
                            442417 |    38528 |  462336 |   0.0   0.0   0.0 | Float XYZ
                            448818 |    38528 |  462336 |   0.0   0.0   0.0 | Float XYZ
                            453484 |    38528 |  462336 |   0.0   0.0   0.0 | Float XYZ
                            454684 |    38528 |  462336 |   0.0   0.0   0.0 | Float XYZ
                            461952 |    38528 |  462336 |   0.0   0.0   0.0 | Float XYZ^C
                      received SIGINT Ctrl-C
                      
                      closing and exiting
                      

                      I moved the drone around and placed my hand and objects in front of the tof, but I was still not able to get any values.

                      voxl-inspect-points voa_pc_out

                      voxl-inspect-points voa_pc_out
                      
                      timestamp(ms)| # points | # bytes |     1st point     | Format 
                            534219 |      438 |    5256 |   0.2   0.1   0.1 | Float XYZ
                            534353 |      438 |    5256 |   0.2   0.1   0.1 | Float XYZ
                            534488 |      437 |    5244 |   0.2   0.1   0.1 | Float XYZ
                            534587 |      440 |    5280 |   0.2   0.1   0.1 | Float XYZ
                            534720 |      438 |    5256 |   0.2   0.1   0.1 | Float XYZ
                            534853 |      427 |    5124 |   0.2   0.1   0.1 | Float XYZ
                            534986 |      436 |    5232 |   0.2   0.1   0.1 | Float XYZ
                            535086 |      447 |    5364 |   0.2   0.1   0.1 | Float XYZ
                            535219 |      453 |    5436 |   0.2   0.1   0.1 | Float XYZ
                            535352 |      445 |    5340 |   0.2   0.1   0.1 | Float XYZ
                            535619 |      465 |    5580 |   0.2   0.1   0.1 | Float XYZ
                            535752 |      455 |    5460 |   0.2   0.1   0.1 | Float XYZ
                            535886 |      456 |    5472 |   2.9   1.7  -1.3 | Float XYZ
                            536019 |      450 |    5400 |   0.2   0.1   0.1 | Float XYZ
                            536186 |      439 |    5268 |   0.2   0.1   0.1 | Float XYZ
                            536286 |      437 |    5244 |   0.2   0.1   0.1 | Float XYZ
                            536419 |      446 |    5352 |   0.2   0.1   0.1 | Float XYZ
                            536586 |      450 |    5400 |   0.2   0.1   0.1 | Float XYZ
                            536719 |      448 |    5376 |   0.2   0.1   0.1 | Float XYZ
                            536853 |      438 |    5256 |   0.2   0.1   0.1 | Float XYZ
                            536986 |      448 |    5376 |   0.2   0.1   0.1 | Float XYZ
                            537153 |      459 |    5508 |   0.2   0.1   0.1 | Float XYZ
                            537287 |      462 |    5544 |   0.2   0.1   0.1 | Float XYZ
                            537419 |      459 |    5508 |   0.2   0.1   0.1 | Float XYZ
                            537586 |      464 |    5568 |   2.9   1.7  -1.3 | Float XYZ
                            537719 |      453 |    5436 |   0.2   0.1   0.1 | Float XYZ
                            537886 |      446 |    5352 |   0.2   0.1   0.1 | Float XYZ
                            538019 |      443 |    5316 |   0.2   0.1   0.1 | Float XYZ
                            538152 |      440 |    5280 |   0.2   0.1   0.1 | Float XYZ
                            538285 |      444 |    5328 |   0.2   0.1   0.1 | Float XYZ
                            538419 |      448 |    5376 |   0.2   0.1   0.1 | Float XYZ
                            538586 |      469 |    5628 |   0.2   0.1   0.1 | Float XYZ
                            573252 |       42 |     504 |   0.2   0.1   0.1 | Float XYZ
                            573385 |       43 |     516 |   0.2   0.1   0.1 | Float XYZ
                            573552 |       44 |     528 |   0.2   0.1   0.1 | Float XYZ
                            573718 |       49 |     588 |   0.2   0.1   0.1 | Float XYZ
                            574019 |       47 |     564 |   0.2   0.1   0.1 | Float XYZ
                            594519 |      452 |    5424 |   0.2   0.1   0.1 | Float XYZ
                            595052 |      421 |    5052 |   0.2   0.1   0.1 | Float XYZ
                            595552 |      422 |    5064 |   0.2   0.1   0.1 | Float XYZ
                            603719 |      451 |    5412 |   0.2   0.1   0.1 | Float XYZ^C
                      received SIGINT Ctrl-C
                      
                      closing and exiting
                      

                      Nothing was in front of the drone at the beginning and those were the values that I was receiving. the point values remained at "0.2 0.1 0.1" then every 2 seconds or so the values would flash "2.9 1.7 -1.3" for a split second. Then towards the end I placed my hand in front of the tof cam (about 3~5 inches away) and recieved those 40's. When I removed my hand the values changed back to the 400's.

                      voxl-inspect-points dfs_disparity

                      timestamp(ms)| # points | # bytes |     1st point     | Format 
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ^C
                      received SIGINT Ctrl-C
                      
                      closing and exiting
                      

                      Dfs_Disparity-r.png

                      voxl-inspect-points dfs_disparity_scaled

                      timestamp(ms)| # points | # bytes |     1st point     | Format 
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 314570
                      invalid metadata, magic number=0, expected 1448040524
                      ^C
                      received SIGINT Ctrl-C
                      
                      closing and exiting
                      

                      Dfs_Disparity_Scaled-r.png

                      voxl-inspect-points dfs_point_cloud

                      timestamp(ms)| # points | # bytes |     1st point     | Format 
                           1534485 |     4800 |   57600 |  -inf  -inf 10000.0 | Float XYZ
                           1535687 |     4800 |   57600 |  -inf  -inf 10000.0 | Float XYZ
                           1538019 |     4800 |   57600 |  -inf  -inf 10000.0 | Float XYZ
                           1539718 |     4800 |   57600 |  -inf  -inf 10000.0 | Float XYZ
                           1541220 |     4800 |   57600 |  -inf  -inf 10000.0 | Float XYZ
                           1542219 |     4800 |   57600 |  -inf  -inf 10000.0 | Float XYZ
                           1543217 |     4800 |   57600 |  -inf  -inf 10000.0 | Float XYZ
                           1544216 |     4800 |   57600 |  -inf  -inf 10000.0 | Float XYZ
                           1545218 |     4800 |   57600 |  -inf  -inf 10000.0 | Float XYZ
                           1545718 |     4800 |   57600 |  -inf  -inf 10000.0 | Float XYZ
                           1548718 |     4800 |   57600 |  -inf  -inf 10000.0 | Float XYZ
                           1549551 |     4800 |   57600 |  -inf  -inf 10000.0 | Float XYZ
                           1550051 |     4800 |   57600 |  -inf  -inf 10000.0 | Float XYZ
                           1550784 |     4800 |   57600 |  -inf  -inf 10000.0 | Float XYZ
                           1553650 |     4800 |   57600 |  -inf  -inf 10000.0 | Float XYZ^C
                      received SIGINT Ctrl-C
                      
                      closing and exiting
                      

                      I moved the drone around and also placed my hand in front of the voxl, but only the timestamp was working.

                      voxl-inspect-points tof_noise

                      timestamp(ms)| # points | # bytes |     1st point     | Format 
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      invalid metadata, magic number=0, expected 1448040524
                      ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                      ^C
                      received SIGINT Ctrl-C
                      
                      closing and exiting
                      

                      TOF_Noise.png

                      1 Reply Last reply Reply Quote 0
                      • KrisK
                        Kris
                        last edited by

                        voxl-inspect-points tof_ir

                        timestamp(ms)| # points | # bytes |     1st point     | Format 
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=0, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=1, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=0, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=0, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=0, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=0, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=65536, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=1, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=0, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=16842752, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=16777216, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=256, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=16777216, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=16777216, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=16777472, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=1, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=65537, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=0, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ^C
                        received SIGINT Ctrl-C
                        
                        closing and exiting
                        

                        TOF_Ir.png

                        voxl-inspect-points tof_conf

                        timestamp(ms)| # points | # bytes |     1st point     | Format 
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=0, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=0, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=0, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=0, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=0, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=0, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=0, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=0, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=0, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=0, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=0, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=0, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=0, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=0, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=0, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=0, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ^C
                        received SIGINT Ctrl-C
                        
                        closing and exiting
                        

                        TOF_Conf.png

                        voxl-inspect-points tof_depth

                        timestamp(ms)| # points | # bytes |     1st point     | Format 
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=0, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=0, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=0, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=0, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=0, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=0, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=0, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=0, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        invalid metadata, magic number=0, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 112726
                        ^C
                        received SIGINT Ctrl-C
                        
                        closing and exiting
                        

                        TOF_Depth.png

                        voxl-inspect-points qvio

                        timestamp(ms)| # points | # bytes |     1st point     | Format 
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11172
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11178
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11174
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11173
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11170
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11172
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11170
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11171
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11178
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11178
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11178
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11171
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11172
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11173
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11177
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11175
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11174
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11170
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11174
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11170
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11177
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11170
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11171
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11172
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11174
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11171
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11178
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11170
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11172
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11173
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11178
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11175
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11177
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11174
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11177
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11172
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11171
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11173
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11175
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11176
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11178
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11173
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11170
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11177
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11173
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11179
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11175
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11171
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11171
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11170
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11179
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11171
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11177
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11175
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11176
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11178
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11170
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11173
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11177
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11175
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11179
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11173
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11170
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11176
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11178
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11170
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11173
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11174
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11176
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11171
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11177
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11174
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11173
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11178
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11173
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11177
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11175
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11177
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11178
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11171
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11179
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11177
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11177
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11170
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11175
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11171
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11175
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11176
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11174
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11176
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11175
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11177
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11178
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11178
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11171
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11173
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11179
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11177
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11175
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11175
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11172
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11173
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11176
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11170
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11170
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11178
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11179
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11178
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11174
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11178
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11173
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11171
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11179
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11174
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: -11176
                        ^C
                        received SIGINT Ctrl-C
                        
                        closing and exiting
                        

                        voxl-inspect-points qvio_overlay

                        timestamp(ms)| # points | # bytes |     1st point     | Format 
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        invalid metadata, magic number=0, expected 1448040524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 356524
                        ^C
                        received SIGINT Ctrl-C
                        
                        closing and exiting
                        

                        QVIO-r.png

                        1 Reply Last reply Reply Quote 0
                        • KrisK
                          Kris
                          last edited by

                          @Chad-Sweet
                          So, what do you think the problem might be?
                          I’ll be taking a more detailed look at PX4 next.
                          If you feel that is where the issue is for the VIO.

                          1 Reply Last reply Reply Quote 0
                          • KrisK
                            Kris
                            last edited by Kris

                            @Chad-Sweet
                            I really do appreciate you helping me with this.
                            Thank you! 🙏

                            1 Reply Last reply Reply Quote 0
                            • KrisK
                              Kris
                              last edited by

                              Hi,
                              If the problem is coming from PX4, how should I go about resolving it? Should I be speaking with PX4 support instead of ModalAi?

                              1 Reply Last reply Reply Quote 0
                              • KrisK
                                Kris
                                last edited by Kris

                                @Chad-Sweet @Adrian-Hidalgo ,
                                For PX4 confirmation, here is my voxl vision status.

                                voxl:~$ systemctl status voxl-vision-px4 -l
                                ● voxl-vision-px4.service - voxl-vision-px4
                                   Loaded: loaded (/usr/bin/voxl-vision-px4; enabled; vendor preset: enabled)
                                   Active: active (running) since Thu 1970-01-01 00:00:06 UTC; 52 years 8 months ago
                                 Main PID: 2073 (voxl-vision-px4)
                                   CGroup: /system.slice/voxl-vision-px4.service
                                           └─2073 /usr/bin/voxl-vision-px4
                                
                                Sep 02 16:25:57 apq8096 voxl-vision-px4[2073]: ERROR validating VIO data received through pipe: read partial packet
                                Sep 02 16:25:57 apq8096 voxl-vision-px4[2073]: read 156 bytes, but it should be a multiple of 324
                                Sep 02 16:25:57 apq8096 voxl-vision-px4[2073]: ERROR validating VIO data received through pipe: read partial packet
                                Sep 02 16:25:57 apq8096 voxl-vision-px4[2073]: read 156 bytes, but it should be a multiple of 324
                                Sep 02 16:25:57 apq8096 voxl-vision-px4[2073]: ERROR validating VIO data received through pipe: read partial packet
                                Sep 02 16:25:57 apq8096 voxl-vision-px4[2073]: read 156 bytes, but it should be a multiple of 324
                                Sep 02 16:25:57 apq8096 voxl-vision-px4[2073]: ERROR validating VIO data received through pipe: read partial packet
                                Sep 02 16:25:57 apq8096 voxl-vision-px4[2073]: read 156 bytes, but it should be a multiple of 324
                                Sep 02 16:25:57 apq8096 voxl-vision-px4[2073]: ERROR validating VIO data received through pipe: read partial packet
                                Sep 02 16:25:57 apq8096 voxl-vision-px4[2073]: read 156 bytes, but it should be a multiple of 324
                                voxl:~$ 
                                

                                Could this be a time/clock, or a watchdog timer issue?

                                Active: active (running) since Thu 1970-01-01 00:00:06 UTC; 52 years 8 months ago
                                
                                1 Reply Last reply Reply Quote 0
                                • James StrawsonJ
                                  James Strawson ModalAI Team
                                  last edited by

                                  Hi Kris

                                  It looks like the voxl-vision-px4 and voxl-qvio-server versions have gotten out of sync, likely voxl-vision-px4 has been updated but voxl-qvio-server was not.

                                  Do you mind proving the output from the following 3 commands so I can check the state of the opkg package manager

                                  cat /etc/opkg/opkg.conf 
                                  opkg info voxl-vision-px4
                                  opkg info voxl-qvio-server
                                  

                                  Thanks,
                                  James

                                  KrisK 1 Reply Last reply Reply Quote 0
                                  • KrisK
                                    Kris @James Strawson
                                    last edited by Kris

                                    Hi @James-Strawson , thank you. Here are the outputs you have requested.

                                    ################################################################
                                    ## This file has been automatically generated.
                                    ## Please use voxl-configure-opkg to modify it.
                                    ################################################################
                                    dest root /
                                    option lists_dir /var/lib/opkg/lists
                                    arch all 1
                                    arch arm64 7
                                    
                                    src/gz modalai http://voxl-packages.modalai.com/dists/apq8096/stable/binary-arm64/
                                    
                                    voxl:~$ opkg info voxl-vision-px4
                                    Package: voxl-vision-px4
                                    Version: 1.2.0
                                    Depends: librc-math, libmodal-pipe (>= 2.4.0), libmodal-json, voxl-mpa-tools (>= 0.2.5), voxl-mavlink-server, libmodal-cv (>= 0.1.0)
                                    Status: install user installed
                                    Section: base
                                    Architecture: arm64
                                    Maintainer: James Strawson <james@modalai.com>
                                    MD5Sum: 4bcff955596c2a5964d68cacf60d08a8
                                    Size: 106864
                                    Filename: voxl-vision-px4_1.2.0.ipk
                                    Description: Interface between VOXL's computer vision services and PX4
                                    Installed-Time: 1661276328
                                    
                                    voxl:~$ opkg info voxl-qvio-server
                                    Package: voxl-qvio-server
                                    Version: 0.7.1
                                    Depends: libmodal-pipe (>= 2.4.0), libmodal-json (>= 0.4.0), voxl-mpa-tools (>= 0.7.0)
                                    Status: unknown ok not-installed
                                    Section: base
                                    Architecture: arm64
                                    Maintainer: james@modalai.com
                                    MD5Sum: 2ccb793c2d7059217d9d32b54564352b
                                    Size: 55416
                                    Filename: voxl-qvio-server_0.7.1.ipk
                                    Description: publishes QVIO data over named pipe interface
                                    
                                    Package: voxl-qvio-server
                                    Version: 0.4.6
                                    Depends: libmodal-pipe (>= 2.0.0), libmodal-json (>= 0.4.0), voxl-mpa-tools
                                    Status: install ok installed
                                    Architecture: arm64
                                    Installed-Time: 6815
                                    

                                    qvio-server version 0.7.1 status: unknown ok not-installed

                                    voxl:~$ opkg list-installed | grep "libmodal"
                                    libmodal-cv - 0.1.0
                                    libmodal-exposure - 0.0.7
                                    libmodal-json - 0.4.2
                                    libmodal-pipe - 2.4.0
                                    
                                    1 Reply Last reply Reply Quote 0
                                    • James StrawsonJ
                                      James Strawson ModalAI Team
                                      last edited by James Strawson

                                      Yes, It seems your installed voxl-vision-px4 and libmodal_pipe versions are from SDK 0.8 wheras your voxl-qvio-server is from SDK 0.7, that is the source of the mismatch.

                                      You can upgrade qvio server with opkg install voxl-qvio-server to fix the mismatch quickly but I would recommend just flashing back to the SDK 0.7 platform release since SDK 0.8 does not support TOF on VOXL1. The platform releases are tested as a whole an include a set of packages all known to work together. When individual packages get upgraded instead of the whole SDK together then things tend to break.

                                      KrisK 2 Replies Last reply Reply Quote 1
                                      • KrisK
                                        Kris @James Strawson
                                        last edited by

                                        @James-Strawson
                                        Thank you, I will try this 👍

                                        1 Reply Last reply Reply Quote 0
                                        • KrisK
                                          Kris @James Strawson
                                          last edited by Kris

                                          @James-Strawson could you please help me with flashing back to SDK 0.7 or provide a link explaining how to flash back to a lower SDK?
                                          This can be done over ssh right? Or do I need to ADB into voxl?

                                          1 Reply Last reply Reply Quote 0
                                          • James StrawsonJ
                                            James Strawson ModalAI Team
                                            last edited by

                                            Instructions here: https://docs.modalai.com/flash-system-image/

                                            The latest platform release for voxl1 is voxl_platform_3.8.0-0.7.tar available for download here https://developer.modalai.com/asset/1

                                            KrisK 1 Reply Last reply Reply Quote 0
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