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    • 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
                                      • KrisK
                                        Kris @James Strawson
                                        last edited by

                                        @James-Strawson oh ok, now I remember 🤣
                                        Cheers mate! 👍

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

                                          @Chad-Sweet @Adrian-Hidalgo @James-Strawson
                                          Everything is working now! THANK YOU so much for all your help!!!

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

                                            This post is deleted!
                                            1 Reply Last reply Reply Quote 0
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