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    • 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!!!

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