# Dfs Disparity Error

Source: https://forum.modalai.com/topic/1363/dfs-disparity-error
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2022-09-21 09:45:17 UTC by Kris
Replies: 0 · Views: 409

## Kris · 2022-09-21 09:45:17 UTC

Hello,
I am not getting any data or camera feed from my dfs_disparity.

There is no camera feed in VOXL Web Portal.
![DFS Disparity.png](https://forum.modalai.com/assets/uploads/files/1663753665125-dfs-disparity-resized.png) 

I get this error when I try to inspect the dfs_disparity in terminal.
```
voxl:~$ 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: 31457920
invalid metadata, magic number=0, expected 1448040524
ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 31457920
ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 31457920
ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 31457920
ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 31457920
invalid metadata, magic number=0, expected 1448040524
ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 31457920
ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 31457920
invalid metadata, magic number=0, expected 1448040524
ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 31457920
invalid metadata, magic number=0, expected 1448040524
ERROR in pipe_point_cloud_meta_to_size_bytes, invalid point cloud format: 31457920
invalid metadata, magic number=0, expected 1448040524
```
Results from inspecting my dfs point cloud;
![DFS Point Cloud Terminal.png](https://forum.modalai.com/assets/uploads/files/1663753612442-dfs-point-cloud-terminal.png) 

dfs server is running on voxl.
```
 Service Name         |  Version  |  Enabled  |   Running   |  CPU Usage
---------------------------------------------------------------------------
 docker-autorun       |    1.2.4  | Disabled  | Not Running |  
 docker-daemon        |    1.2.4  | Disabled  | Not Running |  
 modallink-relink     |   0.15.1  | Disabled  | Not Running |  
 voxl-camera-server   |    0.9.1  |  Enabled  |   Running   |    18.7
 voxl-cpu-monitor     |    0.2.5  |  Enabled  |   Running   |     0.0
 voxl-dfs-server      |    0.2.6  |  Enabled  |   Running   |     0.0
 voxl-imu-server      |    1.0.1  |  Enabled  |   Running   |     0.0
 voxl-mavlink-server  |    0.1.1  |  Enabled  |   Running   |     0.0
 voxl-modem           |   0.15.1  | Disabled  | Not Running |  
 voxl-portal          |    0.2.6  |  Enabled  |   Running   |     2.0
 voxl-qvio-server     |    0.4.6  |  Enabled  |   Running   |    10.4
 voxl-streamer        |    0.3.1  | Disabled  | Not Running |  
 voxl-tag-detector    |    0.0.4  | Disabled  | Not Running |  
 voxl-tflite-server   |    0.2.3  | Disabled  | Not Running |  
 voxl-time-sync       |    1.1.1  | Disabled  | Not Running |  
 voxl-vision-px4      |    1.0.5  |  Enabled  |   Running   |     4.1
 voxl-wait-for-fs     |    1.1.1  |  Enabled  |  Completed  |  
```

There is also an error in QGC v4.2.3 saying that there is a collision avoidance error.
Sometimes VOA works, and sometimes it does not work. These tests were conducted in a well lit and pattern floor area with no reflective obstacles in the room.

Any ideas as to what might be causing the problem?