# Understanding voxl-evaluate-vins

Source: https://forum.modalai.com/topic/5021/understanding-voxl-evaluate-vins
Category: VOXL 2 and VOXL 2 Mini (https://forum.modalai.com/category/26/voxl-2-and-voxl-2-mini)
Tags: voxl-2
Posted: 2026-01-29 20:05:12 UTC by Aaron Porter
Replies: 1 · Views: 277

## Aaron Porter · 2026-01-29 20:05:12 UTC

I just have a question about `voxl-evaluate-vins` how is it suppose to be used. I used voxl-logger to collect the camera data from my Starling 2 but I am getting a segment Terminate when trying to use `voxl-evaluate-vins` on that log. voxl-replay works fine on the log.

I am under the impression that I am using `voxl-evaluate-vins` wrong and looking through the documentation and can't seem to find an answer for how it is meant to work. 

I am using voxl-sdk 1.6.2

Thank you,
Aaron Porter

## Reply by zauberflote1 (ModalAI staff) · 2026-01-29 22:55:31 UTC

@Aaron-Porter Hello there,

voxl-evaluate-vins is currently not used by the Autonomy team @ ModalAI, we opted for our new benchmark solution, a bit more consistent in terms of statistical rigor and better integration with voxl-portal. Still, when replaying logs for VINS, it is imperative that one replays them using the ION pipes, as our VINS solution is optimized for cl_mem ptrs. Note that when replaying ION pipes, it is recommend to stop camera-server before replaying -- as clean killing ION pipes via the voxl-replay args is currently being optimized. This should resolve the common segfaults experienced during the replay/benchmark operation itself.

https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-benchmark-vio

Finally, I would recommend updating your VINS to the latest available tag on Gitlab