VOXL Inspect Cam
The utility voxl-inspect-cam is a tool to check image metadata coming from MPA services that are publishing camera data. It requires that VOXL Camera Server is running in the background, which can be checked with VOXL Inspect Services. It can also be used to check non-camera images, such as the overlays coming out of VOXL TFLite Server or voxl-open-vins-server.
Arguments
Required
Cam: Which image pipe(s) to display data from. Available images can be seen by typing voxl-inspect-cam {TAB} {TAB}, which lists all available camera pipes via tab completion. Multiple pipes can be given on one command line, e.g. voxl-inspect-cam tracking hires. Options that will regularly be available are:
Direct Cameras
- tracking, or on newer platforms tracking_front / tracking_down
- stereo
- hires, plus downscaled streams such as hires_small_color / hires_small_grey
- tof_depth
Other Images
- tof_conf
- tof_noise
- tof_ir
- dfs_disparity
- qvio_overlay
- tflite_overlay
Optional
| Parameter | Description | Example |
|---|---|---|
| -a –all | Inspect every available camera at once (not usable with –test or –newline) | voxl-inspect-cam -a |
| -h –help | Print help message | voxl-inspect-cam --help |
| -j –json | Output results as JSON | voxl-inspect-cam tracking -j |
| -k –json_human | Output results as human-readable JSON | voxl-inspect-cam tracking -k |
| -n –newline | Print each sample on a new line instead of updating the current output line | voxl-inspect-cam tracking -n |
| -t –test | Test mode: prints TEST PASSED and exits 0 as soon as a frame arrives, or TEST FAILED and exits nonzero after ~10 seconds — useful in scripts | voxl-inspect-cam tracking -t |
Example Output
voxl2:/$ voxl-inspect-cam tracking
| Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |latency(ms)| fps | mbps | format
| tracking | 307200 | 640 | 480 | 3.8 | 100 | 71976 | 18.6 | 30.0 | 73.7 | RAW8
^C
received SIGINT Ctrl-C
closing and exiting
voxl2:/$
For encoded streams, the format column decodes the frame type as H264/H265 (head)/(I)/(P).
Source
Source code available on Gitlab.