VOXL Inspect Points

voxl-inspect-points is a tool to debug point cloud data in MPA. As a command line tool it provides no visualization but does indicate if data is being published along with the number and type of point.

Arguments

voxl2:/$ voxl-inspect-points -h

Tool to print point cloud metadata to the screen for inspection.
This will also print the first point received with each
message.

-h, --help              print this help message
-n, --newline           print newline between each pose

typical usage:
/# voxl-inspect-points tof_pc

Example Output

For example, to see if the Depth from Stereo is outputting data, run the following command. Note, you should be able to tab out any pipes with the point cloud type.

voxl2:/$ voxl-inspect-points dfs_point_cloud

timestamp(ms)| # points | # bytes |     1st point     | Format
     1728549 |     4800 |   57600 |  0.51  0.03  1.20 | Float XYZ

For TOF sensors, use voxl-inspect-tof instead (default pipe tof), which prints the middle point of the image.

Source

Source code available on Gitlab.