VOXL Inspect TOF

voxl-inspect-tof prints PMD Time of Flight (TOF) metadata to the screen for inspection, defaulting to the tof pipe. Along with the frame size and maximum depth it prints the middle point of the image with its confidence value, making it a quick way to check that the sensor is running and returning sane depth values.

For point cloud pipes such as tof_pc, use voxl-inspect-points instead.

Arguments

voxl2:/$ voxl-inspect-tof --help

Tool to print PMD TOF metadata to the screen for inspection.
This will also print the middle point received with each
message.
For pipes publishing format tof_data_t only

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

typical usage:
/# voxl-inspect-tof tof

Example Output

voxl2:/$ voxl-inspect-tof

timestamp(ms)|  w  |  h  | Zmax | center point (m) (conf)
      174964 | 224 | 172 |  6.0 |  0.0  -0.1   1.2  255

Source

Source code available on Gitlab.