VOXL Inspect VIO

voxl-inspect-vio prints VIO data from Modal Pipe Architecture. By default it opens the vvhub_aligned_vio pipe published by voxl-vision-hub, which is a gravity-aligned version of whatever raw VIO source voxl-vision-hub is consuming and sending to the autopilot. It represents the center of mass of the drone in the local FRD frame. You can also pass a pipe name such as qvio or ov as an argument to inspect a VIO server’s output directly.

For inspecting the raw qvio_extended pipe from voxl-qvio-server, see the older voxl-inspect-qvio tool. voxl-inspect-vio is the more general tool and works with any vio_data_t pipe.

Arguments

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

typical usage
/# voxl-inspect-vio
/# voxl-inspect-vio qvio -v

This will print out vio data from Modal Pipe Architecture.
By default this opens the vvhub_aligned_vio pipe from voxl-vision-hub
but this can be changed by specifying a pipe name to inspect
qvio or openvins data directly. The vvhub_aligned_vio pipe is
a gravity-aligned version of whatever raw vio source is being consumed
by voxl-vision-hub and being sent to the autopilot and represents the
COM of the drone in local FRD frame.

Position and rotation will always print. Additional options are:
-a, --imu_angular_vel       print imu_angular_vel
-g, --gravity_vector        print gravity_vector
-h, --help                  print this help message
-m, --extrinsics            print cam to imu extrinsics
-n, --newline               print each sample on a new line
-t, --timestamp_ns          print timestamp_ns
-v, --vel_imu_wrt_vio       print vel_imu_wrt_vio
-z, --print_everything      print everything

Example Output

Position and rotation always print. The sample interval dt(ms), feature count, quality, state, and error codes are also shown by default; the remaining columns are enabled with the flags above.

voxl2:/$ voxl-inspect-vio

 dt(ms) |    T_imu_wrt_vio (m)   |Roll Pitch Yaw (deg)|features|quality| state| error_codes 
   33.4 |   -4.96    0.94   -0.00|  17.9  -52.3    9.3|    45  |   62% | OKAY | 

Troubleshooting

If no data appears when using the default pipe, make sure voxl-vision-hub and a VIO server are running, which can be checked with voxl-inspect-services.

Source

Source code available on Gitlab.