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.
yocto:/$ voxl-inspect-points -h Tool to print point cloud data to the screen for inspection. This will print up to the first 10 points received with each message. For point clouds read from the TOF sensor, this will print the 10 points across the middle of the image. -h, --help print this help message -n, --newline print newline between each pose typical usage: /# voxl-inspect-points tof_pc
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.
yocto:/$ voxl-inspect-points dfs_point_cloud timestamp(ms)| # points | # bytes | Format 1728549 | 4800 | 57600 | Float XYZ
Source code available on Gitlab.