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    Teledyne FLIR Lepton 3.5 Integration

    Ask your questions right here!
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    • Alex KushleyevA
      Alex Kushleyev ModalAI Team @george kollamkulam
      last edited by Alex Kushleyev

      @george-kollamkulam , yes FLIR Lepton 3.5 just inserts into M0157 board which has the socket for the bare Lepton sensor.

      Once you install the sensor into the docket, boot up voxl2 and run voxl-lepton-server. It will autogenerate a default config file /etc/modalai/voxl-lepton-server.conf that will look like this.

      {
      	"spi_bus":	14,
      	"spi_speed":	16000000,
      	"en_i2c":	false,
      	"i2c_bus":	0,
      	"shutter_mode":	"auto",
      	"flow_shutter_s":	20,
      	"closePeriodInFramesInAir":	1,
      	"openPeriodInFramesInAir":	0,
      	"desiredFfcPeriodMsInAir":	360000,
      	"desiredFfcTempDeltaCentiDegInAir":	600,
      	"en_rotate":	false
      }
      

      You will need to change the SPI bus to 0 and , set en_i2c to true and i2c_bus to 4 because this is the configuration for this Hardware arrangement (M0173 + M0157) per the following documentation : https://docs.modalai.com/voxl2-d0014/#downward-range-finder-and-flir-lepton

      Then you can run voxl-lepton-server again in foreground or enable the systemd server using systemctl enable voxl-lepton-server and systemctl start voxl-lepton-server . After that you shoud be able to see the Lepton output using voxl-portal.

      Alex

      george kollamkulamG 1 Reply Last reply Reply Quote 0
      • george kollamkulamG
        george kollamkulam @Alex Kushleyev
        last edited by

        @Alex-Kushleyev thanks, this seems to be working well. Can you also share what voxl-lepton-tracker is used for?

        George

        Alex KushleyevA 1 Reply Last reply Reply Quote 0
        • Alex KushleyevA
          Alex Kushleyev ModalAI Team @george kollamkulam
          last edited by

          @george-kollamkulam , the lepton tracker is an implementation of optic flow tracker for the lepton data, you can see the details here : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-lepton-tracker/-/blob/master/src/feature_tracker.cpp

          george kollamkulamG 1 Reply Last reply Reply Quote 0
          • george kollamkulamG
            george kollamkulam @Alex Kushleyev
            last edited by

            @Alex-Kushleyev I tried using the Lepton 3.5 sensor again, but this time I was unable to see the feed on the voxl portal, although voxl-lepton-server and voxl-camera-services were running. Additionally, I couldn't hear the clicking sound from the lepton sensor that was previously present. What could be the issue here? Is there anything I'm missing?

            I also noticed that the rear tracking camera wasn't functional (I'm not sure if this is related to the functioning of the lepton camera). It was seen on the voxl system check page on the voxl portal.

            Lepton.png

            Alex KushleyevA 1 Reply Last reply Reply Quote 0
            • Alex KushleyevA
              Alex Kushleyev ModalAI Team @george kollamkulam
              last edited by

              @george-kollamkulam , are you saying that just the Lepton and the tracking cameras are not working now, but all the other cameras are working fine?

              voxl-camera-server and voxl-lepton-server are completely independent and should not be interfering. However, Please try to unplug the lepton sensor from M0173 board and see if the tracking camera starts working again.

              it seems like maybe there is some power issue, since lepton is not clicking, since it should be doing that as soon as it gets power.

              Alex

              george kollamkulamG 1 Reply Last reply Reply Quote 0
              • george kollamkulamG
                george kollamkulam @Alex Kushleyev
                last edited by

                @Alex-Kushleyev I did a power cycle on the lepton sensor and it seems to be working now (click sound and feed available). All cameras except the rear tracking camera seems to be working fine (screenshot attached below). It doesn't show up on the voxl portal. How can we resolve this?

                Alex KushleyevA 1 Reply Last reply Reply Quote 0
                • Alex KushleyevA
                  Alex Kushleyev ModalAI Team @george kollamkulam
                  last edited by

                  @george-kollamkulam , can you please provide output of “voxl-camera-server -l”? This will show us which cameras are detected (excluding lepton). Note that running this command will stop the camera server if it is running in the background.

                  george kollamkulamG 1 Reply Last reply Reply Quote 0
                  • george kollamkulamG
                    george kollamkulam @Alex Kushleyev
                    last edited by

                    @Alex-Kushleyev
                    existing instance of voxl-camera-server found, attempting to stop it
                    Number of cameras detected: 4

                    On the voxl portal system check, it returned false for tracking_rear (VOXL-Camera-Server) and error for imageSensor2 (VOXL Image Sensors).
                    ![Screenshot from 2025-07-09 10-43-06.png](Request Entity Too Large)

                    Alex KushleyevA 1 Reply Last reply Reply Quote 0
                    • Alex KushleyevA
                      Alex Kushleyev ModalAI Team @george kollamkulam
                      last edited by

                      @george-kollamkulam ,

                      You are using a version of SDK which had a bug that was suppressing most of the prints, so voxl-camera-server -l is not reporting any information.

                      To fix this, please use the latest version of libmodal-journal package (you can get it from here : http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64//libmodal-journal_0.2.6-202505081055_arm64.deb

                      How many cameras do you actually have on your Starling 2? is it 4? Two tracking, one Hires camera and on TOF?

                      Alex

                      george kollamkulamG 1 Reply Last reply Reply Quote 0
                      • george kollamkulamG
                        george kollamkulam @Alex Kushleyev
                        last edited by

                        @Alex-Kushleyev apart from the lepton sensor, I have 5 (1 hires, 1 tof and 3 tracking).

                        Can you please point me to the resource that explains how to update the libmodal-journal package? Would I need to reinstall ROS2 Foxy or anything else?

                        Thanks,
                        George

                        Alex KushleyevA 1 Reply Last reply Reply Quote 0
                        • Alex KushleyevA
                          Alex Kushleyev ModalAI Team @george kollamkulam
                          last edited by

                          @george-kollamkulam , in order to install the updated libmodal-journal package, you just download the file that i linked to VOXL2, lets say you put it in /home/root/.

                          Then, using adb you go to /home/root and execute:

                          dpkg -i libmodal-journal_0.2.6-202505081055_arm64.deb
                          

                          Then you just run voxl-camera-server -l and you should see a lot more information being printed.

                          Alex

                          george kollamkulamG 1 Reply Last reply Reply Quote 0
                          • george kollamkulamG
                            george kollamkulam @Alex Kushleyev
                            last edited by

                            @Alex-Kushleyev here's the system response.

                            voxl2:/$ cd /home/root
                            voxl2:~$ dpkg -i libmodal-journal_0.2.6-202505081055_arm64.deb
                            (Reading database ... 137565 files and directories currently installed.)
                            Preparing to unpack libmodal-journal_0.2.6-202505081055_arm64.deb ...
                            Unpacking libmodal-journal (0.2.6-202505081055) over (0.2.5) ...
                            Setting up libmodal-journal (0.2.6-202505081055) ...
                            Processing triggers for libc-bin (2.27-3ubuntu1.6) ...
                            voxl2:~$ dpkg -l | grep libmodal-journal
                            ii libmodal-journal 0.2.6-202505081055 arm64 Journaling library
                            voxl2:~$ voxl-camera-server -l
                            existing instance of voxl-camera-server found, attempting to stop it
                            DEBUG: Attempting to open the hal module
                            DEBUG: SUCCESS: Camera module opened on attempt 0
                            DEBUG: ----------- Number of cameras: 4

                            DEBUG: Cam idx: 0, Cam slot: 0, Slave Address: 0x0030, Sensor Id: 0x0356
                            DEBUG: Cam idx: 1, Cam slot: 1, Slave Address: 0x0034, Sensor Id: 0x0577
                            DEBUG: Cam idx: 2, Cam slot: 3, Slave Address: 0x007A, Sensor Id: 0x2975
                            DEBUG: Cam idx: 3, Cam slot: 6, Slave Address: 0x0030, Sensor Id: 0x0356
                            DEBUG: Note: This list comes from the HAL module and may not be indicative
                            DEBUG: of configurations that have full pipelines

                            DEBUG: Number of cameras: 4

                            ====================================
                            Stats for camera: 0

                            ANDROID_SCALER_AVAILABLE_RAW_SIZES:
                            These are likely supported by the sensor
                            1280 x 800
                            1280 x 800

                            ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
                            These are NOT necessarily supported by the sensor
                            1280 x 800 HAL_PIXEL_FORMAT_YCbCr_420_888
                            1280 x 800 HAL_PIXEL_FORMAT_BLOB
                            1280 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
                            1280 x 768 HAL_PIXEL_FORMAT_BLOB
                            1280 x 720 HAL_PIXEL_FORMAT_YCbCr_420_888
                            1280 x 720 HAL_PIXEL_FORMAT_BLOB
                            1024 x 738 HAL_PIXEL_FORMAT_YCbCr_420_888
                            1024 x 738 HAL_PIXEL_FORMAT_BLOB
                            1024 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
                            1024 x 768 HAL_PIXEL_FORMAT_BLOB
                            864 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
                            864 x 480 HAL_PIXEL_FORMAT_BLOB
                            800 x 600 HAL_PIXEL_FORMAT_YCbCr_420_888
                            800 x 600 HAL_PIXEL_FORMAT_BLOB
                            800 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
                            800 x 480 HAL_PIXEL_FORMAT_BLOB
                            720 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
                            720 x 480 HAL_PIXEL_FORMAT_BLOB
                            640 x 512 HAL_PIXEL_FORMAT_YCbCr_420_888
                            640 x 512 HAL_PIXEL_FORMAT_BLOB
                            640 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
                            640 x 480 HAL_PIXEL_FORMAT_BLOB
                            640 x 400 HAL_PIXEL_FORMAT_YCbCr_420_888
                            640 x 400 HAL_PIXEL_FORMAT_BLOB
                            640 x 360 HAL_PIXEL_FORMAT_YCbCr_420_888
                            640 x 360 HAL_PIXEL_FORMAT_BLOB
                            352 x 288 HAL_PIXEL_FORMAT_YCbCr_420_888
                            352 x 288 HAL_PIXEL_FORMAT_BLOB
                            320 x 240 HAL_PIXEL_FORMAT_YCbCr_420_888
                            320 x 240 HAL_PIXEL_FORMAT_BLOB
                            240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888
                            240 x 320 HAL_PIXEL_FORMAT_BLOB
                            176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888
                            176 x 144 HAL_PIXEL_FORMAT_BLOB
                            1280 x 800 HAL_PIXEL_FORMAT_RAW10
                            1280 x 800 HAL_PIXEL_FORMAT_RAW12
                            1280 x 800 HAL_PIXEL_FORMAT_RAW16
                            1280 x 800 HAL_PIXEL_FORMAT_RAW_OPAQUE

                            ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
                            min = 54
                            max = 1596

                            ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
                            1596

                            ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
                            min = 0ns
                            max = 1318629735ns

                            ====================================
                            Stats for camera: 1

                            ANDROID_SCALER_AVAILABLE_RAW_SIZES:
                            These are likely supported by the sensor
                            4056 x 3040
                            3840 x 2160
                            1920 x 1080
                            1920 x 1080
                            1920 x 1080
                            1280 x 720
                            1280 x 720

                            ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
                            These are NOT necessarily supported by the sensor
                            4056 x 3040 HAL_PIXEL_FORMAT_YCbCr_420_888
                            4056 x 3040 HAL_PIXEL_FORMAT_BLOB
                            4000 x 3000 HAL_PIXEL_FORMAT_YCbCr_420_888
                            4000 x 3000 HAL_PIXEL_FORMAT_BLOB
                            3840 x 2160 HAL_PIXEL_FORMAT_YCbCr_420_888
                            3840 x 2160 HAL_PIXEL_FORMAT_BLOB
                            3264 x 2448 HAL_PIXEL_FORMAT_YCbCr_420_888
                            3264 x 2448 HAL_PIXEL_FORMAT_BLOB
                            3200 x 2400 HAL_PIXEL_FORMAT_YCbCr_420_888
                            3200 x 2400 HAL_PIXEL_FORMAT_BLOB
                            2976 x 2976 HAL_PIXEL_FORMAT_YCbCr_420_888
                            2976 x 2976 HAL_PIXEL_FORMAT_BLOB
                            2688 x 1512 HAL_PIXEL_FORMAT_YCbCr_420_888
                            2688 x 1512 HAL_PIXEL_FORMAT_BLOB
                            2592 x 1944 HAL_PIXEL_FORMAT_YCbCr_420_888
                            2592 x 1944 HAL_PIXEL_FORMAT_BLOB
                            2048 x 1536 HAL_PIXEL_FORMAT_YCbCr_420_888
                            2048 x 1536 HAL_PIXEL_FORMAT_BLOB
                            1920 x 1440 HAL_PIXEL_FORMAT_YCbCr_420_888
                            1920 x 1440 HAL_PIXEL_FORMAT_BLOB
                            1928 x 1208 HAL_PIXEL_FORMAT_YCbCr_420_888
                            1928 x 1208 HAL_PIXEL_FORMAT_BLOB
                            1920 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
                            1920 x 1080 HAL_PIXEL_FORMAT_BLOB
                            1600 x 1200 HAL_PIXEL_FORMAT_YCbCr_420_888
                            1600 x 1200 HAL_PIXEL_FORMAT_BLOB
                            1440 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
                            1440 x 1080 HAL_PIXEL_FORMAT_BLOB
                            1280 x 960 HAL_PIXEL_FORMAT_YCbCr_420_888
                            1280 x 960 HAL_PIXEL_FORMAT_BLOB
                            1280 x 800 HAL_PIXEL_FORMAT_YCbCr_420_888
                            1280 x 800 HAL_PIXEL_FORMAT_BLOB
                            1280 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
                            1280 x 768 HAL_PIXEL_FORMAT_BLOB
                            1280 x 720 HAL_PIXEL_FORMAT_YCbCr_420_888
                            1280 x 720 HAL_PIXEL_FORMAT_BLOB
                            1080 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
                            1080 x 1080 HAL_PIXEL_FORMAT_BLOB
                            1024 x 738 HAL_PIXEL_FORMAT_YCbCr_420_888
                            1024 x 738 HAL_PIXEL_FORMAT_BLOB
                            1024 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
                            1024 x 768 HAL_PIXEL_FORMAT_BLOB
                            864 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
                            864 x 480 HAL_PIXEL_FORMAT_BLOB
                            800 x 600 HAL_PIXEL_FORMAT_YCbCr_420_888
                            800 x 600 HAL_PIXEL_FORMAT_BLOB
                            800 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
                            800 x 480 HAL_PIXEL_FORMAT_BLOB
                            720 x 1280 HAL_PIXEL_FORMAT_YCbCr_420_888
                            720 x 1280 HAL_PIXEL_FORMAT_BLOB
                            720 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
                            720 x 480 HAL_PIXEL_FORMAT_BLOB
                            640 x 512 HAL_PIXEL_FORMAT_YCbCr_420_888
                            640 x 512 HAL_PIXEL_FORMAT_BLOB
                            640 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
                            640 x 480 HAL_PIXEL_FORMAT_BLOB
                            640 x 400 HAL_PIXEL_FORMAT_YCbCr_420_888
                            640 x 400 HAL_PIXEL_FORMAT_BLOB
                            640 x 360 HAL_PIXEL_FORMAT_YCbCr_420_888
                            640 x 360 HAL_PIXEL_FORMAT_BLOB
                            352 x 288 HAL_PIXEL_FORMAT_YCbCr_420_888
                            352 x 288 HAL_PIXEL_FORMAT_BLOB
                            320 x 240 HAL_PIXEL_FORMAT_YCbCr_420_888
                            320 x 240 HAL_PIXEL_FORMAT_BLOB
                            240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888
                            240 x 320 HAL_PIXEL_FORMAT_BLOB
                            176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888
                            176 x 144 HAL_PIXEL_FORMAT_BLOB
                            4056 x 3040 HAL_PIXEL_FORMAT_RAW10
                            4056 x 3040 HAL_PIXEL_FORMAT_RAW12
                            4056 x 3040 HAL_PIXEL_FORMAT_RAW16
                            4056 x 3040 HAL_PIXEL_FORMAT_RAW_OPAQUE
                            3840 x 2160 HAL_PIXEL_FORMAT_RAW10
                            3840 x 2160 HAL_PIXEL_FORMAT_RAW12
                            3840 x 2160 HAL_PIXEL_FORMAT_RAW16
                            3840 x 2160 HAL_PIXEL_FORMAT_RAW_OPAQUE
                            1920 x 1080 HAL_PIXEL_FORMAT_RAW10
                            1920 x 1080 HAL_PIXEL_FORMAT_RAW12
                            1920 x 1080 HAL_PIXEL_FORMAT_RAW16
                            1920 x 1080 HAL_PIXEL_FORMAT_RAW_OPAQUE

                            ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
                            min = 100
                            max = 35200

                            ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
                            2200

                            ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
                            min = 0ns
                            max = 243753000ns

                            ====================================
                            Stats for camera: 2

                            ANDROID_SCALER_AVAILABLE_RAW_SIZES:
                            These are likely supported by the sensor
                            240 x 1629

                            ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
                            These are NOT necessarily supported by the sensor
                            240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888
                            240 x 320 HAL_PIXEL_FORMAT_BLOB
                            176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888
                            176 x 144 HAL_PIXEL_FORMAT_BLOB
                            240 x 1629 HAL_PIXEL_FORMAT_RAW10
                            240 x 1629 HAL_PIXEL_FORMAT_RAW12
                            240 x 1629 HAL_PIXEL_FORMAT_RAW16
                            240 x 1629 HAL_PIXEL_FORMAT_RAW_OPAQUE

                            ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
                            min = 54
                            max = 0

                            ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
                            0

                            ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
                            min = 0ns
                            max = 0ns

                            ====================================
                            Stats for camera: 3

                            ANDROID_SCALER_AVAILABLE_RAW_SIZES:
                            These are likely supported by the sensor
                            1280 x 800
                            1280 x 800

                            ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
                            These are NOT necessarily supported by the sensor
                            1280 x 800 HAL_PIXEL_FORMAT_YCbCr_420_888
                            1280 x 800 HAL_PIXEL_FORMAT_BLOB
                            1280 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
                            1280 x 768 HAL_PIXEL_FORMAT_BLOB
                            1280 x 720 HAL_PIXEL_FORMAT_YCbCr_420_888
                            1280 x 720 HAL_PIXEL_FORMAT_BLOB
                            1024 x 738 HAL_PIXEL_FORMAT_YCbCr_420_888
                            1024 x 738 HAL_PIXEL_FORMAT_BLOB
                            1024 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
                            1024 x 768 HAL_PIXEL_FORMAT_BLOB
                            864 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
                            864 x 480 HAL_PIXEL_FORMAT_BLOB
                            800 x 600 HAL_PIXEL_FORMAT_YCbCr_420_888
                            800 x 600 HAL_PIXEL_FORMAT_BLOB
                            800 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
                            800 x 480 HAL_PIXEL_FORMAT_BLOB
                            720 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
                            720 x 480 HAL_PIXEL_FORMAT_BLOB
                            640 x 512 HAL_PIXEL_FORMAT_YCbCr_420_888
                            640 x 512 HAL_PIXEL_FORMAT_BLOB
                            640 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
                            640 x 480 HAL_PIXEL_FORMAT_BLOB
                            640 x 400 HAL_PIXEL_FORMAT_YCbCr_420_888
                            640 x 400 HAL_PIXEL_FORMAT_BLOB
                            640 x 360 HAL_PIXEL_FORMAT_YCbCr_420_888
                            640 x 360 HAL_PIXEL_FORMAT_BLOB
                            352 x 288 HAL_PIXEL_FORMAT_YCbCr_420_888
                            352 x 288 HAL_PIXEL_FORMAT_BLOB
                            320 x 240 HAL_PIXEL_FORMAT_YCbCr_420_888
                            320 x 240 HAL_PIXEL_FORMAT_BLOB
                            240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888
                            240 x 320 HAL_PIXEL_FORMAT_BLOB
                            176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888
                            176 x 144 HAL_PIXEL_FORMAT_BLOB
                            1280 x 800 HAL_PIXEL_FORMAT_RAW10
                            1280 x 800 HAL_PIXEL_FORMAT_RAW12
                            1280 x 800 HAL_PIXEL_FORMAT_RAW16
                            1280 x 800 HAL_PIXEL_FORMAT_RAW_OPAQUE

                            ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
                            min = 54
                            max = 1596

                            ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
                            1596

                            ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
                            min = 0ns
                            max = 1318629735ns

                            ====================================
                            Number of cameras detected: 4

                            ImageSensor2Error.png

                            george kollamkulamG 1 Reply Last reply Reply Quote 0
                            • george kollamkulamG
                              george kollamkulam @george kollamkulam
                              last edited by

                              @Alex-Kushleyev would you be able to help troubleshoot this error with the rear tracking camera?

                              1 Reply Last reply Reply Quote 0
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