# General understanding on voxl-feature-tracker

Source: https://forum.modalai.com/topic/2279/general-understanding-on-voxl-feature-tracker
Category: VOXL 2 and VOXL 2 Mini (https://forum.modalai.com/category/26/voxl-2-and-voxl-2-mini)
Tags: voxl-2
Posted: 2023-06-17 07:53:56 UTC by Aaky
Replies: 2 · Views: 619

## Aaky · 2023-06-17 07:53:56 UTC

Hello,
 I am working on VOXL2 beta image 1.6.2 with voxl-suite 1.0.0-beta4. I can see voxl-feature-tracker, voxl-flow-server and voxl-lepton-server part of this release. I wanted to gain more understanding with these packages. I do understand these packages are under active development but I would be happy to try them out on my setup.

* Is voxl-feature-tracker only meant for thermal camera lepton at the moment?

* Does voxl-flow-server fuses flow data with PX4? If yes do we need to use additional rangefinder sensor for altitude in this case?

* Is it mandatory to use lepton camera over spi with voxl-lepton-server for above setup to work or we can use uvc camera stream as input to voxl-feature-tracker?

A general architectural understanding of voxl-feature-tracker and rest of the packages would be highly appreciated.

## Reply by Aaky · 2023-06-20 12:50:20 UTC

@Chad-Sweet @Eric-Katzfey Any update on this information?

## Reply by Chad Sweet (ModalAI staff) · 2023-06-20 16:39:19 UTC

We do not have any feature to share at this point.