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    Teledyne FLIR Lepton 3.5 Integration

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    • 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?

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