ModalAI Forum
    • Categories
    • Recent
    • Tags
    • Popular
    • Users
    • Groups
    • Register
    • Login
    1. Home
    2. george kollamkulam
    • Profile
    • Following 0
    • Followers 0
    • Topics 7
    • Posts 27
    • Best 0
    • Controversial 0
    • Groups 0

    george kollamkulam

    @george kollamkulam

    0
    Reputation
    6
    Profile views
    27
    Posts
    0
    Followers
    0
    Following
    Joined Last Online

    george kollamkulam Unfollow Follow

    Latest posts made by george kollamkulam

    • RE: Teledyne FLIR Lepton 3.5 Integration

      @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

      posted in Ask your questions right here!
      george kollamkulamG
      george kollamkulam
    • RE: Incorrect battery0 voltage on QGC

      @constantines @Eric-Katzfey @Alex-Kushleyev voxl-esc is reporting the correct voltage. It looks like changing the QGC version has fixed the issue.

      Thanks for your inputs.
      George

      posted in Ask your questions right here!
      george kollamkulamG
      george kollamkulam
    • RE: Incorrect battery0 voltage on QGC

      @Alex-Kushleyev Sorry for the delay.

      The voltage value seems to have decreased a little with time, but I don't think this is following the battery discharge trend. I started at 270.31 V just before take-off, and I was at 269.24 V after roughly 15 mins of flying. What could be the next steps to troubleshooting this issue?

      Thanks,
      George

      posted in Ask your questions right here!
      george kollamkulamG
      george kollamkulam
    • RE: Starling 2 SLAM ROS2 Foxy

      @teddy-zaremba

      1. Screenshots are attached below. On the voxl portal, I'm able to see the tracking_down and tracking_front feeds, but I don't see the tracking_rear option (my Starling2 is in C27 config: 1 hires camera, 1 tof sensor, 3 tracking cameras). I haven't changed anything related to the default camera setup, except adding a Lepton 3.5 sensor. I was hoping to use the voxl-qvio-server, but I'm happy to explore openvins if that's more feasible. I don't see a red box, but I'm able to see the axes on the voxl mapper page, and its moving when I move the UAV.
        voxl-inspect-cam-a.png voxl-mapper.png voxl-inspect-pose.png voxl-inspect-services.png

      2. How can I access the voxl_mapper_aligned_ptcloud?

      Thanks,
      George

      posted in Ask your questions right here!
      george kollamkulamG
      george kollamkulam
    • RE: Starling 2 SLAM ROS2 Foxy

      @teddy-zaremba thanks for your response.

      1. By default, are the stereo cameras being used? Or is it the tof sensor?

      2. To clarify, if we try to visualize voa_pc_out on rviz2, I would not be able to see the UAV movement. I would need to use a topic that already fuses imu_apps data with tof_pc data or create such a custom topic. Is my understanding correct?

      3. I'd be happy to try it. I've opened the voxl mapper page on the voxl portal and voxl-dfs-server is enabled, but I'm unable to start it with systemctl start voxl-dfs-server. I'm also unable to see /voxl_mapper_aligned_ptcloud under ros2 topic list (I don't think it's being published). How can we address these?

      4. What's the best way to get the created map from voxl mapper as a ROS2 foxy interface?

      Thanks,
      George

      posted in Ask your questions right here!
      george kollamkulamG
      george kollamkulam
    • RE: Starling 2 - failure when entering offboard mode in Starling 2

      @Hector-Gutierrez thanks for the suggestion. However, I have now seen this unstable behavior in all modes (manual, altitude, position and offboard), both indoor and outdoors. I suspect that qvio is failing and trying to reset mid flight (Error: Not stationary was observed multiple times on the qvio_overlay page on VOXL portal). I don't think the GPS is even being used (QGC reports 100 HDOP and 0 satellites). The only mode where the UAV is controllable is Manual, but the qvio error is still present.

      @Alex-Kushleyev would you be able to share some insight into what could be happening? How can we resolve this issue?

      Thanks,
      George

      posted in Starling & Starling 2
      george kollamkulamG
      george kollamkulam
    • Starling 2 SLAM ROS2 Foxy

      Hello,

      I wanted to use ROS2 Foxy to run SLAM and create a map of an indoor environment on RViz2. Initially, I tried using /tof_pc to get point cloud data, but it seems this topic doesn’t account for the UAV’s position and orientation (Starling 2). As a result, the point cloud data kept appending to itself incorrectly, and I couldn’t generate a usable map.

      Could you clarify:

      1. What sensors are fused or used in /voa_pc_out?
      2. Does /voa_pc_out compensate for UAV movement, and is this topic alone sufficient for mapping an area?
      3. What topic combinations would you recommend for:
        i) LiDAR SLAM
        ii) Visual SLAM

      For example:
      a) imu_apps + tof_pc
      b) voa_pc_out
      c) tracking cameras + imu_apps
      d) any other combination

      Thanks,
      George

      posted in Ask your questions right here!
      george kollamkulamG
      george kollamkulam
    • RE: ROS2 Foxy Setup Issues

      @Aaron-Porter thanks for checking in. I'm able to see all the camera related ros2 topics now on the UAV and the laptop terminals.

      Cheers,
      George

      posted in Ask your questions right here!
      george kollamkulamG
      george kollamkulam
    • RE: Teledyne FLIR Lepton 3.5 Integration

      @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

      posted in Ask your questions right here!
      george kollamkulamG
      george kollamkulam
    • RE: Teledyne FLIR Lepton 3.5 Integration

      @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)

      posted in Ask your questions right here!
      george kollamkulamG
      george kollamkulam