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    Build voxl-uvc-server with voxl-cross

    Modal Pipe Architecture (MPA)
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    • Philemon BennerP
      Philemon Benner
      last edited by

      yeah i think i need to install libusb and libjpeg but wich exact verisions?

      Eric KatzfeyE 1 Reply Last reply Reply Quote 0
      • Eric KatzfeyE
        Eric Katzfey ModalAI Team @Philemon Benner
        last edited by

        @Philemon-Benner Now you are starting to see the problem with voxl-cross. It is a much faster way to compile code but for projects that have more complex dependencies it can be a real pain to get them setup. That is why some projects use voxl-emulator. It's much easier to setup dependencies there.

        Philemon BennerP 1 Reply Last reply Reply Quote 0
        • Philemon BennerP
          Philemon Benner @Eric Katzfey
          last edited by

          @Eric-Katzfey yeah i see

          Philemon BennerP 1 Reply Last reply Reply Quote 0
          • Philemon BennerP
            Philemon Benner @Philemon Benner
            last edited by

            Ok so i finally got it working if someone ever needs it, with installing:

            sudo apt-get update
            sudo apt-get install libusb-1.0-0:arm64
            sudo apt-get install libjpeg-turbo8:arm64
            

            For other third part libraries add the :arm64 architecture when building with 820, because in voxl-cross it will install amd64 by default. Still wondering what 820 exactly is🤔

            Thanks @Eric-Katzfey for the suggestion on the 64-Bit deb package.

            Eric KatzfeyE 1 Reply Last reply Reply Quote 0
            • Eric KatzfeyE
              Eric Katzfey ModalAI Team @Philemon Benner
              last edited by

              @Philemon-Benner 820 refers to the Qualcomm Snapdragon 820 SoC that is the heart of the Voxl product. https://www.qualcomm.com/products/snapdragon-820-mobile-platform

              1 Reply Last reply Reply Quote 0
              • Philemon BennerP
                Philemon Benner
                last edited by Philemon Benner

                @Eric-Katzfey Ok i ran into the next problem when trying to run tflite-server.

                voxl:~/tflite-server(master)$ voxl-tflite-server -t -d
                voxl-tflite-server: error while loading shared libraries: libuvc.so.0: cannot open shared object file: No such file or directory
                

                Tried to install the 64-Bit BInary file but it's throwing the following error:

                voxl:~/tflite-server(master)$ opkg install libuvc_1.0.3.deb
                Collected errors:
                 * pkg_extract_control_file_to_stream: Failed to extract control.tar.gz from package 'libuvc_1.0.3.deb'.
                 * pkg_init_from_file: Failed to extract control file from libuvc_1.0.3.deb.
                

                So i tried using this from ur code:

                voxl:~/tflite-server(master)$ dpkg -i --force-downgrade --force-depends /data/libuvc_1.0.3.deb
                -bash: dpkg: command not found
                

                Normal installation from modalai dev branch still throws the same error after installation:

                opkg install libuvc
                

                Any suggestions?

                Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                • Eric KatzfeyE
                  Eric Katzfey ModalAI Team @Philemon Benner
                  last edited by

                  @Philemon-Benner You can only install a Debian package with dpkg, which we have on our qrb5165 based platform, but not on our 820 based Voxl. That only has opkg and you need ipk packages, not debian packages.

                  Philemon BennerP 2 Replies Last reply Reply Quote 0
                  • Philemon BennerP
                    Philemon Benner @Eric Katzfey
                    last edited by Philemon Benner

                    This post is deleted!
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                    • Philemon BennerP
                      Philemon Benner @Eric Katzfey
                      last edited by

                      @Eric-Katzfey Ok so i got working now but i am having issues with the Format. So when using UVC Server i got the response that frame format succeed on index 2. In your voxl-uvc-server code at the Top Frame Format 2 should be:

                      static enum uvc_frame_format supported_frame_format[NUM_SUPPORTED_FRAME_FORMATS] =
                           {UVC_FRAME_FORMAT_YUYV, UVC_FRAME_FORMAT_UYVY, UVC_FRAME_FORMAT_NV12};
                      static int supported_mpa_frame_format[NUM_SUPPORTED_FRAME_FORMATS] =
                           {IMAGE_FORMAT_YUV422, IMAGE_FORMAT_YUV422_UYVY, IMAGE_FORMAT_NV12};
                      

                      supported mpa_frame_format = IMAGE_FORMAT_NV12 = 1 // regarding to https://gitlab.com/voxl-public/modal-pipe-architecture/libmodal_pipe/-/blob/master/library/include/modal_pipe_interfaces.h
                      frame_format supported_frame_format = FRAME_FORMAT_NV12 = 17

                      But still i am getting a real weird looking image(wrong colors) voxl-portal. Are the Configurations right that i use, or is it something else? Can't upload any pictures rn becuase of some server error.

                      1 Reply Last reply Reply Quote 0
                      • Philemon BennerP
                        Philemon Benner
                        last edited by

                        Ok so apparrently the Frame format stuff is alright when directly writing the frame from the callback to the pipe server. I think it's some fault in the code. One Question why are you using c instead of c++? I'm not an expert at c/c++ stuff but i was told that c++ is generally faster than c.

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                        • Philemon BennerP
                          Philemon Benner
                          last edited by Philemon Benner

                          Ok i got it working now.
                          @Eric-Katzfey i don't know anything of the qrb thing but in the dev libuvc branch, if you build it in 64-Bit version, why is it then copied in the 32-Bit dir in your make_package.sh L:87-89:

                          sudo mkdir -p $DATA_DIR/usr/lib
                          sudo cp build/libuvc.so.0.0.6 $DATA_DIR/usr/lib
                          sudo cp build/libuvc.a $DATA_DIR/usr/lib
                          

                          an if else would be nice.

                          sudo mkdir -p $DATA_DIR/usr/lib64
                          sudo cp build/libuvc.so.0.0.6 $DATA_DIR/usr/lib64
                          sudo cp build/libuvc.a $DATA_DIR/usr/lib64
                          

                          also had to add:

                          sudo cp /usr/lib/aarch64-linux-gnu/libjpeg.so.8 $DATA_DIR/usr/lib64
                          sudo cp /usr/lib/aarch64-linux-gnu/libjpeg.so.8.1.2 $DATA_DIR/usr/lib64
                          

                          to make it work on voxl because voxl doesn't have it installed by default.

                          Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                          • Eric KatzfeyE
                            Eric Katzfey ModalAI Team @Philemon Benner
                            last edited by

                            @Philemon-Benner I'm not sure where those lines of code came from. The file make_package.sh in the dev branch has this for lines 87-89:

                            	sudo mkdir -p $DATA_DIR/usr/lib
                            	sudo cp $BUILD_TYPE/libuvc.so.0.0.6 $DATA_DIR/usr/lib
                            	sudo cp $BUILD_TYPE/libuvc.a $DATA_DIR/usr/lib
                            

                            Where BUILD_TYPE will be either build32 or build64. It looks like you are taking from lines 65-66 on the master branch.

                            Philemon BennerP 1 Reply Last reply Reply Quote 0
                            • Philemon BennerP
                              Philemon Benner @Eric Katzfey
                              last edited by

                              @Eric-Katzfey yeah that was mb it's the one from the dev branch, but still even if i'ts 64-Bit, files are copied to 32-Bit lib:

                              sudo mkdir -p $DATA_DIR/usr/lib
                              

                              instead of:

                              sudo mkdir -p $DATA_DIR/usr/lib64
                              

                              for 64-Bit. Correct me if i'm wrong.

                              Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                              • Eric KatzfeyE
                                Eric Katzfey ModalAI Team @Philemon Benner
                                last edited by

                                @Philemon-Benner Our qrb5165 based platforms put 64 bit libraries into /usr/lib. On Voxl the 64 bit libraries go into /usr/lib64. So the 64 bit support is specifically for our qrb5165 based platforms (e.g. RB5 Flight).

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