Build voxl-uvc-server with voxl-cross



  • @Eric-Katzfey
    Hey,
    i am currently trying to integrate voxl-uvc-server dev with voxl-tflite-server. But i am having issues compiling it in voxl-cross. Build Error is shown below:

    voxl-cross:~(dev)$ ./build.sh 
    Building for voxl
    BUILDSIZE=32
    BUILDSIZE does not match 64
    -- Configuring done
    -- Generating done
    -- Build files have been written to: /home/root/build32
    Consolidate compiler generated dependencies of target voxl-uvc-server
    [ 50%] Linking C executable voxl-uvc-server
    /usr/lib/libmodal_json.so: error adding symbols: File in wrong format
    collect2: error: ld returned 1 exit status
    CMakeFiles/voxl-uvc-server.dir/build.make:98: recipe for target 'voxl-uvc-server' failed
    make[2]: *** [voxl-uvc-server] Error 1
    CMakeFiles/Makefile2:82: recipe for target 'CMakeFiles/voxl-uvc-server.dir/all' failed
    make[1]: *** [CMakeFiles/voxl-uvc-server.dir/all] Error 2
    Makefile:135: recipe for target 'all' failed
    make: *** [all] Error 2
    

    Help would be appreciated.


  • Dev Team

    @Philemon-Benner The build instructions are here: https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-uvc-server/-/tree/dev. In short, you need to build in the emulator, not with voxl-cross.



  • @Eric-Katzfey yeah i know, but is it possible to do it in voxl-cross or what would i have to change to make it work with voxl-cross?


  • Dev Team

    @Philemon-Benner You would need to change it. Is there a reason that you prefer building in voxl-cross?



  • @Eric-Katzfey Not really it's used in the tutorial for building voxl-tflite-server from source. I basically want to replace libmodal pipe input with libuvc in the tflite-server, using parts of the voxl-uvc-server. Is it possible to build tflite-server in the voxl-emulator without changing anything?


  • Dev Team

    @Philemon-Benner That's not something we have tried. But I can't imagine that it would be too difficult to get voxl-tflite-server building in voxl-emulator. Any reason that you can't leave voxl-uvc-server and voxl-tflite-server as separate processes communicating via MPA?



  • @Eric-Katzfey yeah i want to have in/output in one executable(tflite-server). So that i have better control and exception handling for these. I will try and integrate tflite-server in voxl-emulator.



  • @Eric-Katzfey so tried compiling tflite-server in voxl-emulator, but when building it complains about everything. So i tried just integrating libuvc in tflite-server in voxl-cross. Installation works fine. But when building it's complaining about libuvc being incompatible. Is it because i'm trying to build it with arm64 instead of the way voxl-emulator does in arm32 ?(mentioned in the docs https://gitlab.com/voxl-public/utilities/voxl-docker) What would i have to change to build in voxl-cross?

    Package Installation:

    voxl-cross:~$ ./install_build_deps.sh dev
    using dev IPK repo
    Downloading http://voxl-packages.modalai.com/dev/Packages.gz.
    Updated source 'dev'.
    installing: 
    libmodal-pipe libmodal-json voxl-opencv voxl-tflite libuvc
    Installing libmodal-pipe (2.1.5) on root.
    Downloading http://voxl-packages.modalai.com/dev/libmodal-pipe_2.1.5_202203110042.ipk.
    Configuring libmodal-pipe.
    Installing libmodal-json (0.4.0) on root.
    Downloading http://voxl-packages.modalai.com/dev/libmodal-json_0.4.0_202203110044.ipk.
    Configuring libmodal-json.
    Installing voxl-opencv (4.5.5) on root.
    Downloading http://voxl-packages.modalai.com/dev/voxl-opencv_4.5.5_202202082046.ipk.
    Configuring voxl-opencv.
    Installing voxl-tflite (2.2.3) on root.
    Downloading http://voxl-packages.modalai.com/dev/voxl-tflite_2.2.3-1_202201270503.ipk.
    Configuring voxl-tflite.
    
    Done installing voxl-tflite
    
    Installing libuvc (1.0.3) on root.
    Downloading http://voxl-packages.modalai.com/dev/libuvc_1.0.3_202201232120.ipk.
    Configuring libuvc.
    /home/root
    
    Done installing libuvc
    
    Done installing dependencies
    

    Build Output:

    voxl-cross:~$ ./build.sh 820
    -- The C compiler identification is GNU 4.9.3
    -- The CXX compiler identification is GNU 4.9.3
    -- Detecting C compiler ABI info
    -- Detecting C compiler ABI info - done
    -- Check for working C compiler: /usr/bin/aarch64-linux-gnu-gcc-4.9 - skipped
    -- Detecting C compile features
    -- Detecting C compile features - done
    -- Detecting CXX compiler ABI info
    -- Detecting CXX compiler ABI info - done
    -- Check for working CXX compiler: /usr/bin/aarch64-linux-gnu-g++-4.9 - skipped
    -- Detecting CXX compile features
    -- Detecting CXX compile features - done
    -- Configuring done
    -- Generating done
    -- Build files have been written to: /home/root/build64
    [ 50%] Building CXX object src/CMakeFiles/voxl-tflite-server.dir/main.cpp.o
    [ 50%] Building CXX object src/CMakeFiles/voxl-tflite-server.dir/inference_helper.cpp.o
    [ 75%] Building C object src/CMakeFiles/voxl-tflite-server.dir/resize.c.o
    In file included from /usr/aarch64-linux-gnu-2.23/include/features.h:367:0,
                     from /usr/aarch64-linux-gnu-2.23/include/stdio.h:27,
                     from /home/root/src/resize.c:1:
    /usr/aarch64-linux-gnu-2.23/include/bits/stdlib.h:64:8: warning: no previous declaration for 'ptsname_r' [-Wmissing-declarations]
     __NTH (ptsname_r (int __fd, char *__buf, size_t __buflen))
            ^
    /usr/aarch64-linux-gnu-2.23/include/sys/cdefs.h:57:59: note: in definition of macro '__NTH'
     #  define __NTH(fct) __attribute__ ((__nothrow__ __LEAF)) fct
                                                               ^
    [100%] Linking CXX executable voxl-tflite-server
    /usr/lib/gcc-cross/aarch64-linux-gnu/4.9/../../../../aarch64-linux-gnu/bin/ld: skipping incompatible /usr/lib/../lib/libuvc.so when searching for -luvc
    /usr/lib/gcc-cross/aarch64-linux-gnu/4.9/../../../../aarch64-linux-gnu/bin/ld: skipping incompatible /usr/lib/../lib/libuvc.a when searching for -luvc
    /usr/lib/gcc-cross/aarch64-linux-gnu/4.9/../../../../aarch64-linux-gnu/bin/ld: skipping incompatible //usr/lib/libuvc.so when searching for -luvc
    /usr/lib/gcc-cross/aarch64-linux-gnu/4.9/../../../../aarch64-linux-gnu/bin/ld: skipping incompatible //usr/lib/libuvc.a when searching for -luvc
    /usr/lib/gcc-cross/aarch64-linux-gnu/4.9/../../../../aarch64-linux-gnu/bin/ld: cannot find -luvc
    collect2: error: ld returned 1 exit status
    src/CMakeFiles/voxl-tflite-server.dir/build.make:128: recipe for target 'src/voxl-tflite-server' failed
    make[2]: *** [src/voxl-tflite-server] Error 1
    CMakeFiles/Makefile2:97: recipe for target 'src/CMakeFiles/voxl-tflite-server.dir/all' failed
    make[1]: *** [src/CMakeFiles/voxl-tflite-server.dir/all] Error 2
    Makefile:135: recipe for target 'all' failed
    make: *** [all] Error 2
    

  • Dev Team

    @Philemon-Benner You can build a 64 bit version of libuvc with the dev branch on our libuvc project: https://gitlab.com/voxl-public/third-party/libuvc/-/tree/dev. Use the instructions to build for qrb5165 and it will produce 64 bit versions.



  • @Eric-Katzfey Do i have to use the qrb-emulator for that or can i do it in voxl-emulator?



  • @Eric-Katzfey tried that getting the following errors:

    /usr/lib/gcc-cross/aarch64-linux-gnu/4.9/../../../../aarch64-linux-gnu/bin/ld: warning: libusb-1.0.so.0, needed by /usr/lib/../lib/libuvc.so, not found (try using -rpath or -rpath-link)
    /usr/lib/gcc-cross/aarch64-linux-gnu/4.9/../../../../aarch64-linux-gnu/bin/ld: warning: libjpeg.so.8, needed by /usr/lib/../lib/libuvc.so, not found (try using -rpath or -rpath-link)
    
    

    when trying to build in tflite-server. I Built libuvc in qr-emulator. Installed the deb file in tflite-server without errors.


  • Dev Team

    @Philemon-Benner In voxl-cross?



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


  • Dev Team

    @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.



  • @Eric-Katzfey yeah i see



  • 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.


  • Dev Team

    @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



  • @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?


  • Dev Team

    @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.



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