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    Build voxl-uvc-server with voxl-cross

    Modal Pipe Architecture (MPA)
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    • Eric KatzfeyE
      Eric Katzfey ModalAI Team @Philemon Benner
      last edited by

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

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

        @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?

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

          @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?

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

            @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.

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

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

                @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.

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

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

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

                    @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.

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

                      @Philemon-Benner In voxl-cross?

                      1 Reply Last reply Reply Quote 0
                      • 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!
                                      1 Reply Last reply Reply Quote 0
                                      • 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.

                                          1 Reply Last reply Reply Quote 0
                                          • 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
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