Build voxl-uvc-server with voxl-cross

Philemon Benner

@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.

Philemon Benner

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.

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 Katzfey

@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 Benner

@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 Katzfey

@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).