ModalAI Forum

Hello,
I have an image processing application that is getting camera frames from the lepton0_color pipe. However, in the camera_image_metadata_t the framerate is zero. Is this expected or do you have any suggestions on how to fix it? For reference, when my application receives frames from the hires_down_small_color pipe the metadata has the framerate populated correctly.

Below is a snippet of the logs from my application showing the framerate of zero.

_camera_helper_cbWARNING: Camera frame rate of 0 Hz is < required frame rate of 1 Hz. 
Camera Image Metadata:
  Magic Number:     0x564f584c
  Timestamp (ns):  72864071544650
  Frame ID:         632968
  Dimensions:      160x120 pixels
  Size (bytes):    57600
  Stride:           480 bytes/row
  Exposure (ns):   0
  Gain (ISO):      0
  Format:           10
  Framerate (Hz):  0
  Reserved:        0

I am on a Starling 2 Max. Below is my current configuration.

voxl2:~$ voxl-version 
--------------------------------------------------------------------------------
system-image: 1.8.02-M0054-14.1a-perf
kernel:       #1 SMP PREEMPT Mon Nov 11 22:59:41 UTC 2024 4.19.125
--------------------------------------------------------------------------------
hw platform:  M0054
mach.var:     1.2.1
--------------------------------------------------------------------------------
voxl-suite:   1.4.1
--------------------------------------------------------------------------------
Packages:
Repo:  http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.4/binary-arm64/
Last Updated: 2023-03-02 12:58:40
WARNING: repo file has changed since last update,
        packages may have originated from a different repo
List:
kernel-module-voxl-fsync-mod-4.19.125     1.0-r0
kernel-module-voxl-gpio-mod-4.19.125      1.0-r0
kernel-module-voxl-platform-mod-4.19.125  1.0-r0
libfc-sensor                              1.0.7
libmodal-cv                               0.5.16
libmodal-exposure                         0.1.3
libmodal-journal                          0.2.2
libmodal-json                             0.4.3
libmodal-pipe                             2.10.6
libqrb5165-io                             0.4.9
libvoxl-cci-direct                        0.2.5
libvoxl-cutils                            0.1.1
modalai-slpi                              1.1.19
mv-voxl                                   0.1-r0
qrb5165-bind                              0.1-r0
qrb5165-dfs-server                        0.2.0
qrb5165-imu-server                        1.1.2
qrb5165-rangefinder-server                0.1.4
qrb5165-slpi-test-sig                     01-r0
qrb5165-system-tweaks                     0.3.4
qrb5165-tflite                            2.8.0-2
voxl-bind-spektrum                        0.1.1
voxl-camera-calibration                   0.5.9
voxl-camera-server                        2.1.1
voxl-ceres-solver                         2:1.14.0-10
voxl-configurator                         0.9.7
voxl-cpu-monitor                          0.5.3
voxl-docker-support                       1.3.1
voxl-elrs                                 0.4.1
voxl-esc                                  1.5.1
voxl-feature-tracker                      0.5.2
voxl-flow-server                          0.3.6
voxl-fsync-mod                            1.0-r0
voxl-gphoto2-server                       0.0.10
voxl-gpio-mod                             1.0-r0
voxl-io-server                            0.0.4
voxl-jpeg-turbo                           2.1.3-5
voxl-lepton-server                        1.3.3
voxl-lepton-tracker                       0.0.4
voxl-libgphoto2                           0.0.4
voxl-libuvc                               1.0.7
voxl-logger                               0.4.9
voxl-mavcam-manager                       0.5.7
voxl-mavlink                              0.1.1
voxl-mavlink-server                       1.4.4
voxl-modem                                1.1.5
voxl-mongoose                             7.7.0-1
voxl-mpa-to-ros                           0.3.9
voxl-mpa-tools                            1.3.7
voxl-open-vins                            0.4.16
voxl-open-vins-server                     0.3.0
voxl-opencv                               4.5.5-2
voxl-osd                                  0.1.1
voxl-platform-mod                         1.0-r0
voxl-portal                               0.7.5
voxl-px4                                  1.14.0-2.0.94
voxl-px4-imu-server                       0.1.2
voxl-px4-params                           0.6.3
voxl-qvio-server                          1.1.1
voxl-remote-id                            0.0.9
voxl-reset-slpi                           0.0.1
voxl-state-estimator                      0.0.4
voxl-streamer                             0.7.5
voxl-suite                                1.4.1
voxl-tag-detector                         0.0.4
voxl-tflite-server                        0.3.9
voxl-utils                                1.4.4
voxl-uvc-server                           0.1.7
voxl-vision-hub                           1.8.17
voxl-vtx                                  1.1.8
voxl2-io                                  0.0.3
voxl2-system-image                        1.8.02-r0
voxl2-wlan                                1.0-r0
--------------------------------------------------------------------------------

Hello,
I have a C++ application for doing image processing of frames from voxl-camera-server. When I run it, within a few minutes, my application stops receiving frames and I see the following from the camera server about failing to set pipe size. Once that occurs, restarting my application or the camera server does not help. Rebooting is the only thing I have found that consistently gets the camera server back in a good state.

Oct 03 14:11:21 m0054 voxl-camera-server[10625]: thread is locked to cores: 4 5 6 7
Oct 03 14:11:21 m0054 voxl-camera-server[10625]: Connected to cpu-monitor
Oct 03 14:11:21 m0054 voxl-camera-server[10625]: Skipping Camera: tracking_front, configuration marked disabled
Oct 03 14:11:21 m0054 voxl-camera-server[10625]: Skipping Camera: hires_front, configuration marked disabled
Oct 03 14:11:21 m0054 voxl-camera-server[10625]: Starting Camera: hires_down (id #2)
Oct 03 14:11:21 m0054 voxl-camera-server[10625]: gbm_create_device(156): Info: backend name is: msm_drm
Oct 03 14:11:21 m0054 voxl-camera-server[10625]: Skipping Camera: tracking_down, configuration marked disabled
Oct 03 14:11:21 m0054 voxl-camera-server[10625]: ------ voxl-camera-server: Started 1 of 4 cameras
Oct 03 14:11:21 m0054 voxl-camera-server[10625]: ------ voxl-camera-server: Camera server is now running
Oct 03 14:16:48 m0054 voxl-camera-server[10625]: WARNING failed to set pipe size: Cannot allocate memory

I'm on a Starling 2 Max. Below is the version information.

voxl2:~$ voxl-version 
--------------------------------------------------------------------------------
system-image: 1.8.02-M0054-14.1a-perf
kernel:       #1 SMP PREEMPT Mon Nov 11 22:59:41 UTC 2024 4.19.125
--------------------------------------------------------------------------------
hw platform:  M0054
mach.var:     1.2.1
--------------------------------------------------------------------------------
voxl-suite:   1.4.1
--------------------------------------------------------------------------------
Packages:
Repo:  http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.4/binary-arm64/
Last Updated: 2023-03-02 12:58:40
WARNING: repo file has changed since last update,
        packages may have originated from a different repo
List:
kernel-module-voxl-fsync-mod-4.19.125     1.0-r0
kernel-module-voxl-gpio-mod-4.19.125      1.0-r0
kernel-module-voxl-platform-mod-4.19.125  1.0-r0
libfc-sensor                              1.0.7
libmodal-cv                               0.5.16
libmodal-exposure                         0.1.3
libmodal-journal                          0.2.2
libmodal-json                             0.4.3
libmodal-pipe                             2.10.6
libqrb5165-io                             0.4.9
libvoxl-cci-direct                        0.2.5
libvoxl-cutils                            0.1.1
modalai-slpi                              1.1.19
mv-voxl                                   0.1-r0
qrb5165-bind                              0.1-r0
qrb5165-dfs-server                        0.2.0
qrb5165-imu-server                        1.1.2
qrb5165-rangefinder-server                0.1.4
qrb5165-slpi-test-sig                     01-r0
qrb5165-system-tweaks                     0.3.4
qrb5165-tflite                            2.8.0-2
voxl-bind-spektrum                        0.1.1
voxl-camera-calibration                   0.5.9
voxl-camera-server                        2.1.1
voxl-ceres-solver                         2:1.14.0-10
voxl-configurator                         0.9.7
voxl-cpu-monitor                          0.5.3
voxl-docker-support                       1.3.1
voxl-elrs                                 0.4.1
voxl-esc                                  1.5.1
voxl-feature-tracker                      0.5.2
voxl-flow-server                          0.3.6
voxl-fsync-mod                            1.0-r0
voxl-gphoto2-server                       0.0.10
voxl-gpio-mod                             1.0-r0
voxl-io-server                            0.0.4
voxl-jpeg-turbo                           2.1.3-5
voxl-lepton-server                        1.3.3
voxl-lepton-tracker                       0.0.4
voxl-libgphoto2                           0.0.4
voxl-libuvc                               1.0.7
voxl-logger                               0.4.9
voxl-mavcam-manager                       0.5.7
voxl-mavlink                              0.1.1
voxl-mavlink-server                       1.4.4
voxl-modem                                1.1.5
voxl-mongoose                             7.7.0-1
voxl-mpa-to-ros                           0.3.9
voxl-mpa-tools                            1.3.7
voxl-open-vins                            0.4.16
voxl-open-vins-server                     0.3.0
voxl-opencv                               4.5.5-2
voxl-osd                                  0.1.1
voxl-platform-mod                         1.0-r0
voxl-portal                               0.7.5
voxl-px4                                  1.14.0-2.0.94
voxl-px4-imu-server                       0.1.2
voxl-px4-params                           0.6.3
voxl-qvio-server                          1.1.1
voxl-remote-id                            0.0.9
voxl-reset-slpi                           0.0.1
voxl-state-estimator                      0.0.4
voxl-streamer                             0.7.5
voxl-suite                                1.4.1
voxl-tag-detector                         0.0.4
voxl-tflite-server                        0.3.9
voxl-utils                                1.4.4
voxl-uvc-server                           0.1.7
voxl-vision-hub                           1.8.17
voxl-vtx                                  1.1.8
voxl2-io                                  0.0.3
voxl2-system-image                        1.8.02-r0
voxl2-wlan                                1.0-r0
--------------------------------------------------------------------------------

As a test I created a very simple application that just connects to the camera pipe and logs each time it receives a frame. I've included the code below. This exhibits the same behavior as my more complex image processing application. Is there any issue with the way I am connecting to the pipe and processing frames?

#include <atomic>
#include <csignal>
#include <cstdint>
#include <iostream>
#include <modal_pipe.h>
#include <thread>
#include <unistd.h>
#include <mutex>
#include <chrono>

using namespace std::chrono_literals;

std::string g_cameraString="hires_down_small_color";
uint32_t g_frameCounter=0;
uint32_t g_numIterations=100;
std::mutex g_iterationMutex;
bool g_keepRunning=true;
// Use atomic to ensure safety in signal handlers
std::atomic<bool> got_signal{false};


void _camera_connect_cb( int   ch,
                                void* context){
    printf("Connected to camera server\n");
}


void _camera_disconnect_cb( int   ch,
                                   void* context) {
    fprintf(stderr, "Disonnected from camera server\n");
}

void _camera_helper_cb( int ch,
                              camera_image_metadata_t meta, char* frame,
                              void* context) {
  std::cout<<__func__<<"Got notified of new frame #"<<g_frameCounter++<<"..."<<std::endl;

  //if pipe_client_bytes_in_pipe returns a positive number it means we have fallen behind and should skip this frame 
  if (pipe_client_bytes_in_pipe(ch) > 0) {
            fprintf(
                stderr,
                "WARNING, skipping frame on channel %d due to frame backup\n",
                ch);
        return;
    }
    {
      std::lock_guard<std::mutex> lg(g_iterationMutex);
      g_numIterations--;
    }

  return;
} 

void cleanup()
{
  std::cout<<__func__<<std::endl;
  pipe_client_close_all();
}

void connectToCameraPipe()
{
    // connect to camera pipe
    int ch = pipe_client_get_next_available_channel();
    pipe_client_set_connect_cb(ch, _camera_connect_cb, NULL);
    pipe_client_set_disconnect_cb(ch, _camera_disconnect_cb, NULL);
    pipe_client_set_camera_helper_cb(ch, _camera_helper_cb, NULL);
    //pipes all live under /run/mpa on VOXL
    std::string input_pipe_dir( "/run/mpa/");
    // add the name of the camera we want to get frames from
    std::string camera_pipe_path=input_pipe_dir;
    camera_pipe_path.append(g_cameraString);
    if (pipe_client_open(ch, camera_pipe_path.c_str(), "VoxlCameaFramePipeTest",
                         CLIENT_FLAG_EN_CAMERA_HELPER, 0)) {
        printf("%s | Failed to open pipe: %s \n", __func__, camera_pipe_path.c_str());
        return;
    }
    else {
        printf("%s | Successfully opened pipe: %s \n", __func__, camera_pipe_path.c_str());
    }
}

void usage() {
    std::cout << "Usage: VoxlCameraFramePipeTest <options> \n"
              << "Options:\n"
              << "  -c <camera_name>   Name of the camera (string). Default value is "<<g_cameraString<<"\n"
              << "  -n <iterations>    Number of iterations (unsigned integer). Default value is "<<g_numIterations<<"\n"
              << "  -h                 Print this help message"<<std::endl;
}

bool parseArgs(int argc, char** argv) {
  int opt;
  while ( (opt = getopt (argc, argv, "c:n:h") ) != -1)
  {
    switch (opt)
    {
      case 'c':
        g_cameraString=optarg;
        break; 
      case 'n':
        g_numIterations=std::stoul(optarg);
        break;
      case 'h':
        usage();
        g_keepRunning=false;
        break; 
      default:
        printf("%s | received unexpected argument.", __func__); 
        usage();
        return false;
    }
  }
  return true;
}

void signal_handler(int signal) {
    if (signal == SIGINT) {
        std::cout<<"Got signal"<<std::endl;
        got_signal = true;
    } 
}

int main(int argc, char** argv)
{
  if(!parseArgs(argc, argv))
  {
    return -1;
  }
  if(g_keepRunning)
  {
    // Register the signal handler
    std::signal(SIGINT, signal_handler);
    std::cout << "Press Ctrl+C to trigger SIGINT...\n";
    connectToCameraPipe();
    while (g_keepRunning && !got_signal) {
      std::this_thread::sleep_for(10ms);
      {
        std::lock_guard<std::mutex> lg(g_iterationMutex);
        g_keepRunning=(g_numIterations>0);
      }
    }
      cleanup();
  }

  return 0;
}

Thank you,
Paul

@tom that worked, thank you!

Hello,
I'm trying to build voxl-tflite-server in voxl cross. Below is my setup:

• voxl-cross:V4.0

• voxl-tflite-server

  • cloned repo at this commit https://gitlab.com/voxl-public/voxl-sdk/services/voxl-tflite-server/-/commit/adbed8cd3fc7c08956a1a1e0759f344bc0285054

Host system:

• OS: Red Hat Enterprise Linux 9.6 (Plow)
• Docker:

docker version
Client: Docker Engine - Community
Version: 28.3.1
API version: 1.51
Go version: go1.24.4
Git commit: 38b7060
Built: Wed Jul 2 20:58:10 2025
OS/Arch: linux/amd64
Context: default

Server: Docker Engine - Community
Engine:
Version: 28.3.1
API version: 1.51 (minimum version 1.24)
Go version: go1.24.4
Git commit: 5beb93d
Built: Wed Jul 2 20:56:24 2025
OS/Arch: linux/amd64
Experimental: false
containerd:
Version: 1.7.27
GitCommit: 05044ec0a9a75232cad458027ca83437aae3f4da
runc:
Version: 1.2.5
GitCommit: v1.2.5-0-g59923ef
docker-init:
Version: 0.19.0
GitCommit: de40ad0

I followed the instructions in voxl-tflite-server/README.md. I'm able to launch voxl-cross with the voxl-tflite-server repo directory mounted in the container. I ran the following command and got the following results.

/home/root# ./install_build_deps.sh qrb5165 dev
using qrb5165 dev debian repo
Ign:1 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ InRelease
Ign:2 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ Release
Get:3 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ Packages [25.4 kB]
Fetched 25.4 kB in 1s (46.8 kB/s)    
Reading package lists... Done
installing: 
libmodal-pipe
libmodal-json
voxl-opencv
qrb5165-tflite
Reading package lists... Done
Building dependency tree       
Reading state information... Done
The following NEW packages will be installed:
  libmodal-json:arm64 libmodal-pipe:arm64 qrb5165-tflite:arm64 voxl-opencv:arm64
0 upgraded, 4 newly installed, 0 to remove and 2 not upgraded.
Need to get 24.8 MB of archives.
After this operation, 0 B of additional disk space will be used.
Get:1 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ libmodal-json 0.4.7-202505011742 [46.9 kB]
Get:2 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ libmodal-pipe 2.13.4-202507031002 [118 kB]
Get:3 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ qrb5165-tflite 2.8.0-2-202210071637 [11.0 MB]
Get:4 http://voxl-packages.modalai.com ./dists/qrb5165/dev/binary-arm64/ voxl-opencv 4.5.5-3-202504301748 [13.6 MB]
Fetched 24.8 MB in 4s (6792 kB/s)            
debconf: unable to initialize frontend: Dialog
debconf: (No usable dialog-like program is installed, so the dialog based frontend cannot be used. at /usr/share/perl5/Debconf/FrontEnd/Dialog.pm line 76, <> line 4.)
debconf: falling back to frontend: Readline
Selecting previously unselected package libmodal-json:arm64.
(Reading database ... 31293 files and directories currently installed.)
Preparing to unpack .../libmodal-json_0.4.7-202505011742_arm64.deb ...
Unpacking libmodal-json:arm64 (0.4.7-202505011742) ...
Selecting previously unselected package libmodal-pipe:arm64.
Preparing to unpack .../libmodal-pipe_2.13.4-202507031002_arm64.deb ...
Unpacking libmodal-pipe:arm64 (2.13.4-202507031002) ...
Selecting previously unselected package qrb5165-tflite:arm64.
Preparing to unpack .../qrb5165-tflite_2.8.0-2-202210071637_arm64.deb ...
Unpacking qrb5165-tflite:arm64 (2.8.0-2-202210071637) ...
Selecting previously unselected package voxl-opencv:arm64.
Preparing to unpack .../voxl-opencv_4.5.5-3-202504301748_arm64.deb ...
Unpacking voxl-opencv:arm64 (4.5.5-3-202504301748) ...
Setting up libmodal-json:arm64 (0.4.7-202505011742) ...
Setting up qrb5165-tflite:arm64 (2.8.0-2-202210071637) ...
Setting up voxl-opencv:arm64 (4.5.5-3-202504301748) ...
Setting up libmodal-pipe:arm64 (2.13.4-202507031002) ...
Processing triggers for libc-bin (2.31-0ubuntu9.17) ...

Done installing dependencies

Installing dependencies seems to complete successfully. Trying to build results in the following.

/home/root# ./build.sh qrb5165
CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required):
  Compatibility with CMake < 3.10 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.


WARN you're using a deprecated toolchain, please use the new toolchains:
WARN qrb5165_ubun1_18.04_aarch64.toolchain.cmake
WARN qrb5165_ubun2_20.04_aarch64.toolchain.cmake
-- ---------------------------------------------------------
-- Using voxl-cross 64-bit toolchain for QRB5165 ubun1 18.04
-- C Compiler     : /usr/bin/aarch64-linux-gnu-gcc-10
-- C++ Compiler   : /usr/bin/aarch64-linux-gnu-g++-10
-- Sysroot        : /opt/sysroots/qrb5165_1
-- C flags        : -idirafter /usr/include -march=armv8.2-a
-- CXX flags      : -idirafter /usr/include -march=armv8.2-a
-- EXE Link Flags : -L/opt/sysroots/qrb5165_1/usr/lib/aarch64-linux-gnu -L/opt/sysroots/qrb5165_1/lib -L/opt/sysroots/qrb5165_1/usr/lib -L/usr/lib64 -L/usr/lib
-- SO Link Flags  : -L/opt/sysroots/qrb5165_1/usr/lib/aarch64-linux-gnu -L/opt/sysroots/qrb5165_1/lib -L/opt/sysroots/qrb5165_1/usr/lib -L/usr/lib64 -L/usr/lib
WARN you're using a deprecated toolchain, please use the new toolchains:
WARN qrb5165_ubun1_18.04_aarch64.toolchain.cmake
WARN qrb5165_ubun2_20.04_aarch64.toolchain.cmake
-- The C compiler identification is GNU 10.5.0
-- The CXX compiler identification is GNU 10.5.0
-- Detecting C compiler ABI info
WARN you're using a deprecated toolchain, please use the new toolchains:
WARN qrb5165_ubun1_18.04_aarch64.toolchain.cmake
WARN qrb5165_ubun2_20.04_aarch64.toolchain.cmake
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/aarch64-linux-gnu-gcc-10 - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
WARN you're using a deprecated toolchain, please use the new toolchains:
WARN qrb5165_ubun1_18.04_aarch64.toolchain.cmake
WARN qrb5165_ubun2_20.04_aarch64.toolchain.cmake
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/aarch64-linux-gnu-g++-10 - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
CMake Deprecation Warning at src/CMakeLists.txt:1 (cmake_minimum_required):
  Compatibility with CMake < 3.10 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.


-- Configuring done (1.2s)
-- Generating done (0.1s)
-- Build files have been written to: /home/root/build
[  6%] Building CXX object src/CMakeFiles/voxl-tflite-server.dir/config_file.cpp.o
In file included from /home/root/src/config_file.cpp:1:
/home/root/src/../include/config_file.h:37:10: fatal error: modal_json.h: No such file or directory
   37 | #include <modal_json.h>
      |          ^~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [src/CMakeFiles/voxl-tflite-server.dir/build.make:79: src/CMakeFiles/voxl-tflite-server.dir/config_file.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:106: src/CMakeFiles/voxl-tflite-server.dir/all] Error 2
make: *** [Makefile:136: all] Error 2

Based on the warning about the deprecated toolchain, I updated TOOLCHAIN_QRB5165 in build.sh

TOOLCHAIN_QRB5165="/opt/cross_toolchain/qrb5165_ubun1_18.04_aarch64.toolchain.cmake"

I also tried

TOOLCHAIN_QRB5165="/opt/cross_toolchain/qrb5165_ubun2_20.04_aarch64.toolchain.cmake"

That got rid of the warnings but I still got the error about

/home/root/src/../include/config_file.h:37:10: fatal error: modal_json.h: No such file or directory
   37 | #include <modal_json.h>
      |          ^~~~~~~~~~~~~~

I verified that modal_json.h is in /usr/include

/home/root# ls -l  /usr/include/modal_json.h 
-rw-r--r--. 1 root root 15619 May  2 00:42 /usr/include/modal_json.h

I modified voxl-tflite-server/src/CMakeLists.txt to explicitly include /usr/include but that didn't help.

include_directories(
    /usr/include/
    ../include/
    ..include/model_helper/

I then created /tmp/include as a softlink to /usr/include

root@artb-vm9-dev11:/tmp# ls -l
total 0
drwxr-xr-x. 2 root root  6 Jul  8 20:16 bionic-pkgs
lrwxrwxrwx. 1 root root 13 Jul  9 00:17 include -> /usr/include/

I modified voxl-tflite-server/src/CMakeLists.txt to explicitly include /tmp/include and that fixed the compilation error and everything compiled. .

include_directories(
    /tmp/include/
    ../include/
    ..include/model_helper/

However, then it failed when linking.

[ 73%] Building CXX object src/CMakeFiles/voxl-tflite-server.dir/model_helper/yolov5_model_helper.cpp.o
[ 80%] Building CXX object src/CMakeFiles/voxl-tflite-server.dir/model_helper/yolov8_model_helper.cpp.o
[ 86%] Building C object src/CMakeFiles/voxl-tflite-server.dir/resize.c.o
[ 93%] Building CXX object src/CMakeFiles/voxl-tflite-server.dir/utils.cpp.o
[100%] Linking CXX executable voxl-tflite-server
/usr/lib/gcc-cross/aarch64-linux-gnu/10/../../../../aarch64-linux-gnu/bin/ld: cannot find -lsync
/usr/lib/gcc-cross/aarch64-linux-gnu/10/../../../../aarch64-linux-gnu/bin/ld: cannot find -lsync
collect2: error: ld returned 1 exit status
make[2]: *** [src/CMakeFiles/voxl-tflite-server.dir/build.make:308: src/voxl-tflite-server] Error 1
make[1]: *** [CMakeFiles/Makefile2:106: src/CMakeFiles/voxl-tflite-server.dir/all] Error 2
make: *** [Makefile:136: all] Error 2

I could try installing the missing sync library but based on the prior issues I encountered it seems like maybe I need to use different versions of voxl-cross and voxl-tflite-server. Ultimately I'm targeting a Starling 2 Max. Here is the configuration for that:

voxl2:/$ voxl-version 
--------------------------------------------------------------------------------
system-image: 1.8.02-M0054-14.1a-perf
kernel:       #1 SMP PREEMPT Mon Nov 11 22:59:41 UTC 2024 4.19.125
--------------------------------------------------------------------------------
hw platform:  M0054
mach.var:     1.2.1
--------------------------------------------------------------------------------
voxl-suite:   1.4.1
--------------------------------------------------------------------------------
Packages:
Repo:  http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.4/binary-arm64/
Last Updated: 2023-03-02 12:58:40
WARNING: repo file has changed since last update,
        packages may have originated from a different repo
List:
kernel-module-voxl-fsync-mod-4.19.125     1.0-r0
kernel-module-voxl-gpio-mod-4.19.125      1.0-r0
kernel-module-voxl-platform-mod-4.19.125  1.0-r0
libfc-sensor                              1.0.7
libmodal-cv                               0.5.16
libmodal-exposure                         0.1.3
libmodal-journal                          0.2.2
libmodal-json                             0.4.3
libmodal-pipe                             2.10.6
libqrb5165-io                             0.4.9
libvoxl-cci-direct                        0.2.5
libvoxl-cutils                            0.1.1
modalai-slpi                              1.1.19
mv-voxl                                   0.1-r0
qrb5165-bind                              0.1-r0
qrb5165-dfs-server                        0.2.0
qrb5165-imu-server                        1.1.2
qrb5165-rangefinder-server                0.1.4
qrb5165-slpi-test-sig                     01-r0
qrb5165-system-tweaks                     0.3.4
qrb5165-tflite                            2.8.0-2
voxl-bind-spektrum                        0.1.1
voxl-camera-calibration                   0.5.9
voxl-camera-server                        2.1.1
voxl-ceres-solver                         2:1.14.0-10
voxl-configurator                         0.9.7
voxl-cpu-monitor                          0.5.3
voxl-docker-support                       1.3.1
voxl-elrs                                 0.4.1
voxl-esc                                  1.5.1
voxl-feature-tracker                      0.5.2
voxl-flow-server                          0.3.6
voxl-fsync-mod                            1.0-r0
voxl-gphoto2-server                       0.0.10
voxl-gpio-mod                             1.0-r0
voxl-io-server                            0.0.4
voxl-jpeg-turbo                           2.1.3-5
voxl-lepton-server                        1.3.3
voxl-lepton-tracker                       0.0.4
voxl-libgphoto2                           0.0.4
voxl-libuvc                               1.0.7
voxl-logger                               0.4.9
voxl-mavcam-manager                       0.5.7
voxl-mavlink                              0.1.1
voxl-mavlink-server                       1.4.4
voxl-modem                                1.1.5
voxl-mongoose                             7.7.0-1
voxl-mpa-to-ros                           0.3.9
voxl-mpa-tools                            1.3.7
voxl-open-vins                            0.4.16
voxl-open-vins-server                     0.3.0
voxl-opencv                               4.5.5-2
voxl-osd                                  0.1.1
voxl-platform-mod                         1.0-r0
voxl-portal                               0.7.5
voxl-px4                                  1.14.0-2.0.94
voxl-px4-imu-server                       0.1.2
voxl-px4-params                           0.6.3
voxl-qvio-server                          1.1.1
voxl-remote-id                            0.0.9
voxl-reset-slpi                           0.0.1
voxl-state-estimator                      0.0.4
voxl-streamer                             0.7.5
voxl-suite                                1.4.1
voxl-tag-detector                         0.0.4
voxl-tflite-server                        0.3.9
voxl-utils                                1.4.4
voxl-uvc-server                           0.1.7
voxl-vision-hub                           1.8.17
voxl-vtx                                  1.1.8
voxl2-io                                  0.0.3
voxl2-system-image                        1.8.02-r0
voxl2-wlan                                1.0-r0
--------------------------------------------------------------------------------

Any guidance would be greatly appreciated.

Thank you,
Paul

Are there any repositories of imagery collected on ModalAI drones that can be used for training an object detection model? I'm looking to use the Starling 2 Max for vehicle detection. The performance of a model is directly correlated with how well it's training data matches its intended use case. So, if somebody is planning to use a ModalAI drone, having training data that was collected on the same drone would be great. If that doesn't exist I do think it would be cool if there was a place where members of the ModalAI user community could upload imagery to be shared and used for training purposes in the future.

If there are any other datasets that you know of that would be helpful too. Thus far I've used the COWC dataset but that imagery was taken at a much higher altitude than what I would be flying with the Starling 2 Max.