@shlee853

Great!

I resolved this problem as you mentioned.

yocto:/$ rm /data/network/files/local-kv.db
yocto:/$ voxl-configure-docker-support.sh 
Stopping original docker service
Enabling our own services docker-start & docker-prepare
starting docker-start.service
loading hello-world docker image
successfully loaded hello-world
starting docker-prepare service
Created symlink from /etc/systemd/system/default.target.wants/docker-autorun.service to /etc/systemd/system/docker-autorun.service.

done configuring voxl-docker-support

@PawelJ Maybe. I couldn't test VOA and apriltag function with version 0.3.4.

@Alex-Gardner Thanks for your supports.

I realized voxl-docker s/w was updated 1 month ago.

I resolved this problem using newest voxl-docker.

swift@swift-HP-Pavilion-dv6-Notebook-PC:~/git$ cd voxl-dfs-server
swift@swift-HP-Pavilion-dv6-Notebook-PC:~/git/voxl-dfs-server$ ls
bash_completions  clean.sh        install_build_deps.sh  make_package.sh
build.sh          clients         install_on_voxl.sh     README.md
build_utils       CMakeLists.txt  ipk                    server
CHANGELOG         config          LICENSE                service
swift@swift-HP-Pavilion-dv6-Notebook-PC:~/git/voxl-dfs-server$ voxl-docker -i voxl-cross
launching image: voxl-cross with the following command:
docker run --rm -it --net=host --privileged -w /home/swift --volume=/dev/bus/usb:/dev/bus/usb -e LOCAL_USER_ID=0 -e LOCAL_USER_NAME=root -e LOCAL_GID=0 -v /home/swift/git/voxl-dfs-server:/home/root:rw -w /home/root voxl-cross /bin/bash -l

voxl-cross:~$ 
voxl-cross:~$ 
voxl-cross:~$ ./install_build_deps.sh stable
using stable repository
Downloading http://voxl-packages.modalai.com/stable/Packages.gz.
Updated source 'stable'.
Installing libmodal_pipe (2.0.7) on root.
Downloading http://voxl-packages.modalai.com/stable/libmodal_pipe_2.0.7.ipk.
Configuring libmodal_pipe.

Done installing libmodal_pipe

Installing libmodal_json (0.3.5) on root.
Downloading http://voxl-packages.modalai.com/stable/libmodal_json_0.3.5.ipk.
Configuring libmodal_json.

Done installing libmodal_json

Installing opencv (4.5.2) on root.
Downloading http://voxl-packages.modalai.com/stable/opencv_4.5.2-1.ipk.
Configuring opencv.

done installing opencv

voxl-cross:~$ ./build.sh 
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Configuring done
-- Generating done
-- Build files have been written to: /home/root/build_utils/build
Scanning dependencies of target embedfile
[ 50%] Building C object CMakeFiles/embedfile.dir/src/embedfile.c.o
[100%] Linking C executable embedfile
[100%] Built target embedfile
-- The C compiler identification is GNU 4.9.3
-- The CXX compiler identification is GNU 4.9.3
-- Check for working C compiler: /usr/bin/aarch64-linux-gnu-gcc-4.9
-- Check for working C compiler: /usr/bin/aarch64-linux-gnu-gcc-4.9 -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/aarch64-linux-gnu-g++-4.9
-- Check for working CXX compiler: /usr/bin/aarch64-linux-gnu-g++-4.9 -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Configuring done
-- Generating done
-- Build files have been written to: /home/root/build64
[ 15%] Generating sobel_filter_kernel_code.c
[ 15%] Generating disparity_kernel_code.c
[ 15%] Generating compute_dsi_kernel_code.c
[ 21%] Generating blur_kernel_code.c
[ 26%] Generating sparse_census_transform_kernel_code.c
Scanning dependencies of target voxl-dfs-server
[ 31%] Building C object server/CMakeFiles/voxl-dfs-server.dir/undistort.c.o
[ 36%] Building CXX object server/CMakeFiles/voxl-dfs-server.dir/opencl_manager.cpp.o
[ 42%] Building CXX object server/CMakeFiles/voxl-dfs-server.dir/sad_disparity_estimation.cpp.o
[ 47%] Building CXX object server/CMakeFiles/voxl-dfs-server.dir/box_filter_blur.cpp.o
[ 52%] Building CXX object server/CMakeFiles/voxl-dfs-server.dir/dfs_processing_engine.cpp.o
[ 57%] Building CXX object server/CMakeFiles/voxl-dfs-server.dir/main.cpp.o
[ 63%] Building CXX object server/CMakeFiles/voxl-dfs-server.dir/opencl_kernel.cpp.o
[ 68%] Building CXX object server/CMakeFiles/voxl-dfs-server.dir/sobel_filter.cpp.o
[ 73%] Building C object server/CMakeFiles/voxl-dfs-server.dir/blur_kernel_code.c.o
[ 78%] Building C object server/CMakeFiles/voxl-dfs-server.dir/disparity_kernel_code.c.o
[ 84%] Building C object server/CMakeFiles/voxl-dfs-server.dir/compute_dsi_kernel_code.c.o
[ 89%] Building C object server/CMakeFiles/voxl-dfs-server.dir/sparse_census_transform_kernel_code.c.o
[ 94%] Building C object server/CMakeFiles/voxl-dfs-server.dir/sobel_filter_kernel_code.c.o
[100%] Linking CXX executable voxl-dfs-server
[100%] Built target voxl-dfs-server
voxl-cross:~$ 
voxl-cross:~$ 
voxl-cross:~$ 
voxl-cross:~$ ./make_package.sh 

Package Name:  voxl-dfs-server
version Number:  0.2.0
[100%] Built target voxl-dfs-server
Install the project...
-- Install configuration: "Release"
-- Installing: ../ipk/data/etc/systemd/system/voxl-dfs-server.service
-- Installing: ../ipk/data/usr/bin/voxl-dfs-server
/home/root
ar: creating voxl-dfs-server_0.2.0.ipk

DONE
voxl-cross:~$ 

Here is myvoxl-docker images

swift@swift-HP-Pavilion-dv6-Notebook-PC:~$ voxl-docker -l | grep "voxl"
voxl-cross       V1.1      77af6063e492   14 minutes ago   999MB
voxl-cross       latest    77af6063e492   14 minutes ago   999MB
voxl-emulator    V1.7      55d4f01b7bcd   7 weeks ago      3.33GB
voxl-emulator    latest    55d4f01b7bcd   7 weeks ago      3.33GB
voxl-hexagon     latest    8509f4e31f56   2 months ago     5.24GB
voxl-emulator    V1.5      323601eb49d7   4 months ago     3.2GB
swift@swift-HP-Pavilion-dv6-Notebook-PC:~$ 

Thanks,

@Alex-Gardner are you using a version 1.1 for voxl-cross?

You can find my compilation result at the first comment in this thread.

The errors are related with obsolete opencl lib.

Thanks

@Chad-Sweet could you please try compile voxl-dfs-server 0.2.0 and client?

I need to modify application but it failed even the voxl-cross version is newest.

Thanks,

@Alex-Kushleyev Can I ask something?

Can I get disparity image in real-time using stereo camera?

obstable distance is not reliable on 0 degree for my voxl flight.

Thanks,

@Alex-Kushleyev okay Thanks buddy

I downloaded latest sw in gitlab. as I know, ver.0.2.0 is latest one.

Hi,

I download voxl-dfs-server from gitlab as a master.

Then I compiled as stable dependency. but failed on processing.

maybe opencl library is not included.

swift@swift-HP-Pavilion-dv6-Notebook-PC:~/git/voxl-dfs-server$ voxl-docker -i voxl-cross
     launching image: voxl-cross with the following command:
     docker run --rm -it --net=host --privileged -w /home/swift --volume=/dev/bus/usb:/dev/bus/usb -e LOCAL_USER_ID=0 -e LOCAL_USER_NAME=root -e LOCAL_GID=0 -v /home/swift/git/voxl-dfs-server:/home/root:rw -w /home/root voxl-cross /bin/bash
     
     root@swift-HP-Pavilion-dv6-Notebook-PC:/home/root# 
     root@swift-HP-Pavilion-dv6-Notebook-PC:/home/root# 
     root@swift-HP-Pavilion-dv6-Notebook-PC:/home/root# 
     root@swift-HP-Pavilion-dv6-Notebook-PC:/home/root# ls
     CHANGELOG  CMakeLists.txt  LICENSE  README.md  bash_completions  build.sh  build_utils  clean.sh  clients  config  install_build_deps.sh  install_on_voxl.sh  ipk  make_package.sh  server  service
     root@swift-HP-Pavilion-dv6-Notebook-PC:/home/root# ./clean.sh 
     root@swift-HP-Pavilion-dv6-Notebook-PC:/home/root# ./install_build_deps.sh stable
     using stable repository
     Downloading http://voxl-packages.modalai.com/stable/Packages.gz.
     Updated source 'stable'.
     Installing libmodal_pipe (2.0.7) on root.
     Downloading http://voxl-packages.modalai.com/stable/libmodal_pipe_2.0.7.ipk.
     Configuring libmodal_pipe.
     
     Done installing libmodal_pipe
     
     Installing libmodal_json (0.3.5) on root.
     Downloading http://voxl-packages.modalai.com/stable/libmodal_json_0.3.5.ipk.
     Configuring libmodal_json.
     
     Done installing libmodal_json
     
     Installing opencv (4.5.2) on root.
     Downloading http://voxl-packages.modalai.com/stable/opencv_4.5.2-1.ipk.
     Configuring opencv.
     
     done installing opencv
     
     root@swift-HP-Pavilion-dv6-Notebook-PC:/home/root# ./build.sh
     -- The C compiler identification is GNU 5.4.0
     -- The CXX compiler identification is GNU 5.4.0
     -- Check for working C compiler: /usr/bin/cc
     -- Check for working C compiler: /usr/bin/cc -- works
     -- Detecting C compiler ABI info
     -- Detecting C compiler ABI info - done
     -- Detecting C compile features
     -- Detecting C compile features - done
     -- Check for working CXX compiler: /usr/bin/c++
     -- Check for working CXX compiler: /usr/bin/c++ -- works
     -- Detecting CXX compiler ABI info
     -- Detecting CXX compiler ABI info - done
     -- Detecting CXX compile features
     -- Detecting CXX compile features - done
     -- Configuring done
     -- Generating done
     -- Build files have been written to: /home/root/build_utils/build
     Scanning dependencies of target embedfile
     [ 50%] Building C object CMakeFiles/embedfile.dir/src/embedfile.c.o
     [100%] Linking C executable embedfile
     [100%] Built target embedfile
     -- The C compiler identification is GNU 4.9.3
     -- The CXX compiler identification is GNU 4.9.3
     -- Check for working C compiler: /usr/bin/aarch64-linux-gnu-gcc-4.9
     -- Check for working C compiler: /usr/bin/aarch64-linux-gnu-gcc-4.9 -- works
     -- Detecting C compiler ABI info
     -- Detecting C compiler ABI info - done
     -- Detecting C compile features
     -- Detecting C compile features - done
     -- Check for working CXX compiler: /usr/bin/aarch64-linux-gnu-g++-4.9
     -- Check for working CXX compiler: /usr/bin/aarch64-linux-gnu-g++-4.9 -- works
     -- Detecting CXX compiler ABI info
     -- Detecting CXX compiler ABI info - done
     -- Detecting CXX compile features
     -- Detecting CXX compile features - done
     -- Configuring done
     -- Generating done
     -- Build files have been written to: /home/root/build64
     [ 10%] Generating blur_kernel_code.c
     [ 10%] Generating disparity_kernel_code.c
     [ 15%] Generating sobel_filter_kernel_code.c
     [ 21%] Generating compute_dsi_kernel_code.c
     [ 26%] Generating sparse_census_transform_kernel_code.c
     Scanning dependencies of target voxl-dfs-server
     [ 36%] Building C object server/CMakeFiles/voxl-dfs-server.dir/undistort.c.o
     [ 36%] Building CXX object server/CMakeFiles/voxl-dfs-server.dir/sad_disparity_estimation.cpp.o
     [ 42%] Building CXX object server/CMakeFiles/voxl-dfs-server.dir/opencl_manager.cpp.o
     [ 47%] Building CXX object server/CMakeFiles/voxl-dfs-server.dir/box_filter_blur.cpp.o
     In file included from /home/root/server/opencl_kernel.h:38:0,
                      from /home/root/server/box_filter_blur.h:38,
                      from /home/root/server/box_filter_blur.cpp:35:
     /home/root/server/opencl_manager.h:39:21: fatal error: CL/cl.hpp: No such file or directory
      #include <CL/cl.hpp>
                          ^
     compilation terminated.
     In file included from /home/root/server/opencl_manager.cpp:35:0:
     /home/root/server/opencl_manager.h:39:21: fatal error: CL/cl.hpp: No such file or directory
      #include <CL/cl.hpp>
                          ^
     compilation terminated.
     In file included from /home/root/server/opencl_kernel.h:38:0,
                      from /home/root/server/sad_disparity_estimation.h:38,
                      from /home/root/server/sad_disparity_estimation.cpp:35:
     /home/root/server/opencl_manager.h:39:21: fatal error: CL/cl.hpp: No such file or directory
      #include <CL/cl.hpp>
                          ^
     compilation terminated.
     server/CMakeFiles/voxl-dfs-server.dir/build.make:154: recipe for target 'server/CMakeFiles/voxl-dfs-server.dir/box_filter_blur.cpp.o' failed
     make[2]: *** [server/CMakeFiles/voxl-dfs-server.dir/box_filter_blur.cpp.o] Error 1
     make[2]: *** Waiting for unfinished jobs....
     server/CMakeFiles/voxl-dfs-server.dir/build.make:130: recipe for target 'server/CMakeFiles/voxl-dfs-server.dir/opencl_manager.cpp.o' failed
     make[2]: *** [server/CMakeFiles/voxl-dfs-server.dir/opencl_manager.cpp.o] Error 1
     server/CMakeFiles/voxl-dfs-server.dir/build.make:106: recipe for target 'server/CMakeFiles/voxl-dfs-server.dir/sad_disparity_estimation.cpp.o' failed
     make[2]: *** [server/CMakeFiles/voxl-dfs-server.dir/sad_disparity_estimation.cpp.o] Error 1
     CMakeFiles/Makefile2:85: recipe for target 'server/CMakeFiles/voxl-dfs-server.dir/all' failed
     make[1]: *** [server/CMakeFiles/voxl-dfs-server.dir/all] Error 2
     Makefile:127: recipe for target 'all' failed
     make: *** [all] Error 2
     root@swift-HP-Pavilion-dv6-Notebook-PC:/home/root# ./clean.sh 
     root@swift-HP-Pavilion-dv6-Notebook-PC:/home/root# cmake CMakeLists.txt 
     -- The C compiler identification is GNU 5.4.0
     -- The CXX compiler identification is GNU 5.4.0
     -- Check for working C compiler: /usr/bin/cc
     -- Check for working C compiler: /usr/bin/cc -- works
     -- Detecting C compiler ABI info
     -- Detecting C compiler ABI info - done
     -- Detecting C compile features
     -- Detecting C compile features - done
     -- Check for working CXX compiler: /usr/bin/c++
     -- Check for working CXX compiler: /usr/bin/c++ -- works
     -- Detecting CXX compiler ABI info
     -- Detecting CXX compiler ABI info - done
     -- Detecting CXX compile features
     -- Detecting CXX compile features - done
     -- Configuring done
     -- Generating done
     -- Build files have been written to: /home/root
     root@swift-HP-Pavilion-dv6-Notebook-PC:/home/root# 
     root@swift-HP-Pavilion-dv6-Notebook-PC:/home/root# ./build.sh
     -- The C compiler identification is GNU 5.4.0
     -- The CXX compiler identification is GNU 5.4.0
     -- Check for working C compiler: /usr/bin/cc
     -- Check for working C compiler: /usr/bin/cc -- works
     -- Detecting C compiler ABI info
     -- Detecting C compiler ABI info - done
     -- Detecting C compile features
     -- Detecting C compile features - done
     -- Check for working CXX compiler: /usr/bin/c++
     -- Check for working CXX compiler: /usr/bin/c++ -- works
     -- Detecting CXX compiler ABI info
     -- Detecting CXX compiler ABI info - done
     -- Detecting CXX compile features
     -- Detecting CXX compile features - done
     -- Configuring done
     -- Generating done
     -- Build files have been written to: /home/root/build_utils/build
     Scanning dependencies of target embedfile
     [ 50%] Building C object CMakeFiles/embedfile.dir/src/embedfile.c.o
     [100%] Linking C executable embedfile
     [100%] Built target embedfile
     -- Configuring done
     -- Generating done
     CMake Warning:
       Manually-specified variables were not used by the project:
     
         CMAKE_TOOLCHAIN_FILE
     
     
     -- Build files have been written to: /home/root
     make: *** No targets specified and no makefile found.  Stop.

1. could you please check?

2. also I want to see dfs image result using client pipeline as voxl-cam-logger.
   It also cannot compiled on this version.
   could you please let me know to resolve it?

@shlee853

Great!

I resolved this problem as you mentioned.

yocto:/$ rm /data/network/files/local-kv.db
yocto:/$ voxl-configure-docker-support.sh 
Stopping original docker service
Enabling our own services docker-start & docker-prepare
starting docker-start.service
loading hello-world docker image
successfully loaded hello-world
starting docker-prepare service
Created symlink from /etc/systemd/system/default.target.wants/docker-autorun.service to /etc/systemd/system/docker-autorun.service.

done configuring voxl-docker-support

@kiprock thank you for your reply
I’ll try it

@kiprock Hi I have a exactly same issue.

I flashed image and reset factory configuration on my VOXL, but, It has still issue.

Did you resolve this problem?

Thanks,