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[ VOXL ] 2021.06.12 작업일지

by 베니스상인 2021. 6. 12.

흰색 실선 글상자는는 호스트 PC에서 실행한 결과화면

파란 실선 글상자는 VOXL에서 실행한 결과화면임

 

 

 

 

VOXL System image 3.2.0 설치 및 voxl-suite  0.3.4 설치

 

swift@swift-HP-Pavilion-dv6-Notebook-PC:~/workspace/modalai-3-2-0-0.3.4-b$ sudo ./install.sh 
[sudo] password for swift: 
[INFO] adb installed
[INFO] fastboot installed

This process will completely wipe your VOXL
Would you like to preserve the /data/ partition which contains
things like calibration, wifi config, and docker images
To preserve files in /data/ answer Y
To wipe /data/ for a full factory flash answer N

Enter Y or N: 
Y
[INFO] Rebooting into fastboot...
[INFO] Waiting for fastboot...
target reported max download size of 536870912 bytes
sending 'aboot' (494 KB)...
OKAY [  0.057s]
writing 'aboot'...
OKAY [  0.030s]
finished. total time: 0.088s
target reported max download size of 536870912 bytes
sending 'boot' (56066 KB)...
OKAY [  0.319s]
writing 'boot'...
OKAY [  0.565s]
finished. total time: 0.884s
target reported max download size of 536870912 bytes
erasing 'system'...
OKAY [  0.008s]
sending sparse 'system' 1/4 (523027 KB)...
OKAY [  3.965s]
writing 'system' 1/4...
OKAY [ 11.634s]
sending sparse 'system' 2/4 (522223 KB)...
OKAY [  3.544s]
writing 'system' 2/4...
OKAY [  9.403s]
sending sparse 'system' 3/4 (524029 KB)...
OKAY [  4.134s]
writing 'system' 3/4...
OKAY [ 11.563s]
sending sparse 'system' 4/4 (5696 KB)...
OKAY [  0.086s]
writing 'system' 4/4...
OKAY [  0.155s]
finished. total time: 44.493s
target reported max download size of 536870912 bytes
sending 'persist' (4292 KB)...
OKAY [  0.077s]
writing 'persist'...
OKAY [  0.083s]
finished. total time: 0.161s
target reported max download size of 536870912 bytes
erasing 'cache'...
OKAY [  0.019s]
sending 'cache' (5152 KB)...
OKAY [  0.078s]
writing 'cache'...
OKAY [  0.087s]
finished. total time: 0.185s
target reported max download size of 536870912 bytes
sending 'recoveryfs' (126585 KB)...
OKAY [  0.712s]
writing 'recoveryfs'...
OKAY [  3.896s]
finished. total time: 4.608s
[INFO] Done flashing all images. Rebooting device in 2 seconds
rebooting...

finished. total time: 0.824s
[INFO] Waiting for device...
ModalAI 3.2.0

BUILDER: ekatzfey

BUILD_TIME: 2021-02-05_19:54

[INFO] Finished!

The next step is to follow the VOXL Quickstart guides
to connect to a network and install supporting software.
https://docs.modalai.com/voxl-quickstarts/

[INFO] Finished installing the base System Image

=================================================================
We highly recommend installing the voxl-suite software package
which provides ModalAI Algorithms and supporting software.
This platform installer includes voxl-suite for offline install.

Note, if your VOXL is currently connected to the internet this
installer will pull the latest voxl-suite, otherwise it will
install only the packages bundled with this offline installer.

If your VOXL is online right now and you wish to only install the
the bundled packages without upgrading, you can adb into voxl in
another terminal, unconfigure wifi, and reboot before continuing
with the installer in this terminal.

Do you want to install voxl-suite now? (y/n)
=================================================================
y
[INFO] adb installed
[INFO] Waiting for device
[INFO] updating /etc/opkg/opkg.conf on target
[INFO] Pushing package manifest to target
Packages.gz: 1 file pushed. 0.5 MB/s (3323 bytes in 0.006s)
Packages.stamps: 1 file pushed. 0.5 MB/s (2179 bytes in 0.004s)
docker_1.9.0+git76d6bc9a9f1690e16f3721ba165364688... file pushed. 2.5 MB/s (10813204 bytes in 4.096s)
libmodal_json_0.3.4.ipk: 1 file pushed. 1.1 MB/s (57698 bytes in 0.049s)
libmodal_pipe_1.7.9.ipk: 1 file pushed. 2.9 MB/s (82312 bytes in 0.027s)
librc_math_1.1.4.ipk: 1 file pushed. 3.0 MB/s (133732 bytes in 0.043s)
libvoxl_io_0.5.4.ipk: 1 file pushed. 3.2 MB/s (109262 bytes in 0.033s)
mavlink-camera-manager_0.0.1.ipk: 1 file pushed. 2.5 MB/s (29268 bytes in 0.011s)
opencv_4.5.1.ipk: 1 file pushed. 3.4 MB/s (18115366 bytes in 5.066s)
openmp_10.0.1_202102091950.ipk: 1 file pushed. 2.8 MB/s (402468 bytes in 0.139s)
voxl-camera-server_0.5.7.ipk: 1 file pushed. 3.3 MB/s (606614 bytes in 0.174s)
voxl-dfs-server_0.0.7.ipk: 1 file pushed. 2.8 MB/s (30536 bytes in 0.010s)
voxl-docker-support_1.1.1.ipk: 1 file pushed. 1.8 MB/s (6392 bytes in 0.003s)
voxl-gphoto2_0.0.5.ipk: 1 file pushed. 2.8 MB/s (33240 bytes in 0.012s)
voxl-hal3-tof-cam-ros_0.0.5.ipk: 1 file pushed. 3.3 MB/s (563554 bytes in 0.162s)
voxl-imu-server_0.7.8.ipk: 1 file pushed. 0.4 MB/s (59792 bytes in 0.145s)
voxl-modem_0.11.0.ipk: 1 file pushed. 3.6 MB/s (1238720 bytes in 0.331s)
voxl-mpa-tflite-server_0.0.2.ipk: 1 file pushed. 3.3 MB/s (25555962 bytes in 7.488s)
voxl-mpa-tools_0.1.6.ipk: 1 file pushed. 1.5 MB/s (85424 bytes in 0.054s)
voxl-nodes_0.1.3.ipk: 1 file pushed. 3.1 MB/s (1122746 bytes in 0.341s)
voxl-qvio-server_0.2.1.ipk: 1 file pushed. 2.1 MB/s (160472 bytes in 0.074s)
voxl-rtsp_1.0.3.ipk: 1 file pushed. 3.1 MB/s (173760 bytes in 0.054s)
voxl-streamer_0.2.1.ipk: 1 file pushed. 2.8 MB/s (47002 bytes in 0.016s)
voxl-suite_0.3.4.ipk: 1 file pushed. 0.5 MB/s (1818 bytes in 0.003s)
voxl-utils_0.6.0.ipk: 1 file pushed. 2.4 MB/s (41092 bytes in 0.016s)
voxl-vision-px4_0.8.1.ipk: 1 file pushed. 2.8 MB/s (58980 bytes in 0.020s)
voxl-vpn_0.0.3.ipk: 1 file pushed. 2.0 MB/s (14528 bytes in 0.007s)
[INFO] Installing voxl-suite on target
Downloading http://voxl-packages.modalai.com/stable/Packages.gz.
Updated source 'stable'.
Downloading file:///home/root/voxl-suite-ipk/Packages.gz.
Updated source 'local'.
Installing voxl-suite (0.3.4) on root.
Downloading file:///home/root/voxl-suite-ipk/voxl-suite_0.3.4.ipk.
Not selecting libmodal_pipe 1.2.2 as installing it would break existing dependencies.
Not selecting libmodal_pipe 1.2.2 as installing it would break existing dependencies.
Not selecting libmodal_pipe 1.2.2 as installing it would break existing dependencies.
Not selecting librc_math 1.1.2 as installing it would break existing dependencies.
Not selecting libmodal_pipe 1.2.2 as installing it would break existing dependencies.
Not selecting librc_math 1.1.2 as installing it would break existing dependencies.
Not selecting libmodal_pipe 1.2.2 as installing it would break existing dependencies.
Not selecting librc_math 1.1.2 as installing it would break existing dependencies.
Not selecting libmodal_pipe 1.2.2 as installing it would break existing dependencies.
Upgrading voxl-utils from 0.5.1 to 0.6.8 on root.
Downloading http://voxl-packages.modalai.com/stable/voxl-utils_0.6.8.ipk.
Installing libmodal_json (0.3.5) on root.
Downloading http://voxl-packages.modalai.com/stable/libmodal_json_0.3.5.ipk.
Installing libmodal_pipe (1.7.9) on root.
Downloading file:///home/root/voxl-suite-ipk/libmodal_pipe_1.7.9.ipk.
Installing librc_math (1.1.5) on root.
Downloading http://voxl-packages.modalai.com/stable/librc_math_1.1.5.ipk.
Installing libvoxl_io (0.5.4) on root.
Downloading file:///home/root/voxl-suite-ipk/libvoxl_io_0.5.4.ipk.
Installing mavlink-camera-manager (0.0.2) on root.
Downloading http://voxl-packages.modalai.com/stable/mavlink-camera-manager_0.0.2.ipk.
Installing opencv (4.5.2) on root.
Downloading http://voxl-packages.modalai.com/stable/opencv_4.5.2.ipk.
Installing openmp (10.0.2) on root.
Downloading http://voxl-packages.modalai.com/stable/openmp_10.0.2.ipk.
Installing voxl-camera-server (0.5.7) on root.
Downloading file:///home/root/voxl-suite-ipk/voxl-camera-server_0.5.7.ipk.
Installing voxl-dfs-server (0.0.7) on root.
Downloading file:///home/root/voxl-suite-ipk/voxl-dfs-server_0.0.7.ipk.
Not selecting libmodal_pipe 1.2.2 as installing it would break existing dependencies.
Installing voxl-gphoto2 (0.0.5) on root.
Downloading file:///home/root/voxl-suite-ipk/voxl-gphoto2_0.0.5.ipk.
Not selecting libmodal_pipe 1.2.2 as installing it would break existing dependencies.
Installing voxl-hal3-tof-cam-ros (0.0.5) on root.
Downloading file:///home/root/voxl-suite-ipk/voxl-hal3-tof-cam-ros_0.0.5.ipk.
Installing voxl-imu-server (0.7.8) on root.
Downloading file:///home/root/voxl-suite-ipk/voxl-imu-server_0.7.8.ipk.
Not selecting libmodal_pipe 1.2.2 as installing it would break existing dependencies.
Not selecting librc_math 1.1.2 as installing it would break existing dependencies.
Installing voxl-modem (0.12.0) on root.
Downloading http://voxl-packages.modalai.com/stable/voxl-modem_0.12.0.ipk.
Installing voxl-mpa-tflite-server (0.0.2) on root.
Downloading file:///home/root/voxl-suite-ipk/voxl-mpa-tflite-server_0.0.2.ipk.
Installing voxl-mpa-tools (0.1.6) on root.
Downloading file:///home/root/voxl-suite-ipk/voxl-mpa-tools_0.1.6.ipk.
Not selecting libmodal_pipe 1.2.2 as installing it would break existing dependencies.
Not selecting librc_math 1.1.2 as installing it would break existing dependencies.
Installing voxl-nodes (0.1.3) on root.
Downloading file:///home/root/voxl-suite-ipk/voxl-nodes_0.1.3.ipk.
Installing voxl-qvio-server (0.2.1) on root.
Downloading file:///home/root/voxl-suite-ipk/voxl-qvio-server_0.2.1.ipk.
Installing voxl-rtsp (1.0.3) on root.
Downloading file:///home/root/voxl-suite-ipk/voxl-rtsp_1.0.3.ipk.
Installing voxl-streamer (0.2.1) on root.
Downloading file:///home/root/voxl-suite-ipk/voxl-streamer_0.2.1.ipk.
Not selecting libmodal_pipe 1.2.2 as installing it would break existing dependencies.
Installing voxl-vision-px4 (0.8.2) on root.
Downloading http://voxl-packages.modalai.com/stable/voxl-vision-px4_0.8.2.ipk.
Not selecting librc_math 1.1.2 as installing it would break existing dependencies.
Not selecting libmodal_pipe 1.2.2 as installing it would break existing dependencies.
Installing voxl-vpn (0.0.3) on root.
Downloading file:///home/root/voxl-suite-ipk/voxl-vpn_0.0.3.ipk.
voxl-suite installer detected system image 3.2.0
Configuring libmodal_pipe.

Done installing libmodal_pipe

Configuring libmodal_json.

Done installing libmodal_json

Configuring openmp.

done installing openmp

Configuring opencv.

done installing opencv

Configuring voxl-dfs-server.

Done installing voxl-dfs-server

Configuring voxl-gphoto2.

Done installing voxl-gphoto2

Configuring voxl-hal3-tof-cam-ros.

Done installing voxl-hal3-tof-cam

Configuring mavlink-camera-manager.

Done installing mavlink-camera-manager

Configuring librc_math.

done installing librc_math

Configuring voxl-mpa-tools.

Done installing voxl-mpa-tools

Configuring voxl-qvio-server.

Done installing voxl-qvio-server

Configuring voxl-vpn.

done installing voxl-vpn

Configuring libvoxl_io.

Done installing libvoxl_io

Configuring voxl-vision-px4.

Done installing voxl-vision-px4

Configuring voxl-mpa-tflite-server.

Done installing voxl-mpa-tflite-server

Configuring voxl-streamer.
INFO: making new /etc/modalai/voxl-streamer.conf

Done installing voxl-streamer

Configuring voxl-imu-server.
enabling voxl-imu-server service
Created symlink from /etc/systemd/system/multi-user.target.wants/voxl-imu-server.service to /etc/systemd/system/voxl-imu-server.service.

Done installing voxl-imu-server

Configuring voxl-camera-server.
making default config file: /etc/modalai/voxl-camera-server.conf

Done installing voxl-camera-server

Configuring voxl-modem.
Disabling and removing any old modem scripts.


done installing voxl-modem

Configuring voxl-utils.
Hiding systemctl tab competions, replacing with modalai's
manually adding modal_bash_tweaks to .bashrc

done installing voxl-utils

Configuring voxl-nodes.

Done installing voxl-nodes

Configuring voxl-rtsp.

done installing rtsp

Configuring voxl-suite.

===================================================== 
|            Done installing voxl-suite             |
|                                                   |
|   Please visit our online quickstart guides at    |
|       https://docs.modalai.com/quickstarts/       |
|                                                   |
|      To configure Modal Pipe Architecture (MPA)   |
|       services, please run voxl-configure-mpa     |
|                                                   |
| To see what MPA services are enabled and running, |
|           please run voxl-inspect-services        |
|                                                   |
|   To see a list of MPA utilities available, adb   |
|      or ssh into VOXL and type voxl{TAB}{TAB}     |
===================================================== 

[INFO] Done installing voxl-suite

 

 

 

 

설치 결과 버전 확인

yocto:/$ voxl-version 
cat: /etc/modalai/voxl-software-bundle-version.txt: No such file or directory
--------------------------------------------------------------------------------
system-image:    ModalAI 3.2.0 BUILDER: ekatzfey BUILD_TIME: 2021-02-05_19:54
kernel:          #1 SMP PREEMPT Fri Feb 5 20:03:22 UTC 2021 3.18.71-perf
factory-bundle:  1.0.1 (Yocto installation)
--------------------------------------------------------------------------------
architecture:    aarch64
processor:       apq8096
os:              GNU/Linux
--------------------------------------------------------------------------------
voxl-suite:
Package: voxl-suite
Version: 0.3.4
Depends: voxl-utils (>= 0.6.0), libmodal_json (>= 0.3.4), libmodal_pipe (>= 1.7.8), librc_math (>= 1.1.4), libvoxl_io (>= 0.5.4), mavlink-camera-manager (>= 0.0.1), opencv (>= 4.5.1), openmp (>= 10.0.1), voxl-camera-server (>= 0.5.6), voxl-dfs-server (>= 0.0.7), voxl-docker-support (>= 1.1.1), voxl-gphoto2 (>= 0.0.5), voxl-hal3-tof-cam-ros (>= 0.0.5), voxl-imu-server (>= 0.7.8), voxl-modem (>= 0.11.0), voxl-mpa-tflite-server (>= 0.0.2), voxl-mpa-tools (>= 0.1.6), voxl-nodes (>= 0.1.3), voxl-qvio-server (>= 0.2.1), voxl-rtsp (>= 1.0.3), voxl-streamer (>= 0.2.1), voxl-vision-px4 (>= 0.8.1), voxl-vpn (>= 0.0.3)
Status: install user installed
Section: base
Architecture: all
Maintainer: james@modalai.com
MD5Sum: e1e5bf1a125affe5036099f6ce895bed
Size: 1818
Filename: voxl-suite_0.3.4.ipk
Description: meta-package for voxl-suite stable release
Installed-Time: 1623475719

Package: voxl-suite
Version: 0.2.0
Depends: docker, imu_app (= 0.0.6), libvoxl_io (= 0.5.2), voxl-cam-manager (= 0.2.2), voxl-docker-support (= 1.1.1), voxl-hal3-tof-cam-ros (= 0.0.2), voxl-modem (= 0.10.0), voxl-nodes (= 0.0.8), voxl-rtsp (= 1.0.2), voxl-utils (= 0.5.2), voxl-vision-px4 (= 0.6.8), voxl_imu (= 0.0.4), voxl-time-sync (= 0.0.1), voxl-vpn (= 0.0.2), librc_math (= 1.1.2), libmodal_pipe (= 1.2.2), modalai-vl (= 0.1.3)
Status: unknown ok not-installed
Section: base
Architecture: armv7a
Maintainer: james@modalai.com
MD5Sum: af706cd3c1ea59f274f2ed9b93141f1d
Size: 870
Filename: voxl-suite_0.2.0.ipk
Description: meta-package to install all of the voxl-suite

--------------------------------------------------------------------------------

 

 

voxl-wifi 설치

yocto:/$ voxl-wifi station U+Net659B 6000234350
creating new wpa_supplicant.conf for station mode

Reboot for changes to take effect
yocto:/$ 
yocto:/$ 
yocto:/$ reboot

 

swift@swift-HP-Pavilion-dv6-Notebook-PC:~$ adb shell
/ # bash
yocto:/$ ifconfig  
lo        Link encap:Local Loopback  
          inet addr:127.0.0.1  Mask:255.0.0.0
          inet6 addr: ::1/128 Scope:Host
          UP LOOPBACK RUNNING  MTU:65536  Metric:1
          RX packets:16 errors:0 dropped:0 overruns:0 frame:0
          TX packets:16 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:0 
          RX bytes:1392 (1.3 KiB)  TX bytes:1392 (1.3 KiB)

wlan0     Link encap:Ethernet  HWaddr EC:5C:68:CD:25:A1  
          inet addr:192.168.219.101  Bcast:192.168.219.255  Mask:255.255.255.0
          inet6 addr: fe80::ee5c:68ff:fecd:25a1/64 Scope:Link
          UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
          RX packets:26 errors:0 dropped:0 overruns:0 frame:0
          TX packets:20 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:3000 
          RX bytes:2500 (2.4 KiB)  TX bytes:1802 (1.7 KiB)

yocto:/$ 

 

 

 

 

 

 

voxl 서버들의 환경설정

yocto:/$ voxl-configure-docker-support.sh 
Stopping original docker service
Removed symlink /etc/systemd/system/multi-user.target.wants/docker.service.
Enabling our own services docker-start & docker-prepare
Created symlink from /etc/systemd/system/default.target.wants/docker-start.service to /etc/systemd/system/docker-start.service.
Created symlink from /etc/systemd/system/multi-user.target.wants/docker-prepare.service to /etc/systemd/system/docker-prepare.service.
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

 

 

yocto:/$ voxl-configure-cameras       

Which camera configuration are you using?
0  None
1  Tracking + Stereo
2  Tracking Only
3  Hires + Stereo + Tracking (default)
4  Hires + Tracking
5  TOF + Tracking
6  Hires + TOF + Tracking
7  TOF + Stereo + Tracking
8  Hires Only
9  TOF Only
10 Stereo only

3
attempting to use camera configuration 3
Writing new configuration to /etc/modalai/voxl-camera-server.conf:
{
"version": 0.2,
"port_J2": {
"name": "hires",
"enabled": true,
"type": "hires",
"api": "hal3",
"rotation": 180,
"frame_rate": 30,
"override_id": -1,
"auto_exposure_mode": "isp",
"preview": {
"enabled": true,
"width": 640,
"height": 480,
"format": "nv21"
},
"video": {
"enabled": false,
"width": 1024,
"height": 768,
"format": "h264"
},
"snapshot": {
"enabled": false,
"width": 1024,
"height": 768,
"format": "jpg"
}
},
"port_J3": {
"name": "stereo",
"enabled": true,
"type": "stereo",
"api": "hal3",
"rotation": 0,
"frame_rate": 30,
"override_id": -1,
"auto_exposure_mode": "mvcpa",
"mv_cpa_filter_size": 2,
"mv_cpa_exposure_cost": 0.75,
"mv_cpa_gain_cost": 0.25,
"mv_cpa_en_histogram": true,
"preview": {
"enabled": true,
"width": 1280,
"height": 480,
"format": "nv21"
}
},
"port_J4": {
"name": "tracking",
"enabled": true,
"type": "tracking",
"api": "hal3",
"rotation": 0,
"frame_rate": 30,
"override_id": -1,
"auto_exposure_mode": "mvcpa",
"manual_gain": 1000,
"mv_cpa_filter_size": 2,
"mv_cpa_exposure_cost": 0.75,
"mv_cpa_gain_cost": 0.25,
"mv_cpa_en_histogram": true,
"preview": {
"enabled": true,
"width": 640,
"height": 480,
"format": "raw8"
}
}
}

 

 

 

yocto:/$ voxl-configure-dfs 
loading and updating config file with voxl-dfs-server -c
 
Do you want to enable the voxl-dfs-server service to allow
Depth-from-stereo processing?
note that Visual Obstacle Avoidance with PX4 will require further
configuration of voxl-vision-px4 and PX4 itself.
1) yes
2) no
#? 1
enabling service
Created symlink from /etc/systemd/system/multi-user.target.wants/voxl-dfs-server.service to /etc/systemd/system/voxl-dfs-server.service.
starting service
Done enabling voxl-dfs-server
yocto:/$ voxl-configure-    
voxl-configure-camera-server      voxl-configure-modem
voxl-configure-cameras            voxl-configure-mpa
voxl-configure-dfs                voxl-configure-qvio
voxl-configure-docker-support.sh  voxl-configure-vision-px4
voxl-configure-extrinsics         
yocto:/$ voxl-configure-extrinsics 
configuring /etc/modalai/extrinsics.conf
Would you like to leave this extrinsics config file alone,
reset to factory defaults, or use a preset config?
1) leave_alone
2) defaults
3) preset
#? 3

which preset would you like to use?
Note: M500 is same as factory default
more presets coming soon!!
1) ModalAI_M500
2) M500_VOXLCAM
3) ModalAI_Mapper_v1
#? 1
loading and updating config file with voxl-inspect-extrinsics
Done configuring extrinsics

 

 

yocto:/$ voxl-configure-mpa 

Configuring Extrinsics
configuring /etc/modalai/extrinsics.conf
Would you like to leave this extrinsics config file alone,
reset to factory defaults, or use a preset config?
1) leave_alone
2) defaults
3) preset
#? 3

which preset would you like to use?
Note: M500 is same as factory default
more presets coming soon!!
1) ModalAI_M500
2) M500_VOXLCAM
3) ModalAI_Mapper_v1
#? 1
loading and updating config file with voxl-inspect-extrinsics
Done configuring extrinsics

Configuring Cameras

Which camera configuration are you using?
0  None
1  Tracking + Stereo
2  Tracking Only
3  Hires + Stereo + Tracking (default)
4  Hires + Tracking
5  TOF + Tracking
6  Hires + TOF + Tracking
7  TOF + Stereo + Tracking
8  Hires Only
9  TOF Only
10 Stereo only

3
attempting to use camera configuration 3
Writing new configuration to /etc/modalai/voxl-camera-server.conf:
{
"version": 0.2,
"port_J2": {
"name": "hires",
"enabled": true,
"type": "hires",
"api": "hal3",
"rotation": 180,
"frame_rate": 30,
"override_id": -1,
"auto_exposure_mode": "isp",
"preview": {
"enabled": true,
"width": 640,
"height": 480,
"format": "nv21"
},
"video": {
"enabled": false,
"width": 1024,
"height": 768,
"format": "h264"
},
"snapshot": {
"enabled": false,
"width": 1024,
"height": 768,
"format": "jpg"
}
},
"port_J3": {
"name": "stereo",
"enabled": true,
"type": "stereo",
"api": "hal3",
"rotation": 0,
"frame_rate": 30,
"override_id": -1,
"auto_exposure_mode": "mvcpa",
"mv_cpa_filter_size": 2,
"mv_cpa_exposure_cost": 0.75,
"mv_cpa_gain_cost": 0.25,
"mv_cpa_en_histogram": true,
"preview": {
"enabled": true,
"width": 1280,
"height": 480,
"format": "nv21"
}
},
"port_J4": {
"name": "tracking",
"enabled": true,
"type": "tracking",
"api": "hal3",
"rotation": 0,
"frame_rate": 30,
"override_id": -1,
"auto_exposure_mode": "mvcpa",
"manual_gain": 1000,
"mv_cpa_filter_size": 2,
"mv_cpa_exposure_cost": 0.75,
"mv_cpa_gain_cost": 0.25,
"mv_cpa_en_histogram": true,
"preview": {
"enabled": true,
"width": 640,
"height": 480,
"format": "raw8"
}
}
}

would you like to enable voxl-camera-server?
This is necessary for VIO and DFS
1) enable
2) disable
#? 1
Created symlink from /etc/systemd/system/multi-user.target.wants/voxl-camera-server.service to /etc/systemd/system/voxl-camera-server.service.

Configuring QVIO
loading and updating config file with voxl-qvio-server -c
loading qvio config file
Creating new config file: /etc/modalai/voxl-qvio-server.conf
The config file was modified during parsing, saving the changes to disk
 
Do you want to enable voxl-qvio-server for Visual Inertial Odometry?
1) yes
2) no
#? 1
 
Which IMU should voxl-qvio-server use? We recommend
IMU1 for VOXL and IMU0 for VOXL Flight all-in-one board.
1) imu0
2) imu1
#? 1
enabling voxl-qvio-server systemd service
Created symlink from /etc/systemd/system/multi-user.target.wants/voxl-qvio-server.service to /etc/systemd/system/voxl-qvio-server.service.
starting voxl-qvio-server systemd service
Done configuring voxl-qvio-server

Configuring VOXL Vision PX4
loading and updating config file with voxl-vision-px4 -c
Created new empty json file: /etc/modalai/voxl-vision-px4.conf
The JSON config file data was modified during parsing, saving the changes to disk
 
Do you want to enable the voxl-vision-px4 service to allow
communication with a PX4 flight controller?
1) yes
2) no
#? 1
 
Now we are going to do a preliminary configuration of /etc/modalai/voxl-vision-px4.conf
 
Which IP address is your QGroundControl station at?
If you do not wish to hard-code the QGC IP address into VOXL then you will
need to configure VOXL's IP address in QGC's Comm Links settings page.
Just press enter to leave this option as-is. 
192.168.219.182
setting qgc_ip to 192.168.219.182
 
Do you want to enable voxl-vision-px4 to command PX4
to fly a figure eight path when flipped into offboard mode?
Don't enable this if you intend to do your own offboard
control via MAVROS or similar.
1) yes
2) no
#? 1
enabling voxl-vision-px4 systemd service
Created symlink from /etc/systemd/system/multi-user.target.wants/voxl-vision-px4.service to /etc/systemd/system/voxl-vision-px4.service.
starting voxl-vision-px4 systemd service
DONE configuring voxl-vision-px4

Done enabling services, reboot to complete setup
would you like to reboot now or later?
1) reboot_now
2) reboot_later
#? 2

Finished running voxl-configure-mpa

 

 

yocto:/$ voxl-configure-qvio 
loading and updating config file with voxl-qvio-server -c
loading qvio config file
 
Do you want to enable voxl-qvio-server for Visual Inertial Odometry?
1) yes
2) no
#? 1
 
Which IMU should voxl-qvio-server use? We recommend
IMU1 for VOXL and IMU0 for VOXL Flight all-in-one board.
1) imu0
2) imu1
#? 1
enabling voxl-qvio-server systemd service
starting voxl-qvio-server systemd service
Done configuring voxl-qvio-server
yocto:/$ voxl-
voxl-backup                       voxl-inspect-pose
voxl-calibrate-imu                voxl-inspect-qvio
voxl-camera-server                voxl-inspect-services
voxl-configure-camera-server      voxl-inspect-vibration
voxl-configure-cameras            voxl-kill-pipe
voxl-configure-dfs                voxl-logger
voxl-configure-docker-support.sh  voxl-modem
voxl-configure-extrinsics         voxl-modem-start.sh
voxl-configure-modem              voxl-mpa-tflite-server
voxl-configure-mpa                voxl-perfmon
voxl-configure-qvio               voxl-px4-shell
voxl-configure-vision-px4         voxl-qvio-server
voxl-dfs-server                   voxl-replay
voxl-docker                       voxl-reset-qvio
voxl-env                          voxl-rtsp
voxl-gphoto2                      voxl-send-command
voxl-gpio                         voxl-spi
voxl-gpio-loopback                voxl-streamer
voxl-hwscan                       voxl-test-mavparser
voxl-i2c                          voxl-test-time
voxl-imu-server                   voxl-time-sync
voxl-inspect-apriltag-config      voxl-uart-loopback
yocto:/$ voxl-
voxl-backup                       voxl-inspect-pose
voxl-calibrate-imu                voxl-inspect-qvio
voxl-camera-server                voxl-inspect-services
voxl-configure-camera-server      voxl-inspect-vibration
voxl-configure-cameras            voxl-kill-pipe
voxl-configure-dfs                voxl-logger
voxl-configure-docker-support.sh  voxl-modem
voxl-configure-extrinsics         voxl-modem-start.sh
voxl-configure-modem              voxl-mpa-tflite-server
voxl-configure-mpa                voxl-perfmon
voxl-configure-qvio               voxl-px4-shell
voxl-configure-vision-px4         voxl-qvio-server
voxl-dfs-server                   voxl-replay
voxl-docker                       voxl-reset-qvio
voxl-env                          voxl-rtsp
voxl-gphoto2                      voxl-send-command
voxl-gpio                         voxl-spi
voxl-gpio-loopback                voxl-streamer
voxl-hwscan                       voxl-test-mavparser
voxl-i2c                          voxl-test-time
voxl-imu-server                   voxl-time-sync
voxl-inspect-apriltag-config      voxl-uart-loopback
yocto:/$ voxl-configure-
voxl-configure-camera-server      voxl-configure-modem
voxl-configure-cameras            voxl-configure-mpa
voxl-configure-dfs                voxl-configure-qvio
voxl-configure-docker-support.sh  voxl-configure-vision-px4
voxl-configure-extrinsics         
yocto:/$ voxl-configure-vision-px4 
loading and updating config file with voxl-vision-px4 -c
 
Do you want to enable the voxl-vision-px4 service to allow
communication with a PX4 flight controller?
1) yes
2) no
#? 1
 
Now we are going to do a preliminary configuration of /etc/modalai/voxl-vision-px4.conf
 
Which IP address is your QGroundControl station at?
If you do not wish to hard-code the QGC IP address into VOXL then you will
need to configure VOXL's IP address in QGC's Comm Links settings page.
Just press enter to leave this option as-is. 
192.168.219.182
setting qgc_ip to 192.168.219.182
 
Do you want to enable voxl-vision-px4 to command PX4
to fly a figure eight path when flipped into offboard mode?
Don't enable this if you intend to do your own offboard
control via MAVROS or similar.
1) yes
2) no
#? 1
enabling voxl-vision-px4 systemd service
starting voxl-vision-px4 systemd service
DONE configuring voxl-vision-px4

 

yocto:/$ reboot
yocto:/$ swift@swift-HP-Pavilion-dv6-Notebook-PC:~$ 

 

 

 

 

재부팅후 voxl 의 시스템 상태 확인

각 모듈의 서버들이 재부팅후 정상적으로 돌아가고 있음을 확인함

yocto:/$ systemctl status | grep voxl
             ├─voxl-dfs-server.service
             │ └─4030 /usr/bin/voxl-dfs-server
             ├─voxl-qvio-server.service
             │ └─2073 /usr/bin/voxl-qvio-server
             ├─voxl-camera-server.service
             │ └─4029 /usr/bin/voxl-camera-server -c /etc/modalai/voxl-camera-server.conf
             ├─voxl-vision-px4.service
             │ └─2708 /usr/bin/voxl-vision-px4
             │ └─4245 /bin/busybox /bin/grep voxl
             ├─voxl-imu-server.service
             │ └─2646 /usr/bin/voxl-imu-server
yocto:/$ 

 

 

 

 

설정이 완료된 후 configure  파일 상태 확인

 

yocto:/$ vi /etc/modalai/voxl-vision-px4.conf 

 

 

/**                                   * VOXL Vision PX4 Configuration File     * */           

                               
{                       

                        
        "qgc_ip":       "192.168.219.182",      
        "en_localhost_mavlink_udp":     true, 
        "en_secondary_qgc":     false,          
        "secondary_qgc_ip":     "192.168.1.214",
        "qgc_udp_port_number":  14550,        
        "localhost_udp_port_number":    14551,
        "en_vio":       true,         
        "en_voa":       true,         
        "en_send_vio_to_qgc":   false,
        "en_send_voa_to_qgc":   false,
        "en_adsb":      true,          
        "adsb_uart_bus":        7,             
        "adsb_uart_baudrate":   57600,         
        "px4_uart_bus": 5,                    
        "px4_uart_baudrate":    921600,        
        "offboard_mode":        "figure_eight",                      
        "follow_tag_id":        0,                           

       "en_apriltag_fixed_frame":      false,
        "fixed_frame_filter_len":       5,     
        "en_transform_mavlink_pos_setpoints_from_fixed_frame":  false

 

}                                                                    

 

 

 

 

 

 

 

 

 

Voxl-opencv-opencl docker 설치

swift@swift-HP-Pavilion-dv6-Notebook-PC:~/git/voxl-docker-opencv-opencl$ ll
total 10824
drwxrwxr-x  5 swift swift     4096  6월  7 23:08 ./
drwxrwxrwx 20 root  root      4096  6월  9 22:57 ../
-rwxrwxr-x  1 swift swift      665  6월  2 05:47 deploy.sh*
-rw-rw-r--  1 swift swift      984  6월  2 05:47 Dockerfile.base
-rw-rw-r--  1 swift swift      295  6월  2 05:47 Dockerfile.examples
-rw-rw-r--  1 swift swift     2941  6월  2 05:47 Dockerfile.opencv
drwxrwxr-x  5 swift swift     4096  6월  2 05:47 examples/
drwxrwxr-x  8 swift swift     4096  6월  2 05:47 .git/
-rw-rw-r--  1 swift swift       12  6월  2 05:47 .gitignore
-rw-rw-r--  1 swift swift 11035940  6월  7 23:08 modalai-opencl-dev_1.0-1.deb
-rw-rw-r--  1 swift swift     1977  6월  2 05:47 README.md
drwxrwxr-x  2 swift swift     4096  6월  2 05:47 scripts/
swift@swift-HP-Pavilion-dv6-Notebook-PC:~/git/voxl-docker-opencv-opencl$ 
swift@swift-HP-Pavilion-dv6-Notebook-PC:~/git/voxl-docker-opencv-opencl$ 
swift@swift-HP-Pavilion-dv6-Notebook-PC:~/git/voxl-docker-opencv-opencl$ 
swift@swift-HP-Pavilion-dv6-Notebook-PC:~/git/voxl-docker-opencv-opencl$ sudo ./deploy.sh 
[sudo] password for swift: 
modalai-opencl-dev_1.0-1.deb: 1 file pushed. 5.5 MB/s (11035940 bytes in 1.914s)
Dockerfile.base: 1 file pushed. 0.2 MB/s (984 bytes in 0.005s)
Dockerfile.opencv: 1 file pushed. 1.1 MB/s (2941 bytes in 0.003s)
Dockerfile.examples: 1 file pushed. 0.1 MB/s (295 bytes in 0.002s)
examples/: 10 files pushed. 1.7 MB/s (93156 bytes in 0.051s)
scripts/: 1 file pushed. 0.1 MB/s (676 bytes in 0.005s)

 

 

voxl에서 opencv 4.2버전 빌드 시작

yocto:/data/docker$ cd opencv-opencl/
yocto:/data/docker/opencv-opencl$ ls
Dockerfile.base      Dockerfile.opencv  modalai-opencl-dev_1.0-1.deb
Dockerfile.examples  examples           scripts
yocto:/data/docker/opencv-opencl$ sudo ./scripts/scripts/build-docker.sh 4.2.0
Building OpenCV 4.2.0
Sending build context to Docker daemon 11.15 MB
Step 1 : FROM aarch64/ubuntu:xenial
 ---> 027c36187aa4
Step 2 : RUN apt-get update
 ---> Using cache
 ---> a66ccc960fbc
Step 3 : RUN apt-get install -y vim
 ---> Using cache
 ---> 5b3a46fc9f6f
Step 4 : RUN apt-get install -y strace
 ---> Using cache
 ---> 7626eafd5fe5
Step 5 : RUN apt-get install -y libglib2.0-0
 ---> Using cache
 ---> 001a2af42388
Step 6 : RUN apt-get install -y g++
 ---> Using cache
 ---> 02ee6d77f433
Step 7 : RUN apt-get install -y build-essential
 ---> Using cache
 ---> 90903aa0b3be
Step 8 : RUN apt-get install -y cmake
 ---> Using cache
 ---> e070cf934c86
Step 9 : RUN apt-get install -y git
 ---> Using cache
 ---> 1310b23d6b57
Step 10 : RUN apt-get install -y libgtk2.0-dev
 ---> Using cache
 ---> 657a6a82fb92
Step 11 : RUN apt-get install -y pkg-config
 ---> Using cache
 ---> 4ad4d33674a6
Step 12 : RUN apt-get install -y libavcodec-dev
 ---> Using cache
 ---> 1822abaf508e
Step 13 : RUN apt-get install -y libavformat-dev
 ---> Using cache
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Step 14 : RUN apt-get install -y libswscale-dev
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Step 16 : RUN apt-get install -y python-numpy
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Step 17 : RUN apt-get install -y libtbb2
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Step 19 : RUN apt-get install -y libjpeg-dev
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Step 25 : RUN apt-get install -y unzip
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Step 26 : RUN mkdir -p /home/opencv-opencl
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Step 27 : WORKDIR /home/opencv-opencl
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Step 28 : COPY modalai-opencl-dev_1.0-1.deb .
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Step 29 : RUN dpkg -i modalai-opencl-dev_1.0-1.deb
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Step 30 : CMD /bin/bash
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Successfully built a2a6dd76cfe7
Sending build context to Docker daemon 11.15 MB
Step 1 : FROM opencv-opencl:base
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Step 2 : ARG opencv_version=4.2.0
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Step 3 : WORKDIR /home/opencv-opencl
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Step 4 : RUN wget https://github.com/opencv/opencv/archive/$opencv_version.zip
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Step 5 : RUN unzip $opencv_version.zip
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Step 6 : RUN rm $opencv_version.zip
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Step 7 : RUN wget https://github.com/opencv/opencv_contrib/archive/$opencv_version.zip
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Step 8 : RUN unzip $opencv_version.zip
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Step 9 : RUN rm $opencv_version.zip
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Step 10 : WORKDIR opencv-$opencv_version/build
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Step 11 : RUN cmake -DCMAKE_BUILD_TYPE=Release           -DCMAKE_INSTALL_PREFIX=/usr           -DWITH_OPENMP=ON           -DWITH_OPENCL=ON           -DHAVE_OPENCL=1           -DOPENCV_EXTRA_MODULES_PATH=/home/opencv-opencl/opencv_contrib-$opencv_version/modules           -DBUILD_opencv_aruco=ON           -DBUILD_opencv_bgsegm=OFF           -DBUILD_opencv_bioinspired=OFF           -DBUILD_opencv_ccalib=OFF           -DBUILD_opencv_cnn_3dobj=OFF           -DBUILD_opencv_cudaarithm=OFF           -DBUILD_opencv_cudabgsegm=OFF           -DBUILD_opencv_cudacodec=OFF           -DBUILD_opencv_cudafeatures2d=OFF           -DBUILD_opencv_cudafilters=OFF           -DBUILD_opencv_cudaimgproc=OFF           -DBUILD_opencv_cudalegacy=OFF           -DBUILD_opencv_cudaobjdetect=OFF           -DBUILD_opencv_cudaoptflow=OFF           -DBUILD_opencv_cudastereo=OFF           -DBUILD_opencv_cudawarping=OFF           -DBUILD_opencv_cudev=OFF           -DBUILD_opencv_cvv=OFF           -DBUILD_opencv_datasets=OFF           -DBUILD_opencv_dnn_objdetect=ON           -DBUILD_opencv_dnns_easily_fooled=OFF           -DBUILD_opencv_dnn_superres=OFF           -DBUILD_opencv_dpm=OFF           -DBUILD_opencv_face=OFF           -DBUILD_opencv_freetype=OFF           -DBUILD_opencv_fuzzy=OFF           -DBUILD_opencv_hdf=OFF           -DBUILD_opencv_hfs=OFF           -DBUILD_opencv_img_hash=OFF           -DBUILD_opencv_line_descriptor=OFF           -DBUILD_opencv_matlab=OFF           -DBUILD_opencv_optflow=OFF           -DBUILD_opencv_ovis=OFF           -DBUILD_opencv_phase_unwrapping=OFF           -DBUILD_opencv_plot=OFF           -DBUILD_opencv_quality=OFF           -DBUILD_opencv_reg=OFF           -DBUILD_opencv_rgbd=OFF           -DBUILD_opencv_saliency=OFF           -DBUILD_opencv_sfm=OFF           -DBUILD_opencv_shape=OFF           -DBUILD_opencv_stereo=OFF           -DBUILD_opencv_structured_light=OFF           -DBUILD_opencv_superres=OFF           -DBUILD_opencv_surface_matching=OFF           -DBUILD_opencv_text=OFF           -DBUILD_opencv_tracking=OFF           -DBUILD_opencv_videostab=OFF           -DBUILD_opencv_viz=OFF           -DBUILD_opencv_xfeatures2d=OFF           -DBUILD_opencv_ximgproc=OFF           -DBUILD_opencv_xobjdetect=OFF           -DBUILD_opencv_xphoto=OFF           -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -std=c++11 -march=armv8-a+simd" ..
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Step 12 : RUN make -j4
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Install the project...
-- Install configuration: "Release"
-- Installing: /usr/share/licenses/opencv4/opencl-headers-LICENSE.txt
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-- Installing: /usr/include/opencv4/opencv2/opencv_modules.hpp
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-- Installing: /usr/bin/setup_vars_opencv4.sh
-- Installing: /usr/share/opencv4/valgrind.supp
-- Installing: /usr/share/opencv4/valgrind_3rdparty.supp
-- Installing: /usr/share/licenses/opencv4/openexr-LICENSE
-- Installing: /usr/share/licenses/opencv4/openexr-AUTHORS.ilmbase
-- Installing: /usr/share/licenses/opencv4/openexr-AUTHORS.openexr
-- Installing: /usr/share/licenses/opencv4/protobuf-LICENSE
-- Installing: /usr/share/licenses/opencv4/protobuf-README.md
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-- Installing: /usr/include/opencv4/opencv2/opencv.hpp
-- Installing: /usr/share/licenses/opencv4/ade-LICENSE
-- Installing: /usr/lib/aarch64-linux-gnu/libopencv_core.so.4.2.0
-- Installing: /usr/lib/aarch64-linux-gnu/libopencv_core.so.4.2
-- Set runtime path of "/usr/lib/aarch64-linux-gnu/libopencv_core.so.4.2.0" to "/usr/lib/aarch64-linux-gnu"
-- Installing: /usr/lib/aarch64-linux-gnu/libopencv_core.so
-- Installing: /usr/include/opencv4/opencv2/core/opencl/ocl_defs.hpp
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-- Installing: /usr/lib/aarch64-linux-gnu/libopencv_imgproc.so.4.2.0
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-- Installing: /usr/lib/aarch64-linux-gnu/libopencv_ml.so.4.2.0
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-- Installing: /usr/lib/aarch64-linux-gnu/libopencv_photo.so.4.2.0
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-- Installing: /usr/include/opencv4/opencv2/photo.hpp
-- Installing: /usr/include/opencv4/opencv2/photo/cuda.hpp
-- Installing: /usr/include/opencv4/opencv2/photo/photo.hpp
-- Installing: /usr/include/opencv4/opencv2/photo/legacy/constants_c.h
-- Installing: /usr/lib/aarch64-linux-gnu/libopencv_dnn.so.4.2.0
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-- Installing: /usr/include/opencv4/opencv2/dnn.hpp
-- Installing: /usr/include/opencv4/opencv2/dnn/all_layers.hpp
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-- Installing: /usr/include/opencv4/opencv2/dnn/shape_utils.hpp
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-- Installing: /usr/include/opencv4/opencv2/dnn/utils/inference_engine.hpp
-- Installing: /usr/lib/aarch64-linux-gnu/libopencv_features2d.so.4.2.0
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-- Installing: /usr/include/opencv4/opencv2/features2d.hpp
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-- Installing: /usr/lib/aarch64-linux-gnu/libopencv_imgcodecs.so.4.2.0
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-- Installing: /usr/lib/aarch64-linux-gnu/libopencv_videoio.so.4.2.0
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-- Installing: /usr/include/opencv4/opencv2/videoio.hpp
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-- Set runtime path of "/usr/lib/aarch64-linux-gnu/libopencv_calib3d.so.4.2.0" to "/usr/lib/aarch64-linux-gnu"
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-- Installing: /usr/include/opencv4/opencv2/calib3d.hpp
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-- Installing: /usr/lib/aarch64-linux-gnu/libopencv_highgui.so.4.2.0
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-- Set runtime path of "/usr/lib/aarch64-linux-gnu/libopencv_highgui.so.4.2.0" to "/usr/lib/aarch64-linux-gnu"
-- Installing: /usr/lib/aarch64-linux-gnu/libopencv_highgui.so
-- Installing: /usr/include/opencv4/opencv2/highgui.hpp
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-- Installing: /usr/include/opencv4/opencv2/highgui/highgui_c.h
-- Installing: /usr/lib/aarch64-linux-gnu/libopencv_objdetect.so.4.2.0
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-- Set runtime path of "/usr/lib/aarch64-linux-gnu/libopencv_objdetect.so.4.2.0" to "/usr/lib/aarch64-linux-gnu"
-- Installing: /usr/lib/aarch64-linux-gnu/libopencv_objdetect.so
-- Installing: /usr/include/opencv4/opencv2/objdetect.hpp
-- Installing: /usr/include/opencv4/opencv2/objdetect/detection_based_tracker.hpp
-- Installing: /usr/include/opencv4/opencv2/objdetect/objdetect.hpp
-- Installing: /usr/lib/aarch64-linux-gnu/libopencv_stitching.so.4.2.0
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-- Installing: /usr/include/opencv4/opencv2/stitching.hpp
-- Installing: /usr/include/opencv4/opencv2/stitching/warpers.hpp
-- Installing: /usr/include/opencv4/opencv2/stitching/detail/autocalib.hpp
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-- Installing: /usr/include/opencv4/opencv2/stitching/detail/motion_estimators.hpp
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-- Installing: /usr/include/opencv4/opencv2/stitching/detail/timelapsers.hpp
-- Installing: /usr/include/opencv4/opencv2/stitching/detail/util.hpp
-- Installing: /usr/include/opencv4/opencv2/stitching/detail/util_inl.hpp
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-- Installing: /usr/lib/aarch64-linux-gnu/libopencv_video.so.4.2.0
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-- Installing: /usr/lib/aarch64-linux-gnu/libopencv_video.so
-- Installing: /usr/include/opencv4/opencv2/video.hpp
-- Installing: /usr/include/opencv4/opencv2/video/background_segm.hpp
-- Installing: /usr/include/opencv4/opencv2/video/tracking.hpp
-- Installing: /usr/include/opencv4/opencv2/video/video.hpp
-- Installing: /usr/include/opencv4/opencv2/video/legacy/constants_c.h
-- Installing: /usr/lib/aarch64-linux-gnu/libopencv_aruco.so.4.2.0
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 ---> fad1ffdee0c0
Removing intermediate container 5c54e3d0e30d
Step 14 : WORKDIR /home/opencv-opencl
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Removing intermediate container 3e41e45cb053
Step 15 : CMD /bin/bash
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Removing intermediate container c893c2dc873e
Successfully built b9b56ba48af3
yocto:/data/docker/opencv-opencl$ swift

 

 

 

 

 

 

 

정상적으로 컴파일일 완료되면 아래 처럼 voxl에서 docker를 실행한다.

yocto:/data/docker/opencv-opencl/examples/examples/fast_corners$  docker run -it --rm --privileged  -v /data/docker/opencv-opencl:/opt/workspace opencv-opencl:opencv

root@5c844b181078:/home/opencv-opencl# 

 

 

 

 

 

 

 

 

root@e6a431cd01bb:/opt/workspace# cd /opt/workspace/examples/examples/fast_corners/

root@e6a431cd01bb:/opt/workspace/examples/examples/fast_corners# 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
-- Found OpenCV: /usr (found version "4.2.0") 
-- Configuring done
-- Generating done
-- Build files have been written to: /opt/workspace/examples/examples/fast_corners

 

 

 


root@e6a431cd01bb:/opt/workspace/examples/examples/fast_corners# make
Scanning dependencies of target fast-corners
[ 50%] Building CXX object CMakeFiles/fast-corners.dir/fast-corners.cpp.o
/opt/workspace/examples/examples/fast_corners/fast-corners.cpp: In function 'int main(int, char**)':
/opt/workspace/examples/examples/fast_corners/fast-corners.cpp:62:26: warning: format '%zu' expects argument of type 'size_t', but argument 4 has type 'int' [-Wformat=]
             diff1.count());
                          ^
/opt/workspace/examples/examples/fast_corners/fast-corners.cpp:77:26: warning: format '%zu' expects argument of type 'size_t', but argument 4 has type 'int' [-Wformat=]
             diff1.count());
                          ^
[100%] Linking CXX executable fast-corners
[100%] Built target fast-corners
root@e6a431cd01bb:/opt/workspace/examples/examples/fast_corners# 

 

root@e6a431cd01bb:/opt/workspace/examples/examples/fast_corners# ls -lart
total 152
-rw-rw-rw-. 1 root root 10720 Jun  1 20:47 walking.jpeg
-rw-rw-rw-. 1 root root  1791 Jun  1 20:47 fast-corners.cpp
-rw-rw-rw-. 1 root root   302 Jun  1 20:47 CMakeLists.txt
drwxrwxr-x. 5 root root  4096 Jun  7 14:09 ..
-rw-r--r--. 1 root root 11843 Jun 12 09:45 CMakeCache.txt
-rw-r--r--. 1 root root  1401 Jun 12 09:45 cmake_install.cmake
-rw-r--r--. 1 root root  5070 Jun 12 09:45 Makefile
drwxrwxr-x. 3 root root  4096 Jun 12 09:46 .
-rwxr-xr-x. 1 root root 98208 Jun 12 09:46 fast-corners
drwxr-xr-x. 5 root root  4096 Jun 12 09:46 CMakeFiles
root@e6a431cd01bb:/opt/workspace/examples/examples/fast_corners# ./fast-corners 
FAST ( 300 x  168), keypoints: 557, time:0.629870 cpu
[ WARN:0] global /home/opencv-opencl/opencv-4.2.0/modules/core/src/utils/filesystem.cpp (489) getCacheDirectory Using world accessible cache directory. This may be not secure: /var/tmp/
FAST ( 300 x  168), keypoints: 557, time:4.672192 gpu
root@e6a431cd01bb:/opt/workspace/examples/examples/fast_corners# 

 

docker가 정상적으로 실행이 되면 docker환경으로 콘솔이 전환된다.

 

 

 

 

 

 

 

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