How to deal with this error?

[huanghongjiang]

/home/myshare/VIO_SLAM/src/snap_ros_examples/src/nodes/SnapdragonRosNodeVislam.cpp:160:13: error: ‘struct mvCPA_Configuration’ has no member named ‘startExposure’
cpaConfig.startExposure = param.camera_config.exposure;

I have tried many method, but it doesn't work. I have move the mvCPA.h to the /usr/include.

[huanghongjiang]

And there are many same errors, as follows:
/home/myshare/VIO_SLAM/src/snap_ros_examples/src/nodes/SnapdragonRosNodeVislam.cpp:161:13: error: ‘struct mvCPA_Configuration’ has no member named ‘startGain’
cpaConfig.startGain = param.camera_config.gain;
^~~~~~~~~
/home/myshare/VIO_SLAM/src/snap_ros_examples/src/nodes/SnapdragonRosNodeVislam.cpp:162:13: error: ‘struct mvCPA_Configuration’ has no member named ‘filterSize’
cpaConfig.filterSize = 1;
^~~~~~~~~~
/home/myshare/VIO_SLAM/src/snap_ros_examples/src/nodes/SnapdragonRosNodeVislam.cpp:163:13: error: ‘struct mvCPA_Configuration’ has no member named ‘exposureCost’
cpaConfig.exposureCost = 1.0f;
^~~~~~~~~~~~
/home/myshare/VIO_SLAM/src/snap_ros_examples/src/nodes/SnapdragonRosNodeVislam.cpp:164:13: error: ‘struct mvCPA_Configuration’ has no member named ‘gainCost’; did you mean ‘legacyCost’?
cpaConfig.gainCost = 0.3333f;

[b1100111]

Judging by the README, these examples were built for MV v0.9.1 which is no longer available in the archive: https://developer.qualcomm.com/software/machine-vision-sdk/tools

The MV API's have not changed much over the different releases but it appears that you have discovered at least one area where they have (mvCPA). If you want to proceed, someone (hint, hint) will need to update these snap_ros_examples to the latest version of MV.

[huanghongjiang]

I add legacyCost. between cpaConfig and startGain.The other is the same operation.And it can solve above problem.
But there are still other errors, as follows:

/usr/bin/ld: skipping incompatible /home/myshare/qrlSDK/sysroots/eagle8074/usr/lib/libpthread.a when searching for -lpthread
/usr/bin/ld: skipping incompatible /home/myshare/qrlSDK/sysroots/eagle8074/usr/lib/libsensor_imu.so when searching for -lsensor_imu
/usr/bin/ld: skipping incompatible /usr/lib/gcc/aarch64-linux-gnu/7/../../../../lib/libsensor_imu.so when searching for -lsensor_imu
/usr/bin/ld: skipping incompatible /usr/lib/../lib/libsensor_imu.so when searching for -lsensor_imu
/usr/bin/ld: skipping incompatible /usr/lib/gcc/aarch64-linux-gnu/7/../../../libsensor_imu.so when searching for -lsensor_imu
/usr/bin/ld: skipping incompatible //usr/lib/libsensor_imu.so when searching for -lsensor_imu
/usr/bin/ld: cannot find -lsensor_imu
/home/myshare/qrlSDK/sysroots/eagle8074/usr/lib/libcamera.so: error adding symbols: File in wrong format
collect2: error: ld returned 1 exit status
snap_ros_examples/CMakeFiles/snap_vislam_node.dir/build.make:148: recipe for target '/home/myshare/VIO_SLAM/devel/lib/snap_ros_examples/snap_vislam_node' failed
make[3]: *** [/home/myshare/VIO_SLAM/devel/lib/snap_ros_examples/snap_vislam_node] Error 1
CMakeFiles/Makefile2:508: recipe for target 'snap_ros_examples/CMakeFiles/snap_vislam_node.dir/all' failed
make[2]: *** [snap_ros_examples/CMakeFiles/snap_vislam_node.dir/all] Error 2
CMakeFiles/Makefile2:520: recipe for target 'snap_ros_examples/CMakeFiles/snap_vislam_node.dir/rule' failed
make[1]: *** [snap_ros_examples/CMakeFiles/snap_vislam_node.dir/rule] Error 2
Makefile:292: recipe for target 'snap_vislam_node' failed
make: *** [snap_vislam_node] Error 2

I guess that libcamera and libsensensor_imu which in the qrlSDK you provide are broken.

[b1100111]

Nothing was broken and it all linked up and worked on the Snapdragon Flight board. I think it worked on the Flight Pro but do not remember exactly; maybe someone else does. What board are you using?

[huanghongjiang]

I use the Qualcomm Robotics RB5 development kit. this link https://developer.qualcomm.com/qualcomm-robotics-rb5-kit/software-reference-manual/software-architecture said, it includes the Qualcomm Robotics Vision SDK, Qualcomm Computer Vision SDK (FastCV).And it supports Visual inertial odometry (VIO)?

[b1100111]

As far as I can tell, no one has made this repo work with RB5 yet. I am unsure what was meant by the RB5 text you quoted.

[huanghongjiang]

OK，thanks

[johnsmakar]

Is there any update on this working with the RB5?