If I do cross compilation on server host I follow::

• source /home/username/buildtools/enviroment-setup*poky-linux  //Source the tools environment setup script

export SDKTARGETSYSROOT=/opt/sysroots/cortexa9hf-vfp-neon-poky-linux-gnueabi
export PATH=/opt/sysroots/x86_64-pokysdk-linux/usr/bin:/opt/PeterB/sysroots/x86_64-pokysdk-linux/usr/bin/../x86_64-pokysdk-linux/bin:/opt/sysroots/x86_64-pokysdk-linux/usr/bin/arm-poky-linux-gnueabi:/opt/PeterB/sysroots/x86_64-pokysdk-linux/usr/bin/arm-poky-linux-uclibc:/opt/PeterB/sysroots/x86_64-pokysdk-linux/usr/bin/arm-poky-linux-musl:$PATH
export CCACHE_PATH=/opt/PeterB/sysroots/x86_64-pokysdk-linux/usr/bin:/opt/sysroots/x86_64-pokysdk-linux/usr/bin/../x86_64-pokysdk-linux/bin:/opt/sysroots/x86_64-pokysdk-linux/usr/bin/arm-poky-linux-gnueabi:/opt/PeterB/sysroots/x86_64-pokysdk-linux/usr/bin/arm-poky-linux-uclibc:/opt/sysroots/x86_64-pokysdk-linux/usr/bin/arm-poky-linux-musl:$CCACHE_PATH
export PKG_CONFIG_SYSROOT_DIR=$SDKTARGETSYSROOT
export PKG_CONFIG_PATH=$SDKTARGETSYSROOT/usr/lib/pkgconfig
export CONFIG_SITE=/opt/PeterB/site-config-cortexa9hf-vfp-neon-poky-linux-gnueabi
export OECORE_NATIVE_SYSROOT="/opt/PeterB/sysroots/x86_64-pokysdk-linux"
export OECORE_TARGET_SYSROOT="$SDKTARGETSYSROOT"
export OECORE_ACLOCAL_OPTS="-I /opt/sysroots/x86_64-pokysdk-linux/usr/share/aclocal"
export PYTHONHOME=/opt/PeterB/sysroots/x86_64-pokysdk-linux/usr
unset command_not_found_handle
export CC="arm-poky-linux-gnueabi-gcc -march=armv7-a -mfloat-abi=hard -mfpu=neon -mtune=cortex-a9 --sysroot=$SDKTARGETSYSROOT"
export CXX="arm-poky-linux-gnueabi-g++ -march=armv7-a -mfloat-abi=hard -mfpu=neon -mtune=cortex-a9 --sysroot=$SDKTARGETSYSROOT"
export CPP="arm-poky-linux-gnueabi-gcc -E -march=armv7-a -mfloat-abi=hard -mfpu=neon -mtune=cortex-a9 --sysroot=$SDKTARGETSYSROOT"
export AS="arm-poky-linux-gnueabi-as "
export LD="arm-poky-linux-gnueabi-ld --sysroot=$SDKTARGETSYSROOT"
export GDB=arm-poky-linux-gnueabi-gdb
export STRIP=arm-poky-linux-gnueabi-strip
export RANLIB=arm-poky-linux-gnueabi-ranlib
export OBJCOPY=arm-poky-linux-gnueabi-objcopy
export OBJDUMP=arm-poky-linux-gnueabi-objdump
export AR=arm-poky-linux-gnueabi-ar
export NM=arm-poky-linux-gnueabi-nm
export M4=m4
export TARGET_PREFIX=arm-poky-linux-gnueabi-
export CONFIGURE_FLAGS="--target=arm-poky-linux-gnueabi --host=arm-poky-linux-gnueabi --build=x86_64-linux --with-libtool-sysroot=$SDKTARGETSYSROOT"
export CFLAGS=" -O2 -pipe -g -feliminate-unused-debug-types"
export CXXFLAGS=" -O2 -pipe -g -feliminate-unused-debug-types"
export LDFLAGS="-Wl,-O1 -Wl,--hash-style=gnu -Wl,--as-needed"
export CPPFLAGS=""
export KCFLAGS="--sysroot=$SDKTARGETSYSROOT"
export OECORE_DISTRO_VERSION="4.1.15-1.1.1"
export OECORE_SDK_VERSION="4.1.15-1.1.1"
export ARCH=arm
export CROSS_COMPILE=arm-poky-linux-gnueabi-

# Append environment subscripts
if [ -d "$OECORE_TARGET_SYSROOT/environment-setup.d" ]; then
for envfile in $OECORE_TARGET_SYSROOT/environment-setup.d/*.sh; do
source $envfile
done
fi
if [ -d "$OECORE_NATIVE_SYSROOT/environment-setup.d" ]; then
for envfile in $OECORE_NATIVE_SYSROOT/environment-setup.d/*.sh; do
source $envfile
done
fi

• make //helloworld example

APPNAME = helloworld
DESTDIR = ../bin
SRCDIR = ../src

#CXX = $(CROSS_COMPILE)g++
DEL_FILE = rm -rf
CP_FILE = cp -rf

ROOTFS_DIR = $(SDKTARGETSYSROOT)

TARGET_PATH_LIB = $(ROOTFS_DIR)/usr/lib
TARGET_PATH_INCLUDE = $(ROOTFS_DIR)/usr/include
CFLAGS = -DLINUX -DUSE_SOC_MX6 -Wall -O2 -fsigned-char -march=armv7-a -mfpu=neon -mthumb-interwork -mtune=cortex-a9 -mfpu=vfp -mfloat-abi=hard \
-DEGL_API_FB -DGPU_TYPE_VIV -DGL_GLEXT_PROTOTYPES -DENABLE_GPU_RENDER_20 \
-I. -I$(TARGET_PATH_INCLUDE) \
-I$(TARGET_PATH_INCLUDE)/glib-2.0 -I$(TARGET_PATH_LIB)/glib-2.0/include \
-I$(TARGET_PATH_INCLUDE)/libxml2 \

LFLAGS = -Wl,--library-path=$(TARGET_PATH_LIB),-rpath-link=$(TARGET_PATH_LIB) -lm

OBJECTS = $(APPNAME).o

first: all

all: $(APPNAME)

$(APPNAME): $(OBJECTS)
$(CXX) $(LFLAGS) -o $(DESTDIR)/$(APPNAME) $(OBJECTS)

$(APPNAME).o: $(APPNAME).cpp
$(CXX) $(CFLAGS) -c -o $(APPNAME).o $(APPNAME).cpp

clean:
$(DEL_FILE) $(SRCDIR)/$(OBJECTS)
$(DEL_FILE) $(DESTDIR)/$(OBJECTS)
$(DEL_FILE) $(DESTDIR)/*~ $(DESTDIR)/*.core
$(DEL_FILE) $(DESTDIR)/$(APPNAME)

distclean: clean
$(DEL_FILE) $(DESTDIR)/$(APPNAME)

install: all
#${CP_FILE} $(SRCDIR)/$(APPNAME) $(DESTDIR)/$(APPNAME)
#${CP_FILE} $(DESTDIR)/$(APPNAME) $(ROOTFS_DIR)/home/opencv