Optical Flow

BlueOS Extension to support optical flow using an ethernet enabled camera gimbal

Usage

Users should select the Camera Type and update the RTSP URL if different from the default

Push the "Test" button to a snapshot of the live video and optical flow values

Push the "Run" button to enable optical flow including sending MAVLink messages to the vehicle. This setting is persistent

Developer Information

To build and publish for Ubuntu, RPI3, RPI4, RPI5

• Open docker desktop (required only on Windows WSL2 machines)
• docker buildx build --platform linux/amd64,linux/arm/v7,linux/arm64/v8 . -t YOURDOCKERHUBUSER/YOURDOCKERHUBREPO:latest --output type=registry
• login to https://hub.docker.com/repositories/ and confirm the image has appeared

To manually install the extension in BlueOS

• Start BlueOS on RPI, open Chrome browser and connect to BlueOS (e.g. via WifiAP use http://blueos-hotspot.local/, if on same network use http://blueos-avahi.local/)
• Open BlueOS Extensions tab, select Installed
  • Push "+" button on the bottom right
  • Under "Create Extension" fill in these fields
    • Extension Identifier: YOURDOCKERHUBUSER.YOURDOCKERHUBREPO
    • Extension Name: OpticalFlow
    • Docker image: YOURDOCKERHUBUSER/YOURDOCKERHUBREPO
    • Dockertag: latest
    • Settings: add the lines below after replacing the capitalised values with your DockerHub username and repository name

{
  "ExposedPorts": {
    "8000/tcp": {}
  },
  "HostConfig": {
    "Binds":[
      "/usr/blueos/extensions/opticalflow/settings:/app/settings",
      "/usr/blueos/extensions/opticalflow/logs:/app/logs"
      ],
    "CpuQuota": 100000,
    "CpuPeriod": 100000,
    "ExtraHosts": [
      "host.docker.internal:host-gateway"
    ],
    "PortBindings": {
      "8000/tcp": [
        {
          "HostPort": ""
        }
      ]
    }
  }
}

• "OpticalFlow" should appear in list of installed extensions and "Status" should appear as "Up xx seconds"

To test on an Ubuntu PC

• Ensure the PC and camera is on the same ethernet subnet
• Open docker desktop (required only on Windows WSL2 machines)
• docker build -t YOURDOCKERHUBUSER/YOURDOCKERHUBREPO:latest .
• docker run -p 8000:8000 YOURDOCKERHUBUSER/YOURDOCKERHUBREPO:latest
• On docker desktop, Containers, a new image should appear with "Port(s)" field, "8000:8000". Click to open a browser
• Within the web browser the Optical Flow page should appear, set the "IP Address" field to the IP address of the camera