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Jetson 学习笔记(十二)：CSI摄像头实现rtsp流的传输并对动态获取多路流进行探索

2024-10-18 254
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简介： 本文是关于如何在Jetson设备上使用CSI摄像头实现RTSP流传输的详细教程，包括安装依赖、编译gst-rtsp-server、测试、源代码介绍以及如何动态获取多路流的RTSP服务器。

需求

gcc 版本7.5.0
g++ 版本7.5.0
ubuntu 版本18.04
gst-rtsp-server 版本1.8.0

安装依赖

sudo apt-get install gtk-doc-tools 
sudo apt-get install libgstreamer1.0-0 gstreamer1.0-plugins-base 
sudo apt-get install gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly 
sudo apt-get install gstreamer1.0-libav gstreamer1.0-doc gstreamer1.0-tools 
sudo apt-get install gstreamer1.0-x gstreamer1.0-alsa gstreamer1.0-gl gstreamer1.0-gtk3 gstreamer1.0-qt5 gstreamer1.0-pulseaudio
sudo apt-get install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev

下载、编译gst-rtsp-server

git clone git://anongit.freedesktop.org/gstreamer/gst-rtsp-server
或者
wget https://github.com/GStreamer/gst-rtsp-server/archive/1.8.zip

cd gst-rtsp-server
git checkout remotes/origin/1.8 or git clone https://github.com/GStreamer/common.git
./autogen.sh
make -j4 
sudo make install

//进入demo
cd example

测试

1、切换到examples目录：
cd examples
2、搭建Rtsp Server：
./test-launch "( videotestsrc ! x264enc ! rtph264pay name=pay0 pt=96 )"

直接读取摄像头（笔记本电脑一般自带摄像头，台式机请插入USB摄像头）视频的命令就是它了：
$ ./test-launch "( v4l2src ! video/x-raw-yuv,format='fourcc'YUY2,width=640,height=480 ! ffmpegcolorspace ! x264enc ! rtph264pay name=pay0 pt=96 )"

直接读取CSI摄像头
./test-launch "nvarguscamerasrc ! nvvidconv ! clockoverlay ! omxh264enc ! rtph264pay pt=96 name=pay0"---成功

./test-launch "(  mfw_v4lsrc device=/dev/video0 ! queue ! vpuenc codec=6 ! rtph264pay name=pay0 pt=96 )"---失败

3、播放rtsp流：
gst-launch-1.0 playbin uri=rtsp://127.0.0.1:8554/test
或者直接通过VLC打开以及通过opencv也可以打开

# 发送1
gst-launch-1.0 videotestsrc ! video/x-raw,format=I420 ! omxh264enc ! video/x-h264,stream-format=byte-stream ! rtph264pay mtu=1400 ! udpsink host=127.0.0.1 port=5000

# 接收1
gst-launch-1.0 udpsrc port=5000 ! 'application/x-rtp,encoding-name=(string)H264' ! rtph264depay ! h264parse ! omxh264dec ! nvoverlaysink sync=false async=false 

# 发送2
./test-launch "(videotestsrc ! video/x-raw,format=I420,framerate= 25/1 !  x264enc ! video/x-h264,stream-format=byte-stream ! rtph264pay name=pay0 pt=96)"

# 接收2
gst-launch-1.0 rtspsrc location=rtsp://127.0.01:8554/test ! rtph264depay ! h264parse ! omxh264dec ! nvoverlaysink sync=false async=false

源代码介绍

test-readme.c

#include <gst/gst.h>
#include <gst/rtsp-server/rtsp-server.h>
int main (int argc, char *argv[]) {
     //声明相关对象
      GMainLoop *loop;
      GstRTSPServer *server;
      GstRTSPMountPoints *mounts;
      GstRTSPMediaFactory *factory;

    //构建 rtsp 服务器
      gst_init (&argc, &argv);
      loop = g_main_loop_new (NULL, FALSE);                    // 创建 rtsp 服务器的主消息循环，也是默认的消息循环。
      server = gst_rtsp_server_new ();                        // 创建 rtsp 服务器对象
      mounts = gst_rtsp_server_get_mount_points (server);        // 获取 rtsp 服务器的装载点集合的引用
                                                              // 装载点集合 mounts 是服务器 server 的属性
      factory = gst_rtsp_media_factory_new ();                // 创建媒体工厂，用来产生媒体数据流 
      gst_rtsp_media_factory_set_launch (factory, "( videotestsrc is-live=1 ! x264enc ! rtph264pay name=pay0 pt=96 )");
      gst_rtsp_media_factory_set_shared (factory, TRUE);
      gst_rtsp_mount_points_add_factory (mounts, "/test", factory);    // 把媒体工厂添加到装载点集合
      g_object_unref (mounts);
      gst_rtsp_server_attach (server, NULL);                    // 把服务器附加到默认的消息循环。

      //运行 rtsp 服务器
      g_print ("stream ready at rtsp://127.0.0.1:8554/test\n");
      g_main_loop_run (loop);

      return 0;
}

服务器管理另外四个对象： GstRTSPSessionPool、GstRTSPMountPoints、 GstRTSPAuth 和 GstRTSPThreadPool。

GstRTSPSessionPool 是一个跟踪服务器中所有活动会话的对象。通常会为每个为某个媒体流执行设置请求的客户机保留一个会话。它包含客户端与服务器协商以接收特定流的配置，即UDP使用的传输和端口对以及流的状态。会话池的默认实现通常就足够了，但服务器可以使用替代实现。

GstRTSPMountPoints 对象更有趣，在服务器对象有用之前需要更多的配置。此对象管理从请求URL到特定流的映射及其配置。我们将在下一个主题中解释如何配置此对象。

GstRTSPAuth是对用户进行身份验证并授权用户执行的操作的对象。默认情况下，服务器没有 GstRTSPAuth 对象，因此不会尝试执行任何身份验证或授权。

GstRTSPThreadPool 管理用于客户端连接和媒体管道的线程。服务器有一个线程池的默认实现，在大多数情况下应该足够了。

动态获取多路流的rtsp server

类似example里面的C文件，将你所命名的文件名(C文件)，加在Makefile，Makefile.am,Makefile.in对应位置，直接通过sudo make -j8即可完成修改，将生成对应可执行文件直接./运行即可。

代码1

/* GStreamer
 * Copyright (C) 2008 Wim Taymans <wim.taymans at gmail.com>
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Library General Public
 * License as published by the Free Software Foundation; either
 * version 2 of the License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Library General Public License for more details.
 *
 * You should have received a copy of the GNU Library General Public
 * License along with this library; if not, write to the
 * Free Software Foundation, Inc., 51 Franklin St, Fifth Floor,
 * Boston, MA 02110-1301, USA.
 */

#include <gst/gst.h>

#include <gst/rtsp-server/rtsp-server.h>

int
main (int argc, char *argv[])
{
  GMainLoop *loop;
  GstRTSPServer *server;
  GstRTSPMountPoints *mounts;
  GstRTSPMediaFactory *factory;

  gst_init (&argc, &argv);

  loop = g_main_loop_new (NULL, FALSE);

  /* create a server instance */
  server = gst_rtsp_server_new ();

  /* get the mount points for this server, every server has a default object
   * that be used to map uri mount points to media factories */
  mounts = gst_rtsp_server_get_mount_points (server);

  /* make a media factory for a test stream. The default media factory can use
   * gst-launch syntax to create pipelines. 
   * any launch line works as long as it contains elements named pay%d. Each
   * element with pay%d names will be a stream */
  factory = gst_rtsp_media_factory_new ();
  gst_rtsp_media_factory_set_launch (factory,
      "( nvarguscamerasrc ! video/x-raw(memory:NVMM),width=1280,height=720,framerate=60/1 ! nvvidconv ! clockoverlay halignment=left valignment=top time-format='%Y/%m/%d %H:%M:%S' ! x264enc ! rtph264pay name=pay0 pt=96 )");

  gst_rtsp_media_factory_set_shared (factory, TRUE);

  /* attach the test factory to the /test url */
  gst_rtsp_mount_points_add_factory (mounts, "/test", factory);

  /* don't need the ref to the mapper anymore */
  g_object_unref (mounts);

  /* attach the server to the default maincontext */
  gst_rtsp_server_attach (server, NULL);

  /* start serving */
  g_print ("stream ready at rtsp://127.0.0.1:8554/test\n");
  g_main_loop_run (loop);

  return 0;
}

代码2

/* GStreamer
 * Copyright (C) 2008 Wim Taymans <wim.taymans at gmail.com>
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Library General Public
 * License as published by the Free Software Foundation; either
 * version 2 of the License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Library General Public License for more details.
 *
 * You should have received a copy of the GNU Library General Public
 * License along with this library; if not, write to the
 * Free Software Foundation, Inc., 51 Franklin St, Fifth Floor,
 * Boston, MA 02110-1301, USA.
 */

#include <gst/gst.h>

#include <gst/rtsp-server/rtsp-server.h>

typedef struct
{
  gboolean white;
  GstClockTime timestamp;
} MyContext;

/* called when we need to give data to appsrc */
static void
need_data (GstElement * appsrc, guint unused, MyContext * ctx)
{
  GstBuffer *buffer;
  guint size;
  GstFlowReturn ret;

  size = 385 * 288 * 2;

  buffer = gst_buffer_new_allocate (NULL, size, NULL);

  /* this makes the image black/white */
  gst_buffer_memset (buffer, 0, ctx->white ? 0xff : 0x0, size);

  ctx->white = !ctx->white;

  /* increment the timestamp every 1/2 second */
  GST_BUFFER_PTS (buffer) = ctx->timestamp;
  GST_BUFFER_DURATION (buffer) = gst_util_uint64_scale_int (1, GST_SECOND, 2);
  ctx->timestamp += GST_BUFFER_DURATION (buffer);

  g_signal_emit_by_name (appsrc, "push-buffer", buffer, &ret);
}

/* called when a new media pipeline is constructed. We can query the
 * pipeline and configure our appsrc */
static void
media_configure (GstRTSPMediaFactory * factory, GstRTSPMedia * media,
    gpointer user_data)
{
  GstElement *element, *appsrc;
  MyContext *ctx;

  /* get the element used for providing the streams of the media */
  element = gst_rtsp_media_get_element (media);

  /* get our appsrc, we named it 'mysrc' with the name property */
  appsrc = gst_bin_get_by_name_recurse_up (GST_BIN (element), "mysrc");

  /* this instructs appsrc that we will be dealing with timed buffer */
  gst_util_set_object_arg (G_OBJECT (appsrc), "format", "time");
  /* configure the caps of the video */
  g_object_set (G_OBJECT (appsrc), "caps",
      gst_caps_new_simple ("video/x-raw",
          "format", G_TYPE_STRING, "RGB16",
          "width", G_TYPE_INT, 384,
          "height", G_TYPE_INT, 288,
          "framerate", GST_TYPE_FRACTION, 0, 1, NULL), NULL);

  ctx = g_new0 (MyContext, 1);
  ctx->white = FALSE;
  ctx->timestamp = 0;
  /* make sure ther datais freed when the media is gone */
  g_object_set_data_full (G_OBJECT (media), "my-extra-data", ctx,
      (GDestroyNotify) g_free);

  /* install the callback that will be called when a buffer is needed */
  g_signal_connect (appsrc, "need-data", (GCallback) need_data, ctx);
  gst_object_unref (appsrc);
  gst_object_unref (element);
}

int
main (int argc, char *argv[])
{
  GMainLoop *loop;
  GstRTSPServer *server;
  GstRTSPMountPoints *mounts;
  GstRTSPMediaFactory *factory;

  gst_init (&argc, &argv);

  loop = g_main_loop_new (NULL, FALSE);

  /* create a server instance */
  server = gst_rtsp_server_new ();

  /* get the mount points for this server, every server has a default object
   * that be used to map uri mount points to media factories */
  mounts = gst_rtsp_server_get_mount_points (server);

  /* make a media factory for a test stream. The default media factory can use
   * gst-launch syntax to create pipelines. 
   * any launch line works as long as it contains elements named pay%d. Each
   * element with pay%d names will be a stream */
  factory = gst_rtsp_media_factory_new ();
  gst_rtsp_media_factory_set_launch (factory,
      "( nvarguscamerasrc ! video/x-raw(memory:NVMM),width=1280,height=720,framerate=60/1 ! nvvidconv ! clockoverlay halignment=left valignment=top time-format='%Y/%m/%d %H:%M:%S' ! x264enc ! rtph264pay name=pay0 pt=96 )");

  /* notify when our media is ready, This is called whenever someone asks for
   * the media and a new pipeline with our appsrc is created */
  g_signal_connect (factory, "media-configure", (GCallback) media_configure,
      NULL);

  gst_rtsp_media_factory_set_shared (factory, TRUE);

  /* attach the test factory to the /test url */
  gst_rtsp_mount_points_add_factory (mounts, "/test", factory);

  /* don't need the ref to the mapper anymore */
  g_object_unref (mounts);

  /* attach the server to the default maincontext */
  gst_rtsp_server_attach (server, NULL);

  /* start serving */
  g_print ("stream ready at rtsp://127.0.0.1:8554/test\n");
  g_main_loop_run (loop);

  return 0;
}

代码3

/* GStreamer
 * Copyright (C) 2008 Wim Taymans <wim.taymans at gmail.com>
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Library General Public
 * License as published by the Free Software Foundation; either
 * version 2 of the License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Library General Public License for more details.
 *
 * You should have received a copy of the GNU Library General Public
 * License along with this library; if not, write to the
 * Free Software Foundation, Inc., 51 Franklin St, Fifth Floor,
 * Boston, MA 02110-1301, USA.
 */

#include <gst/gst.h>

#include <gst/rtsp-server/rtsp-server.h>

typedef struct
{
  gboolean white;
  GstClockTime timestamp;
} MyContext;

/* called when we need to give data to appsrc */
static void
need_data (GstElement * appsrc, guint unused, MyContext * ctx)
{
  GstBuffer *buffer;
  guint size;
  GstFlowReturn ret;

  size = 385 * 288 * 2;

  buffer = gst_buffer_new_allocate (NULL, size, NULL);

  /* this makes the image black/white */
  gst_buffer_memset (buffer, 0, ctx->white ? 0xff : 0x0, size);

  ctx->white = !ctx->white;

  /* increment the timestamp every 1/2 second */
  GST_BUFFER_PTS (buffer) = ctx->timestamp;
  GST_BUFFER_DURATION (buffer) = gst_util_uint64_scale_int (1, GST_SECOND, 2);
  ctx->timestamp += GST_BUFFER_DURATION (buffer);

  g_signal_emit_by_name (appsrc, "push-buffer", buffer, &ret);
}

/* called when a new media pipeline is constructed. We can query the
 * pipeline and configure our appsrc */
static void
media_configure (GstRTSPMediaFactory * factory, GstRTSPMedia * media,
    gpointer user_data)
{
  GstElement *element, *appsrc;
  MyContext *ctx;

  /* get the element used for providing the streams of the media */
  element = gst_rtsp_media_get_element (media);

  /* get our appsrc, we named it 'mysrc' with the name property */
  appsrc = gst_bin_get_by_name_recurse_up (GST_BIN (element), "mysrc");

  /* this instructs appsrc that we will be dealing with timed buffer */
  gst_util_set_object_arg (G_OBJECT (appsrc), "format", "time");
  /* configure the caps of the video */
  g_object_set (G_OBJECT (appsrc), "caps",
      gst_caps_new_simple ("video/x-raw",
          "format", G_TYPE_STRING, "RGB16",
          "width", G_TYPE_INT, 384,
          "height", G_TYPE_INT, 288,
          "framerate", GST_TYPE_FRACTION, 0, 1, NULL), NULL);

  ctx = g_new0 (MyContext, 1);
  ctx->white = FALSE;
  ctx->timestamp = 0;
  /* make sure ther datais freed when the media is gone */
  g_object_set_data_full (G_OBJECT (media), "my-extra-data", ctx,
      (GDestroyNotify) g_free);

  /* install the callback that will be called when a buffer is needed */
  g_signal_connect (appsrc, "need-data", (GCallback) need_data, ctx);
  gst_object_unref (appsrc);
  gst_object_unref (element);
}

int
main (int argc, char *argv[])
{
  GMainLoop *loop;
  GstRTSPServer *server;
  GstRTSPMountPoints *mounts;
  GstRTSPMediaFactory *factory;

  gst_init (&argc, &argv);

  loop = g_main_loop_new (NULL, FALSE);

  /* create a server instance */
  server = gst_rtsp_server_new ();

  /* get the mount points for this server, every server has a default object
   * that be used to map uri mount points to media factories */
  mounts = gst_rtsp_server_get_mount_points (server);

  /* make a media factory for a test stream. The default media factory can use
   * gst-launch syntax to create pipelines. 
   * any launch line works as long as it contains elements named pay%d. Each
   * element with pay%d names will be a stream */
  factory = gst_rtsp_media_factory_new ();
  gst_rtsp_media_factory_set_launch (factory,
      "( nvarguscamerasrc ! video/x-raw(memory:NVMM),width=1280,height=720,framerate=60/1 ! nvvidconv ! clockoverlay halignment=left valignment=top time-format='%Y/%m/%d %H:%M:%S' ! x264enc ! rtph264pay name=pay0 pt=96 )");

  /* notify when our media is ready, This is called whenever someone asks for
   * the media and a new pipeline with our appsrc is created */
  g_signal_connect (factory, "media-configure", (GCallback) media_configure,
      NULL);

  gst_rtsp_media_factory_set_shared (factory, TRUE);

  /* attach the test factory to the /test url */
  gst_rtsp_mount_points_add_factory (mounts, "/test", factory);

  /* don't need the ref to the mapper anymore */
  g_object_unref (mounts);

  /* attach the server to the default maincontext */
  gst_rtsp_server_attach (server, NULL);

  /* start serving */
  g_print ("stream ready at rtsp://127.0.0.1:8554/test\n");
  g_main_loop_run (loop);

  return 0;
}

操作命名

获取系统绝对时间

  gst_rtsp_media_factory_set_launch (factory,
      "( nvarguscamerasrc ! video/x-raw(memory:NVMM),width=1280,height=720,framerate=60/1 ! nvvidconv ! clockoverlay halignment=left valignment=top time-format='%Y/%m/%d %H:%M:%S' ! x264enc ! rtph264pay name=pay0 pt=96 )");

在这里插入图片描述

获取系统年月日

  gst_rtsp_media_factory_set_launch (factory,
      "( nvarguscamerasrc ! video/x-raw(memory:NVMM),width=1280,height=720,framerate=60/1 ! nvvidconv ! clockoverlay halignment=left valignment=top time-format='%Y/%m/%d %H:%M:%S' ! x264enc ! rtph264pay name=pay0 pt=96 )");

在这里插入图片描述

错误

  • Error generated. /dvs/git/dirty/git-master_linux/multimedia/nvgstreamer/gst-nvarguscamera/gstnvargus
    解决办法：sudo systemctl restart nvargus-daemon (可以重启nvargus-daemon，重启后程序可以正常运行

)

参考

基于树莓派板子

基于jetson nano

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