嵌入式上gst rtsp server opencv mat

0 安装gstreamer

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

0.1 查看所有插件

gst-inspect-1.0 -a

0.2安装server

注意一定要加上dev

sudo apt install libgstreamer1.0-dev libgstrtspserver-1.0-dev
git clone https://github.com/GStreamer/gst-rtsp-server.git
cd gst-rtsp-server/
git checkout 1.18
cd examples/
gcc test-launch.c -o test-launch $(pkg-config --cflags --libs gstreamer-rtsp-server-1.0)

0.3查看库装在了何处

ldconfig -p | grep libgstrtspserver

0.4查看某个摄像头

gst-launch-1.0 v4l2src device=/dev/video0 ! video/x-raw, format=NV12, width=640, height=480, framerate=30/1 ! autovideosink

1 基础测试视频

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

int main(int argc, char *argv[]) {
  // 初始化GStreamer
  gst_init(&argc, &argv);

  // 创建RTSP服务器实例
  GstRTSPServer *server = gst_rtsp_server_new();

  // 设置服务器监听端口
  gst_rtsp_server_set_service(server, "8554");

  // 创建媒体映射与工厂
  GstRTSPMountPoints *mounts = gst_rtsp_server_get_mount_points(server);
  GstRTSPMediaFactory *factory = gst_rtsp_media_factory_new();

  // 创建GStreamer管道
  gst_rtsp_media_factory_set_launch(factory,
                                    "( videotestsrc ! video/x-raw,format=(string)I420,width=640,height=480,framerate=(fraction)30/1 ! x264enc ! rtph264pay name=pay0 pt=96 )");

  // 将媒体工厂添加到媒体映射
  gst_rtsp_mount_points_add_factory(mounts, "/test", factory);
  g_object_unref(mounts);

  // 启动RTSP服务器
  gst_rtsp_server_attach(server, NULL);

  // 进入主循环
  GMainLoop *loop = g_main_loop_new(NULL, FALSE);
  g_main_loop_run(loop);

  // 清理资源
  g_main_loop_unref(loop);
  g_object_unref(server);

  return 0;
}

1.1 makefile

cmake_minimum_required(VERSION 3.0)
project(photo_get_project)
set(CMAKE_CXX_STANDARD 11)

#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread -O3 -DNDEBUG")

SET(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -Wall -g -ggdb")
SET(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -O3 -Wall -DNDEBUG")
set(CMAKE_C_FLAGS_RELEASE "$ENV{CXXFLAGS} -O3 -Wall -DNDEBUG")

set(EXECUTABLE_OUTPUT_PATH ${CMAKE_SOURCE_DIR}/bin)
# 设置代码构建级别为 Debug 方式 Debug Release
#set(CMAKE_BUILD_TYPE Release)
message(STATUS "yangshao: ${CMAKE_CXX_FLAGS}" )
message(STATUS "OpenCV Libraries: ${OpenCV_LIBS}")
find_package(OpenCV REQUIRED)

include_directories(/usr/local/opencv4.8/include/opencv4)
include_directories(/usr/include/gstreamer-1.0)
include_directories(/usr/include/glib-2.0)
include_directories(/usr/lib/aarch64-linux-gnu/glib-2.0/include/)
add_executable(test rtspserver.cpp)
target_link_libraries(test PRIVATE  -lgobject-2.0 glib-2.0 gstreamer-1.0 gstapp-1.0 gstrtspserver-1.0)

1.2 结果

打开两个vlc测试

2 发送到rtspserver

#include <gst/gst.h>
#include <gst/app/gstappsrc.h>
#include <opencv2/opencv.hpp>

class VideoSource {
public:
    VideoSource(const char* pipeline_str) {
        pipeline = gst_parse_launch(pipeline_str, NULL);
        appsrc = GST_APP_SRC(gst_bin_get_by_name(GST_BIN(pipeline), "appsrc0"));

        // 设置appsrc属性
        g_object_set(appsrc, "is-live", TRUE, "format", GST_FORMAT_TIME, NULL);
        
        // 连接信号
        g_signal_connect(appsrc, "need-data", G_CALLBACK(OnNeedData), this);
        g_signal_connect(appsrc, "enough-data", G_CALLBACK(OnEnoughData), this);
    }

    ~VideoSource() {
        gst_object_unref(pipeline);
    }

    void Start() {
        gst_element_set_state(pipeline, GST_STATE_PLAYING);
    }

    void Stop() {
        gst_element_set_state(pipeline, GST_STATE_NULL);
    }

private:
    static gboolean OnNeedData(GstElement *element, guint unused_size, gpointer user_data) {
        VideoSource *self = static_cast<VideoSource*>(user_data);
        return self->PushFrame();
    }

    static gboolean OnEnoughData(GstElement *element, gpointer user_data) {
        VideoSource *self = static_cast<VideoSource*>(user_data);
        self->Stop();
        return TRUE;
    }

    gboolean PushFrame() {
        // 从cv::Mat中获取帧
        cv::Mat frame = GetNextFrame();

        // 将cv::Mat转换为GstBuffer
        GstBuffer *buffer = ConvertMatToGstBuffer(frame);

        // 将GstBuffer推送到appsrc
        gst_app_src_push_buffer(GST_APP_SRC(appsrc), buffer);

        // 如果没有更多的帧，停止管道
        if (!HasMoreFrames()) {
            Stop();
            return FALSE;
        }

        return TRUE;
    }

    cv::Mat GetNextFrame() {
        // 在这里实现获取下一帧的逻辑
        // 例如，从文件、网络流或摄像头读取
        // 返回一个cv::Mat对象
    }

    gboolean HasMoreFrames() {
        // 实现检查是否还有更多帧的逻辑
        // 如果没有更多帧，返回FALSE，否则返回TRUE
    }

    GstBuffer *ConvertMatToGstBuffer(cv::Mat &frame) {
        // 将cv::Mat转换为GstBuffer
        // 注意：这只是一个示例实现，你可能需要根据你的帧格式进行调整
        GstBuffer *buffer = gst_buffer_new_wrapped(frame.data, frame.total() * frame.elemSize(), 0, frame.total() * frame.elemSize());
        GstVideoInfo info;
        gst_video_info_set_format(&info, GST_VIDEO_FORMAT_RGBA, frame.cols, frame.rows, frame.step);
        gst_buffer_add_video_meta(buffer, &info, 0, frame.cols * frame.rows * frame.channels());

        return buffer;
    }

    GstElement *pipeline;
    GstElement *appsrc;
};

int main(int argc, char *argv[]) {
    gst_init(&argc, &argv);

    // RTSP Server的GStreamer管道描述
    const char* pipeline_str = 
        "appsrc name=appsrc0 is-live=true format=time "
        "! videoconvert "
        "! x264enc tune=zerolatency bitrate=500 speed-preset=superfast "
        "! rtph264pay config-interval=1 name=pay0 pt=96 "
        "! rtspclientsink location=\"rtsp://localhost:8554/test\"";

    VideoSource source(pipeline_str);
    source.Start();

    // 主循环
    GMainLoop *loop = g_main_loop_new(NULL, FALSE);
    g_main_loop_run(loop);

    g_main_loop_unref(loop);

    return 0;
}

3 需要cv::mat 作为输入源

#include <gst/gst.h>
#include <gst/app/gstappsrc.h>
#include <opencv2/opencv.hpp>

class VideoSource {
public:
    VideoSource(const char* pipeline_str) {
        pipeline = gst_parse_launch(pipeline_str, NULL);
        appsrc = GST_APP_SRC(gst_bin_get_by_name(GST_BIN(pipeline), "appsrc0"));

        // 设置appsrc属性
        g_object_set(appsrc, "is-live", TRUE, "format", GST_FORMAT_TIME, NULL);
        
        // 连接信号
        g_signal_connect(appsrc, "need-data", G_CALLBACK(OnNeedData), this);
        g_signal_connect(appsrc, "enough-data", G_CALLBACK(OnEnoughData), this);
    }

    ~VideoSource() {
        gst_object_unref(pipeline);
    }

    void Start() {
        gst_element_set_state(pipeline, GST_STATE_PLAYING);
    }

    void Stop() {
        gst_element_set_state(pipeline, GST_STATE_NULL);
    }

private:
    static gboolean OnNeedData(GstElement *element, guint unused_size, gpointer user_data) {
        VideoSource *self = static_cast<VideoSource*>(user_data);
        return self->PushFrame();
    }

    static gboolean OnEnoughData(GstElement *element, gpointer user_data) {
        VideoSource *self = static_cast<VideoSource*>(user_data);
        self->Stop();
        return TRUE;
    }

    gboolean PushFrame() {
        // 从cv::Mat中获取帧
        cv::Mat frame = GetNextFrame();

        // 将cv::Mat转换为GstBuffer
        GstBuffer *buffer = ConvertMatToGstBuffer(frame);

        // 将GstBuffer推送到appsrc
        gst_app_src_push_buffer(GST_APP_SRC(appsrc), buffer);

        // 如果没有更多的帧，停止管道
        if (!HasMoreFrames()) {
            Stop();
            return FALSE;
        }

        return TRUE;
    }

    cv::Mat GetNextFrame() {
        // 在这里实现获取下一帧的逻辑
        // 例如，从文件、网络流或摄像头读取
        // 返回一个cv::Mat对象
    }

    gboolean HasMoreFrames() {
        // 实现检查是否还有更多帧的逻辑
        // 如果没有更多帧，返回FALSE，否则返回TRUE
    }

    GstBuffer *ConvertMatToGstBuffer(cv::Mat &frame) {
        // 将cv::Mat转换为GstBuffer
        // 注意：这只是一个示例实现，你可能需要根据你的帧格式进行调整
        GstBuffer *buffer = gst_buffer_new_wrapped(frame.data, frame.total() * frame.elemSize(), 0, frame.total() * frame.elemSize());
        GstVideoInfo info;
        gst_video_info_set_format(&info, GST_VIDEO_FORMAT_RGBA, frame.cols, frame.rows, frame.step);
        gst_buffer_add_video_meta(buffer, &info, 0, frame.cols * frame.rows * frame.channels());

        return buffer;
    }

    GstElement *pipeline;
    GstElement *appsrc;
};

int main(int argc, char *argv[]) {
    gst_init(&argc, &argv);

    // RTSP Server的GStreamer管道描述
    const char* pipeline_str = 
        "appsrc name=appsrc0 is-live=true format=time "
        "! videoconvert "
        "! x264enc tune=zerolatency bitrate=500 speed-preset=superfast "
        "! rtph264pay config-interval=1 name=pay0 pt=96 "
        "! rtspclientsink location=\"rtsp://localhost:8554/test\"";

    VideoSource source(pipeline_str);
    source.Start();

    // 主循环
    GMainLoop *loop = g_main_loop_new(NULL, FALSE);
    g_main_loop_run(loop);

    g_main_loop_unref(loop);

    return 0;
}

4 自身需要作为rtspserver

#include <gst/gst.h>
#include <gst/app/gstappsrc.h>
#include <gst/rtsp-server/gst-rtsp-server.h>
#include <opencv2/opencv.hpp>

class RtspsServerApp {
public:
    RtspsServerApp() {
        gst_init(NULL, NULL);
        pipeline = gst_pipeline_new("pipeline");

        appsrc = gst_element_factory_make("appsrc", "appsrc0");
        g_object_set(appsrc, "is-live", TRUE, "format", GST_FORMAT_TIME, NULL);
        g_signal_connect(appsrc, "need-data", G_CALLBACK(OnNeedData), this);
        g_signal_connect(appsrc, "enough-data", G_CALLBACK(OnEnoughData), this);

        videoconvert = gst_element_factory_make("videoconvert", "videoconvert");
        x264enc = gst_element_factory_make("x264enc", "x264enc");
        rtph264pay = gst_element_factory_make("rtph264pay", "rtph264pay");
        queue = gst_element_factory_make("queue", "queue");

        gst_bin_add_many(GST_BIN(pipeline), appsrc, videoconvert, x264enc, rtph264pay, queue, NULL);
        gst_element_link_many(appsrc, videoconvert, x264enc, rtph264pay, queue, NULL);

        // Create the RTSP server and mount points
        server = gst_rtsp_server_new();
        mounts = gst_rtsp_server_get_mount_points(server);
        factory = gst_rtsp_media_factory_new();
        g_object_set(factory, "media-type", "video", NULL);
        g_object_set(factory, "caps", gst_pad_get_pad_template_caps(GST_ELEMENT(queue)->sinkpad), NULL);

        // Set up the launch string for the factory
        gchar *launch = g_strdup_printf("( appsrc name=source ! videoconvert ! x264enc ! rtph264pay name=pay0 pt=96 )");
        gst_rtsp_media_factory_set_launch(factory, launch);
        g_free(launch);

        gst_rtsp_mount_points_add_factory(mounts, "/stream", factory);

        // Attach the server
        gst_rtsp_server_attach(server, NULL);
    }

    ~RtspsServerApp() {
        gst_rtsp_server_detach(server);
        gst_object_unref(mounts);
        gst_object_unref(factory);
        gst_object_unref(server);
        gst_object_unref(pipeline);
    }

    void Start() {
        gst_element_set_state(pipeline, GST_STATE_PLAYING);
    }

    void Stop() {
        gst_element_set_state(pipeline, GST_STATE_NULL);
    }

private:
    static gboolean OnNeedData(GstElement *element, guint unused_size, gpointer user_data) {
        RtspsServerApp *self = static_cast<RtspsServerApp*>(user_data);
        return self->PushFrame();
    }

    static gboolean OnEnoughData(GstElement *element, gpointer user_data) {
        RtspsServerApp *self = static_cast<RtspsServerApp*>(user_data);
        self->Stop();
        return TRUE;
    }

    gboolean PushFrame() {
        // 假设这里你已经有了一个cv::Mat对象
        cv::Mat frame = GetNextFrame();

        // 将cv::Mat转换为GstBuffer
        GstBuffer *buffer = ConvertMatToGstBuffer(frame);

        // 将GstBuffer推送到appsrc
        gst_app_src_push_buffer(GST_APP_SRC(appsrc), buffer);

        return TRUE;
    }

    cv::Mat GetNextFrame() {
        // 实现获取下一帧的逻辑
        // 返回一个cv::Mat对象
    }

    GstBuffer *ConvertMatToGstBuffer(cv::Mat &frame) {
        // 将cv::Mat转换为GstBuffer
        // 注意：这只是一个示例实现，你可能需要根据你的帧格式进行调整
        GstBuffer *buffer = gst_buffer_new_wrapped(frame.data, frame.total() * frame.elemSize(), 0, frame.total() * frame.elemSize());
        GstVideoInfo info;
        gst_video_info_set_format(&info, GST_VIDEO_FORMAT_I420, frame.cols, frame.rows, frame.step);
        gst_buffer_add_video_meta(buffer, &info, 0, frame.cols * frame.rows * frame.channels());

        return buffer;
    }

    GstElement *pipeline;
    GstElement *appsrc;
    GstElement *videoconvert;
    GstElement *x264enc;
    GstElement *rtph264pay;
    GstElement *queue;

    GstRTSPServer *server;
    GstRTSPMountPoints *mounts;
    GstRTSPMediaFactory *factory;
};

int main(int argc, char *argv[]) {
    RtspsServerApp app;
    app.Start();

    // 主循环
    GMainLoop *loop = g_main_loop_new(NULL, FALSE);
    g_main_loop_run(loop);

    g_main_loop_unref(loop);

    return 0;
}