finnal

VideoProsessing/src/main.cpp

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+/*
+本程序用于视频分流
+1.推流摄像头画面至RTSP服务器,交由YOLO模型进行处理
+2.接收YOLO传来的坐标,深度,警报等级等等数据
+3.根据获取到的数据绘制边框和相应数据
+4.将绘制完毕的视频流继续推流至RTSP服务器用于输出
+*/
+
+#include <iostream>
+#include <opencv4/opencv2/opencv.hpp>
+#include <mqtt/async_client.h>
+
+using namespace std;
+using namespace cv;
+using namespace chrono_literals;
+
+int main()
+{
+    VideoCapture cap(0);
+    // 直接传 MJPEG（本身就是全 I 帧）
+    FILE *pipe = popen(
+        "ffmpeg "
+        "-f rawvideo -pixel_format bgr24 -video_size 640x480 -framerate 30 "
+        "-i - "
+        "-c:v h264_rkmpp "
+        "-rc_mode 2 "         // CQP 模式
+        "-qp_init 30 "
+        "-profile baseline "
+        "-g 1 "               // 全 I 帧
+        "-bf 0 "
+        "-coder cavlc "
+        "-8x8dct false "
+        "-fflags nobuffer "
+        "-flags low_delay "
+        "-max_delay 0 "
+        "-f rtsp -muxdelay 0.001 -rtsp_transport udp "
+        "rtsp://192.168.12.1:8554/rtsp/test", "w");
+    
+    if (pipe) {
+        setvbuf(pipe, NULL, _IONBF, 0);  // 添加无缓冲模式
+    }
+    if (!pipe)
+    {
+        cerr << "popen faild\n";
+        return -1;
+    }
+
+    if (cap.isOpened() == false)
+    {
+        cerr << "摄像头打开失败,请重试" << endl;
+        return -1;
+    }
+
+    //  降低分辨率,固定MJPG编码
+    cap.set(CAP_PROP_FOURCC, VideoWriter::fourcc('M', 'J', 'P', 'G'));
+    cap.set(CAP_PROP_FRAME_WIDTH, 640);
+    cap.set(CAP_PROP_FRAME_HEIGHT, 480);
+    cap.set(CAP_PROP_FPS, 30);
+
+    cap.set(CAP_PROP_BUFFERSIZE, 1);
+
+    int64 count = 0;
+    auto t0 = chrono::steady_clock::now();
+
+    Mat frame;
+    while (true)
+    {
+        cap.read(frame);
+        if (frame.empty())
+        {
+            cerr << "读取帧失败" << endl;
+            break;
+        }
+
+        putText(frame, "press 'q' to quit", Point(0, 20), FONT_HERSHEY_SIMPLEX, 1.0, Scalar(0, 255, 0), 2, LINE_8);
+
+        ++count;
+        auto now = chrono::steady_clock::now();
+        string fps;
+        if (chrono::duration_cast<chrono::milliseconds>(now - t0).count() / 1000.0 > 1.0)
+        {
+            fps = "FPS:" + to_string(count);
+            setWindowTitle("测试画面", fps);
+            count = 0;
+            t0 = now;
+        }
+
+        fwrite(frame.data, 1, frame.total() * frame.elemSize(), pipe);
+        fflush(pipe);  // 立即刷新
+        // imshow("测试画面", frame);
+
+        // 按下 'q' 键退出
+        if (cv::waitKey(1) == 'q')
+        {
+            break;
+        }
+    }
+
+    // 释放资源
+    pclose(pipe);
+    cap.release();
+    destroyAllWindows();
+    return 0;
+}

VideoProsessing/src/makefile

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+all: video
+
+PKG_CFLAGS := $(shell pkg-config --cflags opencv4)
+PKG_LIBS   := $(shell pkg-config --libs opencv4)
+
+video: main.cpp
+	g++ -g -o video main.cpp $(PKG_CFLAGS) $(PKG_LIBS) -lpaho-mqttpp3 -lpaho-mqtt3a -lpthread
+	mv video ../bin/
+
+clean:
+	rm -rf ../bin/video