一套rk3588 rtsp服务器推流的 github 方案及记录 -03(完结) opencv 解码记录 解码库使用的时候发现瑞芯微以前做过解码库对ffmpeg和gstreamer的支持 然后最近实在不想再调试Rtsp浪费时间了，就从这中间找了一个比较快的方案 ffmpeg 带硬解码库编译 编译流程参考文献 https://blog..net/T__zxt/article/details/123424359 编译的ffmpeg是这个版本 https://github.com/jjm2473 安装了下面这些东西： sudo apt-get -y install \ autoconf \ automake \ build-essential \ cmake \ git-core \ libass-dev \ libfreetype6-dev \ libsdl2-dev \ libtool \ libva-dev \ libvdpau-dev \ libvorbis-dev \ libxcb1-dev \ libxcb-shm0-dev \ libxcb-xfixes0-dev \ pkg-config \ texinfo \ wget \ zlib1g-dev 编译选项参考的是这哥们的语句： https://www.reddit.com/r/OrangePI/comments/14f725v/comment/jpcezy2/?context=3 下面这句话，哪个不能用删哪个，一定要有的是 --enable-rkmpp ./configure --enable-nonfree --enable-gpl --enable-version3 --enable-libx264 --enable-libdrm --enable-rkmpp --enable-librtmp --enable-shared --enable-static --enable-librga --enable-libx265 --enable-libmp3lame --enable-libpulse --enable-openssl --enable-libopus --enable-libvorbis # 我最后用的 应该是 sudo apt-get -y install autoconf automake build-essential cmake git-core libass-dev libfreetype6-dev libsdl2-dev libtool libva-dev libvdpau-dev libvorbis-dev libxcb1-dev libxcb-shm0-dev libxcb-xfixes0-dev pkg-config texinfo wget zlib1g-dev ./configure --enable-nonfree --enable-gpl --enable-version3 --enable-libx264 --enable-libdrm --enable-rkmpp --enable-shared --enable-static --enable-librga --enable-libx265 --enable-libpulse --enable-openssl --enable-libvorbis 使用板上编译的时候记得多等一会，有点慢，不要急 编译出来的结果需要使用下面的语句去看ffmpeg是否正常 ffmpeg -decoders |grep h264 如果编译之后，ffmpeg不支持， 修改 sudo vim /etc/ld.so.conf include /etc/ld.so.conf.d/*.conf /usr/local/lib 打开之前ldd看一眼是不是所有的链接库都找到地方了 ffmpeg-rk-enc-5.1$ ldd ffmpeg linux-vdso.so.1 (0x0000007fbb328000) libavdevice.so.59 => /usr/local/lib/libavdevice.so.59 (0x0000007fbb230000) libavfilter.so.8 => /usr/local/lib/libavfilter.so.8 (0x0000007fbae60000) libavformat.so.59 => /usr/local/lib/libavformat.so.59 (0x0000007fbabe0000) libavcodec.so.59 => /usr/local/lib/libavcodec.so.59 (0x0000007fb9ae0000) libpostproc.so.56 => /usr/local/lib/libpostproc.so.56 (0x0000007fb9ac0000) libswresample.so.4 => /usr/local/lib/libswresample.so.4 (0x0000007fb9a90000) libswscale.so.6 => /usr/local/lib/libswscale.so.6 (0x0000007fb9a10000) libavutil.so.57 => /usr/local/lib/libavutil.so.57 (0x0000007fb9830000) libm.so.6 => /lib/aarch64-linux-gnu/libm.so.6 (0x0000007fb9790000) libc.so.6 => /lib/aarch64-linux-gnu/libc.so.6 (0x0000007fb95e0000) /lib/ld-linux-aarch64.so.1 (0x0000007fbb2ef000) libdrm.so.2 => /lib/aarch64-linux-gnu/libdrm.so.2 (0x0000007fb95b0000) libxcb.so.1 => /lib/aarch64-linux-gnu/libxcb.so.1 (0x0000007fb9570000) libxcb-shm.so.0 => /lib/aarch64-linux-gnu/libxcb-shm.so.0 (0x0000007fb9550000) libxcb-shape.so.0 => /lib/aarch64-linux-gnu/libxcb-shape.so.0 (0x0000007fb9530000) libxcb-xfixes.so.0 => /lib/aarch64-linux-gnu/libxcb-xfixes.so.0 (0x0000007fb9510000) libasound.so.2 => /lib/aarch64-linux-gnu/libasound.so.2 (0x0000007fb93f0000) libpulse.so.0 => /lib/aarch64-linux-gnu/libpulse.so.0 (0x0000007fb9390000) libSDL2-2.0.so.0 => /lib/aarch64-linux-gnu/libSDL2-2.0.so.0 (0x0000007fb91f0000) libsndio.so.7 => /lib/aarch64-linux-gnu/libsndio.so.7 (0x0000007fb91c0000) libXv.so.1 => /lib/aarch64-linux-gnu/libXv.so.1 (0x0000007fb91a0000) libX11.so.6 => /lib/aarch64-linux-gnu/libX11.so.6 (0x0000007fb9050000) libXext.so.6 => /lib/aarch64-linux-gnu/libXext.so.6 (0x0000007fb9020000) libavrkmpp.so.1 => /usr/local/lib/libavrkmpp.so.1 (0x0000007fb9000000) libva.so.2 => /lib/aarch64-linux-gnu/libva.so.2 (0x0000007fb8fc0000) libz.so.1 => /lib/aarch64-linux-gnu/libz.so.1 (0x0000007fb8f90000) libssl.so.3 => /lib/aarch64-linux-gnu/libssl.so.3 (0x0000007fb8ee0000) libcrypto.so.3 => /lib/aarch64-linux-gnu/libcrypto.so.3 (0x0000007fb8af0000) liblzma.so.5 => /lib/aarch64-linux-gnu/liblzma.so.5 (0x0000007fb8ab0000) librockchip_mpp.so.1 => /lib/aarch64-linux-gnu/librockchip_mpp.so.1 (0x0000007fb88b0000) libvorbis.so.0 => /lib/aarch64-linux-gnu/libvorbis.so.0 (0x0000007fb8870000) libvorbisenc.so.2 => /lib/aarch64-linux-gnu/libvorbisenc.so.2 (0x0000007fb87b0000) libx264.so.163 => /lib/aarch64-linux-gnu/libx264.so.163 (0x0000007fb8560000) libx265.so.199 => /lib/aarch64-linux-gnu/libx265.so.199 (0x0000007fb82a0000) librga.so.2 => /lib/aarch64-linux-gnu/librga.so.2 (0x0000007fb8270000) libva-drm.so.2 => /lib/aarch64-linux-gnu/libva-drm.so.2 (0x0000007fb8250000) libva-x11.so.2 => /lib/aarch64-linux-gnu/libva-x11.so.2 (0x0000007fb8230000) libvdpau.so.1 => /lib/aarch64-linux-gnu/libvdpau.so.1 (0x0000007fb8210000) libXau.so.6 => /lib/aarch64-linux-gnu/libXau.so.6 (0x0000007fb81f0000) libXdmcp.so.6 => /lib/aarch64-linux-gnu/libXdmcp.so.6 (0x0000007fb81d0000) libpulsecommon-15.99.so => /usr/lib/aarch64-linux-gnu/pulseaudio/libpulsecommon-15.99.so (0x0000007fb8140000) libdbus-1.so.3 => /lib/aarch64-linux-gnu/libdbus-1.so.3 (0x0000007fb80e0000) libXcursor.so.1 => /lib/aarch64-linux-gnu/libXcursor.so.1 (0x0000007fb80c0000) libXinerama.so.1 => /lib/aarch64-linux-gnu/libXinerama.so.1 (0x0000007fb80a0000) libXi.so.6 => /lib/aarch64-linux-gnu/libXi.so.6 (0x0000007fb8070000) libXfixes.so.3 => /lib/aarch64-linux-gnu/libXfixes.so.3 (0x0000007fb8050000) libXrandr.so.2 => /lib/aarch64-linux-gnu/libXrandr.so.2 (0x0000007fb8030000) libXss.so.1 => /lib/aarch64-linux-gnu/libXss.so.1 (0x0000007fb8010000) libXxf86vm.so.1 => /lib/aarch64-linux-gnu/libXxf86vm.so.1 (0x0000007fb7ff0000) libgbm.so.1 => /lib/aarch64-linux-gnu/libgbm.so.1 (0x0000007fb7fd0000) libwayland-egl.so.1 => /lib/aarch64-linux-gnu/libwayland-egl.so.1 (0x0000007fb7fb0000) libwayland-client.so.0 => /lib/aarch64-linux-gnu/libwayland-client.so.0 (0x0000007fb7f90000) libwayland-cursor.so.0 => /lib/aarch64-linux-gnu/libwayland-cursor.so.0 (0x0000007fb7f70000) libxkbcommon.so.0 => /lib/aarch64-linux-gnu/libxkbcommon.so.0 (0x0000007fb7f10000) libdecor-0.so.0 => /lib/aarch64-linux-gnu/libdecor-0.so.0 (0x0000007fb7ef0000) libbsd.so.0 => /lib/aarch64-linux-gnu/libbsd.so.0 (0x0000007fb7ec0000) libstdc++.so.6 => /lib/aarch64-linux-gnu/libstdc++.so.6 (0x0000007fb7c90000) libogg.so.0 => /lib/aarch64-linux-gnu/libogg.so.0 (0x0000007fb7c70000) libnuma.so.1 => /lib/aarch64-linux-gnu/libnuma.so.1 (0x0000007fb7c40000) libgcc_s.so.1 => /lib/aarch64-linux-gnu/libgcc_s.so.1 (0x0000007fb7c10000) libsndfile.so.1 => /lib/aarch64-linux-gnu/libsndfile.so.1 (0x0000007fb7b80000) libX11-xcb.so.1 => /lib/aarch64-linux-gnu/libX11-xcb.so.1 (0x0000007fb7b60000) libsystemd.so.0 => /lib/aarch64-linux-gnu/libsystemd.so.0 (0x0000007fb7a80000) libasyncns.so.0 => /lib/aarch64-linux-gnu/libasyncns.so.0 (0x0000007fb7a60000) libapparmor.so.1 => /lib/aarch64-linux-gnu/libapparmor.so.1 (0x0000007fb7a30000) libXrender.so.1 => /lib/aarch64-linux-gnu/libXrender.so.1 (0x0000007fb7a10000) libwayland-server.so.0 => /lib/aarch64-linux-gnu/libwayland-server.so.0 (0x0000007fb79e0000) libexpat.so.1 => /lib/aarch64-linux-gnu/libexpat.so.1 (0x0000007fb79a0000) libffi.so.8 => /lib/aarch64-linux-gnu/libffi.so.8 (0x0000007fb7980000) libmd.so.0 => /lib/aarch64-linux-gnu/libmd.so.0 (0x0000007fb7960000) libFLAC.so.8 => /lib/aarch64-linux-gnu/libFLAC.so.8 (0x0000007fb7910000) libopus.so.0 => /lib/aarch64-linux-gnu/libopus.so.0 (0x0000007fb78a0000) libzstd.so.1 => /opt/ros/humble/lib/libzstd.so.1 (0x0000007fb7810000) liblz4.so.1 => /lib/aarch64-linux-gnu/liblz4.so.1 (0x0000007fb77e0000) libcap.so.2 => /lib/aarch64-linux-gnu/libcap.so.2 (0x0000007fb77c0000) libgcrypt.so.20 => /lib/aarch64-linux-gnu/libgcrypt.so.20 (0x0000007fb76d0000) libgpg-error.so.0 => /lib/aarch64-linux-gnu/libgpg-error.so.0 (0x0000007fb7690000) 至此，编译好了一个支持硬件解码的ffmpeg，记得make install ，然后去编译opencv,让opencv支持ffmpeg opencv编译带硬解码ffmpeg 原来的opencv是这样的： OpenCV FFmpeg version: General configuration for OpenCV 4.5.5 ===================================== Version control: unknown Platform: Timestamp: 2023-09-25T04:22:20Z Host: Linux 5.10.110-rockchip-rk3588 aarch64 CMake: 3.22.1 CMake generator: Unix Makefiles CMake build tool: /usr/bin/gmake Configuration: Release CPU/HW features: Baseline: NEON FP16 C/C++: Built as dynamic libs?: YES C++ standard: 11 C++ Compiler: /usr/bin/c++ (ver 11.4.0) C++ flags (Release): -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Wsuggest-override -Wno-delete-non-virtual-dtor -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections -fvisibility=hidden -fvisibility-inlines-hidden -O3 -DNDEBUG -DNDEBUG C++ flags (Debug): -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Wsuggest-override -Wno-delete-non-virtual-dtor -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections -fvisibility=hidden -fvisibility-inlines-hidden -g -O0 -DDEBUG -D_DEBUG C Compiler: /usr/bin/cc C flags (Release): -fsigned-char -W -Wall -Werror=return-type -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wuninitialized -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections -fvisibility=hidden -O3 -DNDEBUG -DNDEBUG C flags (Debug): -fsigned-char -W -Wall -Werror=return-type -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wuninitialized -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections -fvisibility=hidden -g -O0 -DDEBUG -D_DEBUG Linker flags (Release): -Wl,--gc-sections -Wl,--as-needed Linker flags (Debug): -Wl,--gc-sections -Wl,--as-needed ccache: NO Precompiled headers: NO Extra dependencies: dl m pthread rt 3rdparty dependencies: OpenCV modules: To be built: calib3d core dnn features2d flann gapi highgui imgcodecs imgproc ml objdetect photo python3 stitching ts video videoio Disabled: world Disabled by dependency: - Unavailable: java python2 Applications: tests perf_tests apps Documentation: NO Non-free algorithms: NO GUI: QT5 QT: YES (ver 5.15.3 ) QT OpenGL support: YES (Qt5::OpenGL 5.15.3) GTK+: YES (ver 3.24.33) GThread : YES (ver 2.72.4) GtkGlExt: NO OpenGL support: YES (/usr/lib/aarch64-linux-gnu/libGL.so /usr/lib/aarch64-linux-gnu/libGLU.so) VTK support: YES (ver 9.1.0) Media I/O: ZLib: /usr/lib/aarch64-linux-gnu/libz.so (ver 1.2.11) JPEG: /usr/lib/aarch64-linux-gnu/libjpeg.so (ver 80) WEBP: /usr/lib/aarch64-linux-gnu/libwebp.so (ver encoder: 0x020f) PNG: /lib/libpng.so (ver 1.6.37) TIFF: /usr/lib/aarch64-linux-gnu/libtiff.so (ver 42 / 4.3.0) JPEG 2000: OpenJPEG (ver 2.4.0) OpenEXR: /usr/lib/aarch64-linux-gnu/libImath-2_5.so /usr/lib/aarch64-linux-gnu/libIlmImf-2_5.so /usr/lib/aarch64-linux-gnu/libIex-2_5.so /usr/lib/aarch64-linux-gnu/libHalf-2_5.so /usr/lib/aarch64-linux-gnu/libIlmThread-2_5.so (ver 2_5) HDR: YES SUNRASTER: YES PXM: YES PFM: YES Video I/O: DC1394: YES (2.2.6) FFMPEG: YES avcodec: YES (58.134.100) avformat: YES (58.76.100) avutil: YES (56.70.100) swscale: YES (5.9.100) avresample: NO GStreamer: YES (1.20.3) v4l/v4l2: YES (linux/videodev2.h) Parallel framework: pthreads Trace: YES (with Intel ITT) Other third-party libraries: Lapack: NO Eigen: YES (ver 3.4.0) Custom HAL: YES (carotene (ver 0.0.1)) Protobuf: build (3.19.1) OpenCL: YES (no extra features) Include path: /home/orangepi/opencv-4.5.5/3rdparty/include/opencl/1.2 Link libraries: Dynamic load Python 3: Interpreter: /usr/bin/python3 (ver 3.10.12) Libraries: /usr/lib/aarch64-linux-gnu/libpython3.10.so (ver 3.10.12) numpy: /usr/lib/python3/dist-packages/numpy/core/include (ver 1.21.5) install path: lib/python3.10/dist-packages/cv2/python-3.10 Python (for build): /usr/bin/python2.7 Java: ant: NO JNI: /usr/lib/jvm/default-java/include /usr/lib/jvm/default-java/include/linux /usr/lib/jvm/default-java/include Java wrappers: NO Java tests: NO Install to: /usr/local opencv 4.5.5来讲，这个ffmpeg太新了，编译不过。只能以毒攻毒，去下了opencv4.8.0 回头把这个打包上传到资源，防止它小更新不能用 4.8.0是编译通过的 一样也是板端编译，cmake-gui配置,然后去build文件夹下面 make make install 参考文献： https://blog..net/Flag_ing/article/details/109508374 注意 ，如果使用qt，一定要把qt勾选，否则在qt里运行会报错 还有opencl他也不是自动勾选的 其他的应该随意 然后去创建工程使用、测试opencv是不是能正常用 测试代码 // RTSP Server #include "xop/RtspServer.h" #include "net/Timer.h" #include #include #include #include #include #include #include // 编码库 #include // 解码库 #include // 海康拉流库 #include "HCNetSDK.h" #include #include "yolo.h" // 查看264 二进制 文件 #include #include using namespace std; using namespace cv; // 定义一个缓冲池结构体 struct Buffer { Mat buf1; Mat buf2; }; // 定义互斥锁 std::mutex mymutex; Buffer matBuf; VideoCapture videocapture; int captureOpen = 0; / * @brief 读图 * * @return Mat */ Mat captureThread() { string rtspIN = "rtsp://admin:s745112822@192.168.2.110:554/h264/ch0/main/av_stream"; if (captureOpen == 0 ) { videocapture.open(rtspIN,CAP_FFMPEG); captureOpen = 1; //打开图像 // capture.open(url); } while (1) { //加锁 mymutex.lock(); // buf2->buf1 if(matBuf.buf1.empty()) videocapture.read(matBuf.buf1); else if(matBuf.buf2.empty()) videocapture.read(matBuf.buf2); else{ matBuf.buf1 = matBuf.buf2; videocapture.read(matBuf.buf2); } // 没有读到数据 网络问题 重启rtsp if(matBuf.buf1.empty()){ videocapture.release(); videocapture.open(rtspIN,CAP_FFMPEG); } //读图成功 // imgready = true; //解锁 mymutex.unlock(); xop::Timer::Sleep(10); } } void writeCharPointerToFile(const char* data, std::size_t size, const std::string& filename) { // 打开文件 std::ofstream file(filename, ios::binary); // 检查文件是否成功打开 if (!file.is_open()) { std::cerr << "无法打开文件: " << filename << std::endl; return; } // 写入数据 file.write(data, size); // 关闭文件 file.close(); } bool IsKeyFrame(const char* data, uint32_t size) { if (size > 4) { //0x67:sps ,0x65:IDR, 0x6: SEI if (data[4] == 0x67 || data[4] == 0x65 || data[4] == 0x6 || data[4] == 0x27) { return true; } } return false; } // encoder e ; void SendFrameThread(xop::RtspServer* rtsp_server, xop::MediaSessionId session_id, int& clients); int main(int argc, char argv) { // 读图线程 thread t1(captureThread); int clients = 1; std::string ip = "0.0.0.0"; std::string rtsp_url = "rtsp://127.0.0.1:5514/live"; // e.init(); std::shared_ptr event_loop(new xop::EventLoop()); std::shared_ptr server = xop::RtspServer::Create(event_loop.get()); if (!server->Start(ip, 5514)) { return -1; } #ifdef AUTH_CONFIG server->SetAuthConfig("-_-", "admin", "12345"); #endif xop::MediaSession *session = xop::MediaSession::CreateNew("live"); // url: rtsp://ip/live session->AddSource(xop::channel_0, xop::H264Source::CreateNew()); session->AddSource(xop::channel_1, xop::AACSource::CreateNew(44100,2)); // session->startMulticast(); /* 开启组播(ip,端口随机生成), 默认使用 RTP_OVER_UDP, RTP_OVER_RTSP */ session->AddNotifyConnectedCallback([] (xop::MediaSessionId sessionId, std::string peer_ip, uint16_t peer_port){ printf("RTSP client connect, ip=%s, port=%hu \n", peer_ip.c_str(), peer_port); }); session->AddNotifyDisconnectedCallback([](xop::MediaSessionId sessionId, std::string peer_ip, uint16_t peer_port) { printf("RTSP client disconnect, ip=%s, port=%hu \n", peer_ip.c_str(), peer_port); }); std::cout << "URL: " << rtsp_url << std::endl; xop::MediaSessionId session_id = server->AddSession(session); //server->removeMeidaSession(session_id); /* 取消会话, 接口线程安全 */ std::thread thread(SendFrameThread, server.get(), session_id, std::ref(clients)); thread.detach(); while(1) { xop::Timer::Sleep(100); } getchar(); return 0; } void SendFrameThread(xop::RtspServer* rtsp_server, xop::MediaSessionId session_id, int& clients) { encoder e; // decoder d; // cv::VideoCapture *videocapture = new cv::VideoCapture(0); // std::string rtspIN = "rtsp://admin:s745112822@192.168.2.110:554/h264/ch1/sub/av_stream"; // yolo处理 // char* modelname = "/home/orangepi/code/realsense/cap2/yolov5s-640-640.rknn"; // yolo yolo5; // yolo5.load_model(modelname); // yolo5.model_init(); // decoder相关 结果回传 // d.init(); std::vector resultArray; int lenofmat = 0; // encoder相关 内存拷贝 int size = 0; char* buffer ; cv::Mat colorBar; int i = 0; while(1) { if(clients > 0) /* 会话有客户端在线, 发送音视频数据 */ { { xop::AVFrame videoFrame = {0}; // opencv 拿图 后续需要优化 auto start_time = std::chrono::high_resolution_clock::now(); // videocapture->read(colorBar); // 拿图 while(matBuf.buf1.empty()); mymutex.lock(); colorBar = matBuf.buf1; matBuf.buf1 = matBuf.buf2; matBuf.buf2.release(); mymutex.unlock(); auto end_time1 = std::chrono::high_resolution_clock::now(); // d.poststream("264stream pointer",lenofmat,resultArray); // printf("width is %d, height is %d",colorBar.rows,colorBar.cols); // yolo 处理 // yolo5.load_Mat(colorBar); // yolo5.run(); // colorBar = yolo5.getPicResult(); auto end_time2 = std::chrono::high_resolution_clock::now(); if(0==i){ // 第一帧有sps信息 给他两帧拼一起 char *buffer1; int size1; e.init(buffer1,size1); videoFrame.size = size1; e.postAframe(colorBar,buffer,size); videoFrame.size += size; videoFrame.buffer.reset(new uint8_t[videoFrame.size]); memcpy(videoFrame.buffer.get(), buffer1, size1); memcpy(videoFrame.buffer.get()+size1, buffer, size); i++; } else{ e.postAframe(colorBar,buffer,size); videoFrame.size = size; // 视频帧大小 videoFrame.buffer.reset(new uint8_t[videoFrame.size]); memcpy(videoFrame.buffer.get(), buffer, videoFrame.size); } auto end_time3 = std::chrono::high_resolution_clock::now(); auto duration = std::chrono::duration_cast(end_time1 - start_time); cout<<"===============================A==frame================================================="<(end_time2 - end_time1); cout << "rknn took: " << duration.count() <<"ms\r\n"; duration = std::chrono::duration_cast(end_time3 - end_time2); cout << "encode took: " << duration.count() <<"ms\r\n"; videoFrame.type = IsKeyFrame(buffer, size) ? xop::VIDEO_FRAME_I : xop::VIDEO_FRAME_P; // videoFrame.type = 0; // 建议确定帧类型。I帧(xop::VIDEO_FRAME_I) P帧(xop::VIDEO_FRAME_P) videoFrame.timestamp = xop::H264Source::GetTimestamp(); // 时间戳, 建议使用编码器提供的时间戳 // writeCharPointerToFile((char *)videoFrame.buffer.get(), videoFrame.size, "filename.txt"); rtsp_server->PushFrame(session_id, xop::channel_0, videoFrame); //送到服务器进行转发, 接口线程安全 /* //获取一帧 H264, 打包 xop::AVFrame videoFrame = {0}; videoFrame.type = 0; // 建议确定帧类型。I帧(xop::VIDEO_FRAME_I) P帧(xop::VIDEO_FRAME_P) videoFrame.size = video frame size; // 视频帧大小 videoFrame.timestamp = xop::H264Source::GetTimestamp(); // 时间戳, 建议使用编码器提供的时间戳 videoFrame.buffer.reset(new uint8_t[videoFrame.size]); memcpy(videoFrame.buffer.get(), video frame data, videoFrame.size); rtsp_server->PushFrame(session_id, xop::channel_0, videoFrame); //送到服务器进行转发, 接口线程安全 */ } { /* //获取一帧 AAC, 打包 xop::AVFrame audioFrame = {0}; audioFrame.type = xop::AUDIO_FRAME; audioFrame.size = audio frame size; /* 音频帧大小 audioFrame.timestamp = xop::AACSource::GetTimestamp(44100); // 时间戳 audioFrame.buffer.reset(new uint8_t[audioFrame.size]); memcpy(audioFrame.buffer.get(), audio frame data, audioFrame.size); rtsp_server->PushFrame(session_id, xop::channel_1, audioFrame); // 送到服务器进行转发, 接口线程安全 */ } } // xop::Timer::Sleep(20); /* 实际使用需要根据帧率计算延时! */ } videocapture.release(); e.deinit((MPP_RET)0); // d.deinit(); // yolo5.deinit(); } 至此 一帧图片怎么都能推出去了