四、3588麒麟读取rtsp图像数据

一、3588板卡、麒麟系统

表 板卡信息

序号	项目	备注
操作系统	银河麒麟 V10	内核为linux 5.10.160
芯片	ARM64	RK3588
接口	u口、网口
电压	9~24V

二、摄像头类型

海康摄像头（200万像素，4mm定焦镜头，具有补光能力）：

图 1 相机尺寸

表 1 技术参数

三、第一种读取方法

直接使用opencv进行读取

代码为：

import cv2
 
cap = cv2.VideoCapture("rtsp://用户名（例：amdin）:密码（例：A12345）@ 摄像头IP与端口号（例：192.168.254.12:554）/Streaming/Channels/101")
cap.set(cv2.CAP_PROP_FOURCC,cv2.VideoWriter_fourcc('M','J','P','G'))
while True:
    ret,frame = cap.read()
    if not ret:
        cap = cv2.cap("rtsp://用户名（例：amdin）:密码（例：A12345）@ 摄像头IP与端口号（例：192.168.254.12:554）/Streaming/Channels/101")
        continue  #（这里需要注意，否则读取数据会频繁中断）
         
    cv2.imshow("camera", frame)
    if cv2.waitKey(1) & 0xFF == ord('q'):
        break
cap.release()
cv2.destroyAllWindows()

优点，使用方法简单；缺点，延时大，后续接图像处理时，容易出现断连情况。

四、第二种读取方法

安装ros系统，下载rocon_devices-develop

网址： GitHub - robotics-in-concert/rocon_devices: A collection of device drivers involved in rocon

具体步骤：

mkdir -p ~/catkin_ws/src

cd ~/catkin_ws/src

catkin_init_workspace

将rocon_devices-develop添加到src文件夹下：

在src/rocon_devices-develop/rocon_rtsp_camera_relay/launch/rtsp_camera_relay.launch中，修改 第二行 default="rtsp://用户名（例：amdin）:密码（例：A12345）@ 摄像头IP与端口号（例：192.168.254.12:554）/Streaming/Channels/101"

输入catkin_make

启动命令 roslaunch rocon_rtsp_camera_relay rtsp_camera_relay.launch

采集数据使用如下代码进行接收（python）：

#!/usr/bin/env python3
import sys
sys.path.append('/opt/ros/kinetic/lib/python2.7/dist-packages')
sys.path.append('/usr/lib/python2.7/dist-packages')
import rospy
import time
from sensor_msgs.msg import Image
from cv_bridge import CvBridge,CvBridgeError
import numpy as np
import sys

python3 = True if sys.hexversion > 0x03000000 else False
if python3:
    # remove ros python2 library
    ros_cv_path = '/opt/ros/kinetic/lib/python2.7/dist-packages'
    if ros_cv_path in sys.path:
        sys.path.remove(ros_cv_path)
import cv2 as cv
#----------------------------------------------------
cv_type = dict()
cv_type['mono8'] = (np.uint8  , 1)
cv_type['8UC2']  = (np.uint8  , 2)
cv_type['bgr8']  = (np.uint8  , 3)
cv_type['8UC4']  = (np.uint8  , 4)
cv_type['8SC1']  = (np.int8   , 1)
cv_type['8SC2']  = (np.int8   , 2)
cv_type['8SC3']  = (np.int8   , 3)
cv_type['8SC4']  = (np.int8   , 4)
cv_type['16UC1'] = (np.uint16 , 1)
cv_type['16UC2'] = (np.uint16 , 2)
cv_type['16UC3'] = (np.uint16 , 3)
cv_type['16UC4'] = (np.uint16 , 4)
cv_type['16SC1'] = (np.int16  , 1)
cv_type['16SC2'] = (np.int16  , 2)
cv_type['16SC3'] = (np.int16  , 3)
cv_type['16SC4'] = (np.int16  , 4)
cv_type['32SC1'] = (np.uint32 , 1)
cv_type['32SC2'] = (np.uint32 , 2)
cv_type['32SC3'] = (np.uint32 , 3)
cv_type['32SC4'] = (np.uint32 , 4)
cv_type['32FC1'] = (np.int32  , 1)
cv_type['32FC2'] = (np.int32  , 2)
cv_type['32FC3'] = (np.int32  , 3)
cv_type['32FC4'] = (np.int32  , 4)
cv_type['64FC1'] = (np.float64, 1)
cv_type['64FC2'] = (np.float64, 2)
cv_type['64FC3'] = (np.float64, 3)
cv_type['64FC4'] = (np.float64, 4)
ros_type = dict()
ros_type[('uint8'  , 1)] = ('mono8', 1)
ros_type[('uint8'  , 2)] = ('8UC2' , 2)
ros_type[('uint8'  , 3)] = ('bgr8' , 3)
ros_type[('uint8'  , 4)] = ('8UC4' , 4)
ros_type[('int8'   , 1)] = ('8SC1' , 1)
ros_type[('int8'   , 2)] = ('8SC2' , 2)
ros_type[('int8'   , 3)] = ('8SC3' , 3)
ros_type[('int8'   , 4)] = ('8SC4' , 4)
ros_type[('uint16' , 1)] = ('16UC1', 1)
ros_type[('uint16' , 2)] = ('16UC2', 2)
ros_type[('uint16' , 3)] = ('16UC3', 3)
ros_type[('uint16' , 4)] = ('16UC4', 4)
ros_type[('int16'  , 1)] = ('16SC1', 1)
ros_type[('int16'  , 2)] = ('16SC2', 2)
ros_type[('int16'  , 3)] = ('16SC3', 3)
ros_type[('int16'  , 4)] = ('16SC4', 4)
ros_type[('uint32' , 1)] = ('32SC1', 1)
ros_type[('uint32' , 2)] = ('32SC2', 2)
ros_type[('uint32' , 3)] = ('32SC3', 3)
ros_type[('uint32' , 4)] = ('32SC4', 4)
ros_type[('int32'  , 1)] = ('32FC1', 1)
ros_type[('int32'  , 2)] = ('32FC2', 2)
ros_type[('int32'  , 3)] = ('32FC3', 3)
ros_type[('int32'  , 4)] = ('32FC4', 4)
ros_type[('float64', 1)] = ('64FC1', 1)
ros_type[('float64', 2)] = ('64FC2', 2)
ros_type[('float64', 3)] = ('64FC3', 3)
ros_type[('float64', 4)] = ('64FC4', 4)

def ToRosMsg(img):
    msg = Image()
    msg.header.stamp = rospy.Time.now()
    msg.width        = img.shape[1]
    msg.height       = img.shape[0]
    channel          = 1
    if len(img.shape) is 3:
        channel = img.shape[2]
    msg.encoding = ros_type[(str(img.dtype), channel)][0]
    msg.is_bigendian = 0
    msg.step = msg.width * channel
    msg.data = img.tobytes()
    return msg

def ToCvImg(msg):
    img = np.fromstring(
        msg.data, dtype=cv_type[msg.encoding][0]).reshape(
            msg.height, msg.width, cv_type[msg.encoding][1])
    return img

def callback(imgmsg):
    img = ToCvImg(imgmsg)
    cv_img = cv.resize(img,(640,416),interpolation=cv.INTER_NEAREST)
    cv.imshow("listener", cv_img)
    cv.waitKey(1)

def listener():
    rospy.init_node('listener', anonymous=True)
    rospy.Subscriber("/rtsp_camera_relay/image", Image, callback)
    rospy.spin()

if __name__ == '__main__':
    listener()

优点，数据采集延时小；缺点，安装ros，需要折腾。