use GStreamer to open a webcam and stream to an RTSP server
#include <gst/gst.h>
#include <gst/rtsp-server/rtsp-server.h>
#include <termios.h>
#include <unistd.h>
#include <fcntl.h>
#include <iostream>// Author: <LuoYiXuan>// Created: <2023.4.17>// Description: <webcam_rtsp code>
GstRTSPMediaFactory *create_rtsp_media_factory(const gchar *device_node){
GstRTSPMediaFactory *factory;
gchar *pipeline_desc;
pipeline_desc =g_strdup_printf("v4l2src device=%s ! videoconvert ! videoscale ! video/x-raw,width=640,height=480 ! mpph264enc ! rtph264pay name=pay0 pt=96", device_node);
factory =gst_rtsp_media_factory_new();gst_rtsp_media_factory_set_launch(factory, pipeline_desc);g_free(pipeline_desc);return factory;}
gboolean keyboard_input_cb(GIOChannel *source, GIOCondition condition, gpointer data){
GMainLoop *loop =(GMainLoop *)data;
gchar input_char;g_io_channel_read_chars(source,&input_char,1,NULL,NULL);if(input_char ==27)// 27 is the ASCII code for the Esc key{g_main_loop_quit(loop);}returnTRUE;}voidstart_rtsp_server(const gchar *device_node,const gchar *server_address, guint16 server_port){
GMainLoop *loop;
GstRTSPServer *server;
GstRTSPMountPoints *mounts;
GstRTSPMediaFactory *factory;
gchar *port_str;// Set up the terminal to get one character at a time
struct termios old_termios, new_termios;tcgetattr(STDIN_FILENO,&old_termios);
new_termios = old_termios;
new_termios.c_lflag &=~(ICANON|ECHO);tcsetattr(STDIN_FILENO,TCSANOW,&new_termios);// Set the standard input (stdin) to non-blocking mode fcntl(STDIN_FILENO,F_SETFL,O_NONBLOCK);gst_init(NULL,NULL);
server =gst_rtsp_server_new();g_object_set(G_OBJECT(server),"address", server_address,NULL);
port_str =g_strdup_printf("%d", server_port);g_object_set(G_OBJECT(server),"service", port_str,NULL);g_free(port_str);
mounts =gst_rtsp_server_get_mount_points(server);
factory =create_rtsp_media_factory(device_node);gst_rtsp_mount_points_add_factory(mounts,"/test", factory);g_object_unref(mounts);gst_rtsp_server_attach(server,NULL);
loop =g_main_loop_new(NULL,FALSE);// Set up the keyboard input callback
GIOChannel *stdin_channel =g_io_channel_unix_new(STDIN_FILENO);g_io_add_watch(stdin_channel,G_IO_IN, keyboard_input_cb, loop);g_io_channel_unref(stdin_channel);std::cout <<"rtsping ----"<< std::endl;g_main_loop_run(loop);// Restore the original terminal settings tcsetattr(STDIN_FILENO,TCSANOW,&old_termios);g_main_loop_unref(loop);g_object_unref(server);std::cout <<"end rtsping ----"<< std::endl;}
int main(int argc, char *argv[]){
gchar *device_node;
cpu_set_t mask;CPU_ZERO(&mask);CPU_SET(7,&mask);pthread_setaffinity_np(pthread_self(),sizeof(mask),&mask);if(argc >1){
device_node = argv[1];}else{g_printerr("USAGE: %s /dev/videoX\n", argv[0]);return-1;}start_rtsp_server(device_node,"127.0.0.1",8554);return0;}
Using the GStreamer plugin with OpenCV allows for easy creation of pipelines and writing of pipeline data
#include <stdio.h>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/opencv.hpp>// Author: <LuoYiXuan>// Created: <2023.4.17>// Description: <opencv_plugin_gstreamer code>
int main(int argc, char** argv){cv::VideoCapture cap(11);if(!cap.isOpened()){std::cerr <<"Error: Could not open camera "<< std::endl;return-1;}
cap.set(cv::CAP_PROP_FRAME_WIDTH,640);
cap.set(cv::CAP_PROP_FRAME_HEIGHT,480);// second part of sender pipelinecv::VideoWriter writer;
writer.open("appsrc ! videoconvert ! x264enc tune=zerolatency bitrate=1000 speed-preset=superfast ! rtph264pay ! udpsink host=192.168.9.100 port=5000",0,(double)30,cv::Size(640,480),true);if(!writer.isOpened()){printf("=ERR= can't create video writer\n");return-1;}cv::Mat frame;
int key;while(true){
cap >> frame;if(frame.empty())break;/* Process the frame here */// cv::cvtColor(frame, frame, cv::COLOR_BGR2YUV_I420);cv::cvtColor(frame, frame,cv::COLOR_BGR2GRAY);cv::cvtColor(frame, frame,cv::COLOR_GRAY2BGR);
writer << frame;
key = cv::waitKey(30);}}
mat2pipeline current releases （x264enc version）
#include <gst/gst.h>
#include <stdlib.h>
#include <string.h>
#include <iostream>
#include <chrono>
#include <opencv2/opencv.hpp>// Author: <LuoYiXuan>// Created: <2023.4.17>// Description: <mat2pipeline code>
int Width;
int Height;
int Framerate;cv::VideoCapture cap;
gboolean LinkElementsManually(GstElement *stream, GstElement *muxer){
gchar *req_pad_name;
GstPad *req_pad;
GstPad *static_pad;/* Get source pad from queue pipeline */
static_pad =gst_element_get_static_pad(stream,"src");/* Get sink pad from muxer */
req_pad =gst_element_request_pad(muxer,gst_element_class_get_pad_template(GST_ELEMENT_GET_CLASS(muxer),"sink_%d"),NULL,NULL);
req_pad_name =gst_pad_get_name(req_pad);g_print("stream Pad name for Muxer %s\n", req_pad_name);g_free(req_pad_name);/* Link Both src-> sink pads */if(GST_IS_PAD(static_pad)&&GST_IS_PAD(req_pad)){
int ret =gst_pad_link(static_pad, req_pad);if(ret ==GST_PAD_LINK_OK)return1;//successelseg_print("Error %s\n", ret);//return 0; // failure}elsereturn0;// failure}staticvoidneed_data_cv_image_data(GstElement *appsrc, guint unused_size, gpointer user_data){static GstClockTime timestamp =0;
GstBuffer *buffer;
guint size, depth, height, width, channels;
GstFlowReturn ret;cv::Mat img;
guchar *cv_imgData;
GstMapInfo map;
cap.read(img);//= cv::imread("sample_png.png", CV_LOAD_IMAGE_COLOR);//cv::resize(img, img, cv::Size(320, 240));
height = img.rows; width = img.cols;
channels =(guint)img.channels();
cv_imgData =(guchar *)img.data;
size = height*width*channels;/* Allocate opencv image size buffer */
buffer =gst_buffer_new_allocate(NULL, size,NULL);gst_buffer_map(buffer,&map,GST_MAP_WRITE);memcpy((guchar *)map.data, img.data, size);/* Addition of time stamp to buffer */GST_BUFFER_PTS(buffer)= timestamp;GST_BUFFER_DURATION(buffer)=gst_util_uint64_scale_int(1,GST_SECOND, Framerate);
timestamp +=GST_BUFFER_DURATION(buffer);/* Emit buffer with signal */g_signal_emit_by_name(appsrc,"push-buffer", buffer,&ret);if(ret !=GST_FLOW_OK){/* something wrong, stop pushing *///g_main_loop_quit(loop);gst_buffer_unmap(buffer,&map);gst_buffer_unref(buffer);g_print("Failed to push Video Buffer\n");}gst_buffer_unmap(buffer,&map);gst_buffer_unref(buffer);}static gboolean bus_call(GstBus *bus, GstMessage *msg, gpointer data){
GMainLoop *loop =(GMainLoop *)data;switch(GST_MESSAGE_TYPE(msg)){
gchar *debug;
GError *error;caseGST_MESSAGE_EOS:g_print("End of stream\n");g_main_loop_quit(loop);break;caseGST_MESSAGE_ERROR:gst_message_parse_error(msg,&error,&debug);g_free(debug);g_printerr("Error: %s\n", error->message);g_printerr("Debug Information: %s\n", debug);g_error_free(error);g_main_loop_quit(loop);break;default:break;}returnTRUE;}voidOpen_Cv_Capture(){cv::Mat frame;
cap.open(11);
cap.set(cv::CAP_PROP_FRAME_WIDTH,640);
cap.set(cv::CAP_PROP_FRAME_HEIGHT,480);if(!cap.isOpened()){printf("Unable to open Webcam!\n");}// read cv frame to get width and height
cap.read(frame);/* Required to create input pipeline */
Width = frame.cols;
Height = frame.rows;
Framerate =25;}
int main(int argc, char *argv[]){// Initializationgst_init(&argc,&argv);
GMainLoop *loop;
GstBus *bus;
guint bus_watch_id;
loop =g_main_loop_new(NULL,FALSE);// Initialize Video capture from OpencvOpen_Cv_Capture();// Create gstreamer elements
GstElement *pipeline =gst_pipeline_new("OpenCv2GstPipeline");
GstElement *cv_source =gst_element_factory_make("appsrc","cv_image_source");
GstElement *v_videorate =gst_element_factory_make("videorate","v_videorate");
GstElement *v_convert =gst_element_factory_make("videoconvert","videoconvert");
GstElement *v_rawCapsfilter =gst_element_factory_make("capsfilter","raw_video_filer");
GstElement *v_encCapsfilter =gst_element_factory_make("capsfilter","encoder_filter");
GstElement *encoder =gst_element_factory_make("x264enc","encoder");
GstElement *rtph264pay =gst_element_factory_make("rtph264pay","rtph264pay");
GstElement *v_queue =gst_element_factory_make("queue","video-queue");
GstElement *udpsink =gst_element_factory_make("udpsink","udpsink");if(!pipeline ||!cv_source ||!encoder ||!rtph264pay ||!v_convert ||!udpsink ||!v_encCapsfilter ||!v_rawCapsfilter){g_printerr("One element could not be created. Exiting.\n");return-1;}// Set input video file for source elementg_object_set(G_OBJECT(udpsink),"host","192.168.9.100","port",5000,NULL);// we add a message handler
bus =gst_pipeline_get_bus(GST_PIPELINE(pipeline));
bus_watch_id =gst_bus_add_watch(bus, bus_call, loop);gst_object_unref(bus);// Add all elements into the pipelinegst_bin_add_many(GST_BIN(pipeline), cv_source, v_videorate, v_convert, v_rawCapsfilter, encoder, v_encCapsfilter, rtph264pay, v_queue, udpsink,NULL);// Do Timestamp on buffergst_util_set_object_arg(G_OBJECT(cv_source),"format","time");// setupg_object_set(G_OBJECT(cv_source),"caps",gst_caps_new_simple("video/x-raw","format",G_TYPE_STRING,"BGR",// Input Opencv Image format is BGR"width",G_TYPE_INT, Width,"height",G_TYPE_INT, Height,"framerate",GST_TYPE_FRACTION, Framerate,1,"parsed",G_TYPE_BOOLEAN,TRUE,"sparse",G_TYPE_BOOLEAN,TRUE,NULL),NULL);// setup appsrcg_object_set(G_OBJECT(cv_source),"stream-type",0,"format",GST_FORMAT_TIME,"is-live",TRUE,NULL);// Add Caps filter to Raw image to convert BGR to YUV image format
GstCaps *caps =gst_caps_new_simple("video/x-raw","format",G_TYPE_STRING,"I420",// This will change BGR image to I420"width",G_TYPE_INT, Width,"height",G_TYPE_INT, Height,"framerate",GST_TYPE_FRACTION, Framerate,1,NULL);g_object_set(G_OBJECT(v_rawCapsfilter),"caps", caps,NULL);gst_caps_unref(caps);// Set Caps filter for Encoder
GstCaps *vidEncCaps =gst_caps_new_simple("video/x-h264","stream-format",G_TYPE_STRING,"byte-stream","profile",G_TYPE_STRING,"main",NULL);g_object_set(G_OBJECT(v_encCapsfilter),"caps", vidEncCaps,NULL);gst_caps_unref(vidEncCaps);g_object_set(G_OBJECT(encoder),"bitrate",500000,"ref",4,"pass",4,"key-int-max",0,"byte-stream",TRUE,"tune",0x00000004,"noise-reduction",1000,NULL);//g_object_set(G_OBJECT(encoder), "bitrate", 500000, NULL);// Link all elementsif(gst_element_link_many(cv_source, v_convert, v_videorate, v_rawCapsfilter, encoder, v_encCapsfilter, rtph264pay, v_queue,NULL)!=TRUE){g_printerr("Many Elements could not be linked.\n");gst_object_unref(pipeline);return-1;}// final link queue to udpsinkif(gst_element_link_many(v_queue, udpsink,NULL)!=TRUE){g_printerr("Many Elements could not be linked.\n");gst_object_unref(pipeline);return-1;}// Set call back signal for get video data dinamicallyg_signal_connect(cv_source,"need-data",G_CALLBACK(need_data_cv_image_data),NULL);// Set the pipeline to "playing" stateif(gst_element_set_state(pipeline,GST_STATE_PLAYING)==GST_STATE_CHANGE_FAILURE){g_printerr("Unable to set the pipeline to the playing state.\n");gst_object_unref(pipeline);getchar();return-1;}g_print("Running...\n");g_main_loop_run(loop);// Free resources and change state to NULLgst_object_unref(bus);g_print("Returned, stopping playback...\n");gst_element_set_state(pipeline,GST_STATE_NULL);g_print("Freeing pipeline...\n");gst_object_unref(GST_OBJECT(pipeline));g_print("Completed. Goodbye!\n");getchar();return0;}
Mat2pipeline Hardware acceleration （save CPU usage ）
#include <gst/gst.h>
#include <stdlib.h>
#include <string.h>
#include <iostream>
#include <chrono>
#include <opencv2/opencv.hpp>// Author: <LuoYiXuan>// Created: <2023.4.17>// Description: <Mat2pipeline Hardware acceleration code>
int Width;
int Height;
int Framerate;cv::VideoCapture cap;
gboolean LinkElementsManually(GstElement *stream, GstElement *muxer){
gchar *req_pad_name;
GstPad *req_pad;
GstPad *static_pad;/* Get source pad from queue pipeline */
static_pad =gst_element_get_static_pad(stream,"src");/* Get sink pad from muxer */
req_pad =gst_element_request_pad(muxer,gst_element_class_get_pad_template(GST_ELEMENT_GET_CLASS(muxer),"sink_%d"),NULL,NULL);
req_pad_name =gst_pad_get_name(req_pad);g_print("stream Pad name for Muxer %s\n", req_pad_name);g_free(req_pad_name);/* Link Both src-> sink pads */if(GST_IS_PAD(static_pad)&&GST_IS_PAD(req_pad)){
int ret =gst_pad_link(static_pad, req_pad);if(ret ==GST_PAD_LINK_OK)return1;//successelseg_print("Error %s\n", ret);//return 0; // failure}elsereturn0;// failure}staticvoidneed_data_cv_image_data(GstElement *appsrc, guint unused_size, gpointer user_data){static GstClockTime timestamp =0;
GstBuffer *buffer;
guint size, depth, height, width, channels;
GstFlowReturn ret;cv::Mat img;
guchar *cv_imgData;
GstMapInfo map;
cap.read(img);//= cv::imread("sample_png.png", CV_LOAD_IMAGE_COLOR);//cv::resize(img, img, cv::Size(320, 240));
height = img.rows; width = img.cols;
channels =(guint)img.channels();
cv_imgData =(guchar *)img.data;
size = height*width*channels;/* Allocate opencv image size buffer */
buffer =gst_buffer_new_allocate(NULL, size,NULL);gst_buffer_map(buffer,&map,GST_MAP_WRITE);memcpy((guchar *)map.data, img.data, size);/* Addition of time stamp to buffer */GST_BUFFER_PTS(buffer)= timestamp;GST_BUFFER_DURATION(buffer)=gst_util_uint64_scale_int(1,GST_SECOND, Framerate);
timestamp +=GST_BUFFER_DURATION(buffer);/* Emit buffer with signal */g_signal_emit_by_name(appsrc,"push-buffer", buffer,&ret);if(ret !=GST_FLOW_OK){/* something wrong, stop pushing *///g_main_loop_quit(loop);gst_buffer_unmap(buffer,&map);gst_buffer_unref(buffer);g_print("Failed to push Video Buffer\n");}gst_buffer_unmap(buffer,&map);gst_buffer_unref(buffer);}static gboolean bus_call(GstBus *bus, GstMessage *msg, gpointer data){
GMainLoop *loop =(GMainLoop *)data;switch(GST_MESSAGE_TYPE(msg)){
gchar *debug;
GError *error;caseGST_MESSAGE_EOS:g_print("End of stream\n");g_main_loop_quit(loop);break;caseGST_MESSAGE_ERROR:gst_message_parse_error(msg,&error,&debug);g_free(debug);g_printerr("Error: %s\n", error->message);g_printerr("Debug Information: %s\n", debug);g_error_free(error);g_main_loop_quit(loop);break;default:break;}returnTRUE;}voidOpen_Cv_Capture(){cv::Mat frame;
cap.open(11);
cap.set(cv::CAP_PROP_FRAME_WIDTH,640);
cap.set(cv::CAP_PROP_FRAME_HEIGHT,480);if(!cap.isOpened()){printf("Unable to open Webcam!\n");}// read cv frame to get width and height
cap.read(frame);/* Required to create input pipeline */
Width = frame.cols;
Height = frame.rows;
Framerate =30;}
int main(int argc, char *argv[]){gst_init(&argc,&argv);
GMainLoop *loop;
GstBus *bus;
guint bus_watch_id;
loop =g_main_loop_new(NULL,FALSE);// Initialize Video capture from OpencvOpen_Cv_Capture();
GstElement *pipeline;
GError *error =NULL;
gchar *pipeline_str =g_strdup_printf("appsrc name=cv_image_source ! videoconvert ! videorate ! ""capsfilter caps=\"video/x-raw, format=(string)NV12, width=(int)%d, height=(int)%d, framerate=(fraction)%d/1\" ! ""mpph264enc ! ""h264parse ! ""rtph264pay config-interval=1 pt=96 ! udpsink host=192.168.9.100 port=5000", Width, Height, Framerate);
pipeline =gst_parse_launch(pipeline_str,&error);g_free(pipeline_str);if(!pipeline){g_printerr("Pipeline could not be created: %s\n", error->message);g_error_free(error);return-1;}// Add the bus watch
bus =gst_pipeline_get_bus(GST_PIPELINE(pipeline));
bus_watch_id =gst_bus_add_watch(bus, bus_call, loop);gst_object_unref(bus);// Get the appsrc element from the pipeline
GstElement *cv_source =gst_bin_get_by_name(GST_BIN(pipeline),"cv_image_source");// Set appsrc propertiesgst_util_set_object_arg(G_OBJECT(cv_source),"format","time");g_object_set(G_OBJECT(cv_source),"caps",gst_caps_new_simple("video/x-raw","format",G_TYPE_STRING,"BGR","width",G_TYPE_INT, Width,"height",G_TYPE_INT, Height,"framerate",GST_TYPE_FRACTION, Framerate,1,"parsed",G_TYPE_BOOLEAN,TRUE,"sparse",G_TYPE_BOOLEAN,TRUE,NULL),NULL);g_object_set(G_OBJECT(cv_source),"stream-type",0,"format",GST_FORMAT_TIME,"is-live",TRUE,NULL);// Connect the need_data signalg_signal_connect(cv_source,"need-data",G_CALLBACK(need_data_cv_image_data),NULL);// Set the pipeline to "playing" stateif(gst_element_set_state(pipeline,GST_STATE_PLAYING)==GST_STATE_CHANGE_FAILURE){g_printerr("Unable to set the pipeline to the playing state.\n");gst_object_unref(pipeline);getchar();return-1;}g_print("Running...\n");g_main_loop_run(loop);// Free resources and change state to NULLgst_object_unref(bus);g_print("Returned, stopping playback...\n");gst_element_set_state(pipeline,GST_STATE_NULL);g_print("Freeing pipeline...\n");gst_object_unref(GST_OBJECT(pipeline));g_print("Completed. Goodbye!\n");getchar();return0;}
本文展示了如何利用GStreamer命令行工具和库创建RTP流，以及通过VLC进行播放。同时，还提供了一个C++程序示例，用于启动一个RTSP服务器并从网络摄像头流式传输视频。此外，还讨论了如何结合OpenCV和GStreamer进行视频处理和编码，以及利用硬件加速来节省CPU资源。
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