python+cv2+gstreamer推流＜500ms低延迟的处理策略

见贤思齐

1.一份可用的推流配置    self.out=cv2.VideoWriter('appsrcis-live=Truestream-type=0emit-signals=Falsemax-latency=1'+\    '!videoconvert!video/x-raw,format=I420'+\    '!x264encspeed-preset=ultrafastbitrate=1200tune="zerolatency"key-int-max='+str(keyIntMax)+\    '!video/x-h264,profile=baseline'+\    '!rtspclientsinklocation=%s'%(self.rtsp_url),    cv2.CAP_GSTREAMER,cv2.VideoWriter_fourcc(*'h264'),self.fps,(self.width,self.height),True)注意那个tune="zerolatency"是关键。1.1 配置参数注释：is-live=Truestream-type=0这是在提示gstreamer这个流是个实时流，无需进行定位emit-signals=False这是在阻止gstreamer发出查询消息。max-latency=1这个是在让输入缓冲区最小。video/x-raw,format=I420这是在把转入的图片转换为YUV模式，因为后续的编解码器默认都是对YUV图片进行处理speed-preset=ultrafast这是在选用最快速的无延迟的算法tune="zerolatency"x264因为有关键帧的比对，它的内部缓冲区不会为空。这个指令是在只要生成一帧视频数据，就快速后传。key-int-max='+str(keyIntMax)我在测试时，会把关键帧的数量设置为1——每一帧都是关键帧，用这种方法减少latency.VideoWriter的最后一个参数True：输出图片是彩色的，否则是黑白的。这会反过来约束AppSrc送入的数据。附录A.cv2相关的版本信息查看检查OpenCV版本：cv2.__version__查看OpenCV的编译信息：cv2.getBuildInformation()查看所有可用的模块：dir(cv2)A.1.cv2的官方函数接口文档： OpenCV:OpenCVmoduleshttps://docs.opencv.org/4.5.1/index.html注意其中的版本选择，在网页的左上角。要和cv2.__version__匹配A.2.一份cv2的环境信息cat@lubancat:~$python3Python3.9.2(default,Feb282021,17:03:44) [GCC10.2.120210110]onlinuxType"help","copyright","credits"or"license"formoreinformation.>>>importcv2>>>print(cv2.__version__)4.5.1>>>dir(cv2)['','ACCESS_FAST','ACCESS_MASK','ACCESS_READ','ACCESS_RW','ACCESS_WRITE','ADAPTIVE_THRESH_GAUSSIAN_C','ADAPTIVE_THRESH_MEAN_C','AGAST_FEATURE_DETECTOR_AGAST_5_8','AGAST_FEATURE_DETECTOR_AGAST_7_12D','AGAST_FEATURE_DETECTOR_AGAST_7_12S','AGAST_FEATURE_DETECTOR_NONMAX_SUPPRESSION','AGAST_FEATURE_DETECTOR_OAST_9_16','AGAST_FEATURE_DETECTOR_THRESHOLD','AKAZE','AKAZE_DESCRIPTOR_KAZE','AKAZE_DESCRIPTOR_KAZE_UPRIGHT','AKAZE_DESCRIPTOR_MLDB','AKAZE_DESCRIPTOR_MLDB_UPRIGHT','AKAZE_create','AffineFeature','AffineFeature_create','AffineTransformer','AgastFeatureDetector','AgastFeatureDetector_AGAST_5_8','AgastFeatureDetector_AGAST_7_12d','AgastFeatureDetector_AGAST_7_12s','AgastFeatureDetector_NONMAX_SUPPRESSION','AgastFeatureDetector_OAST_9_16','AgastFeatureDetector_THRESHOLD','AgastFeatureDetector_create','Algorithm','AlignExposures','AlignMTB','AsyncArray','BFMatcher','BFMatcher_create','BORDER_CONSTANT','BORDER_DEFAULT','BORDER_ISOLATED','BORDER_REFLECT','BORDER_REFLECT101','BORDER_REFLECT_101','BORDER_REPLICATE','BORDER_TRANSPARENT','BORDER_WRAP','BOWImgDescriptorExtractor','BOWKMeansTrainer','BOWTrainer','BRISK','BRISK_create','BackgroundSubtractor','BackgroundSubtractorKNN','BackgroundSubtractorMOG2','BaseCascadeClassifier','CALIB_CB_ACCURACY','CALIB_CB_ADAPTIVE_THRESH','CALIB_CB_ASYMMETRIC_GRID','CALIB_CB_CLUSTERING','CALIB_CB_EXHAUSTIVE','CALIB_CB_FAST_CHECK','CALIB_CB_FILTER_QUADS','CALIB_CB_LARGER','CALIB_CB_MARKER','CALIB_CB_NORMALIZE_IMAGE','CALIB_CB_SYMMETRIC_GRID','CALIB_FIX_ASPECT_RATIO','CALIB_FIX_FOCAL_LENGTH','CALIB_FIX_INTRINSIC','CALIB_FIX_K1','CALIB_FIX_K2','CALIB_FIX_K3','CALIB_FIX_K4','CALIB_FIX_K5','CALIB_FIX_K6','CALIB_FIX_PRINCIPAL_POINT','CALIB_FIX_S1_S2_S3_S4','CALIB_FIX_TANGENT_DIST','CALIB_FIX_TAUX_TAUY','CALIB_HAND_EYE_ANDREFF','CALIB_HAND_EYE_DANIILIDIS','CALIB_HAND_EYE_HORAUD','CALIB_HAND_EYE_PARK','CALIB_HAND_EYE_TSAI','CALIB_NINTRINSIC','CALIB_RATIONAL_MODEL','CALIB_ROBOT_WORLD_HAND_EYE_LI','CALIB_ROBOT_WORLD_HAND_EYE_SHAH','CALIB_SAME_FOCAL_LENGTH','CALIB_THIN_PRISM_MODEL','CALIB_TILTED_MODEL','CALIB_USE_EXTRINSIC_GUESS','CALIB_USE_INTRINSIC_GUESS','CALIB_USE_LU','CALIB_USE_QR','CALIB_ZERO_DISPARITY','CALIB_ZERO_TANGENT_DIST','CAP_ANDROID','CAP_ANY','CAP_ARAVIS','CAP_AVFOUNDATION','CAP_CMU1394','CAP_DC1394','CAP_DSHOW','CAP_FFMPEG','CAP_FIREWARE','CAP_FIREWIRE','CAP_GIGANETIX','CAP_GPHOTO2','CAP_GSTREAMER','CAP_IEEE1394','CAP_IMAGES','CAP_INTELPERC','CAP_INTELPERC_DEPTH_GENERATOR','CAP_INTELPERC_DEPTH_MAP','CAP_INTELPERC_GENERATORS_MASK','CAP_INTELPERC_IMAGE','CAP_INTELPERC_IMAGE_GENERATOR','CAP_INTELPERC_IR_GENERATOR','CAP_INTELPERC_IR_MAP','CAP_INTELPERC_UVDEPTH_MAP','CAP_INTEL_MFX','CAP_MSMF','CAP_OPENCV_MJPEG','CAP_OPENNI','CAP_OPENNI2','CAP_OPENNI2_ASTRA','CAP_OPENNI2_ASUS','CAP_OPENNI_ASUS','CAP_OPENNI_BGR_IMAGE','CAP_OPENNI_DEPTH_GENERATOR','CAP_OPENNI_DEPTH_GENERATOR_BASELINE','CAP_OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH','CAP_OPENNI_DEPTH_GENERATOR_PRESENT','CAP_OPENNI_DEPTH_GENERATOR_REGISTRATION','CAP_OPENNI_DEPTH_GENERATOR_REGISTRATION_ON','CAP_OPENNI_DEPTH_MAP','CAP_OPENNI_DISPARITY_MAP','CAP_OPENNI_DISPARITY_MAP_32F','CAP_OPENNI_GENERATORS_MASK','CAP_OPENNI_GRAY_IMAGE','CAP_OPENNI_IMAGE_GENERATOR','CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE','CAP_OPENNI_IMAGE_GENERATOR_PRESENT','CAP_OPENNI_IR_GENERATOR','CAP_OPENNI_IR_GENERATOR_PRESENT','CAP_OPENNI_IR_IMAGE','CAP_OPENNI_POINT_CLOUD_MAP','CAP_OPENNI_QVGA_30HZ','CAP_OPENNI_QVGA_60HZ','CAP_OPENNI_SXGA_15HZ','CAP_OPENNI_SXGA_30HZ','CAP_OPENNI_VALID_DEPTH_MASK','CAP_OPENNI_VGA_30HZ','CAP_PROP_APERTURE','CAP_PROP_ARAVIS_AUTOTRIGGER','CAP_PROP_AUTOFOCUS','CAP_PROP_AUTO_EXPOSURE','CAP_PROP_AUTO_WB','CAP_PROP_BACKEND','CAP_PROP_BACKLIGHT','CAP_PROP_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match_3d_PPF3DDetector','ppf_match_3d_Pose3D','ppf_match_3d_PoseCluster3D','preCornerDetect','projectPoints','putText','pyrDown','pyrMeanShiftFiltering','pyrUp','quality','quality_QualityBRISQUE','quality_QualityBase','quality_QualityGMSD','quality_QualityMSE','quality_QualityPSNR','quality_QualitySSIM','randShuffle','randn','randu','rapid','rapid_OLSTracker','rapid_Rapid','rapid_Tracker','readOpticalFlow','recoverPose','rectangle','rectify3Collinear','redirectError','reduce','reg','reg_Map','reg_MapAffine','reg_MapProjec','reg_MapShift','reg_MapTypeCaster','reg_Mapper','reg_MapperGradAffine','reg_MapperGradEuclid','reg_MapperGradProj','reg_MapperGradShift','reg_MapperGradSimilar','reg_MapperPyramid','remap','repeat','reprojectImageTo3D','resize','resizeWindow','rgbd','rgbd_DepthCleaner','rgbd_FastICPOdometry','rgbd_ICPOdometry','rgbd_Odometry','rgbd_OdometryFrame','rgbd_RgbdFrame','rgbd_RgbdICPOdometry','rgbd_RgbdNormals','rgbd_RgbdOdometry','rgbd_RgbdPlane','rotate','rotatedRectangleIntersection','saliency','saliency_MotionSaliency','saliency_MotionSaliencyBinWangApr2014','saliency_Objectness','saliency_ObjectnessBING','saliency_Saliency','saliency_StaticSaliency','saliency_StaticSaliencyFineGrained','saliency_StaticSaliencySpectralResidual','samples','sampsonDistance','scaleAdd','seamlessClone','selectROI','selectROIs','sepFilter2D','setIdentity','setMouseCallback','setNumThreads','setRNGSeed','setTrackbarMax','setTrackbarMin','setTrackbarPos','setUseOpenVX','setUseOptimized','setWindowProperty','setWindowTitle','solve','solveCubic','solveLP','solveP3P','solvePnP','solvePnPGeneric','solvePnPRansac','solvePnPRefineLM','solvePnPRefineVVS','solvePoly','sort','sortIdx','spatialGradient','split','sqrBoxFilter','sqrt','startWindowThread','stereoCalibrate','stereoCalibrateExtended','stereoRectify','stereoRectifyUncalibrated','structured_light','structured_light_GrayCodePattern','structured_light_SinusoidalPattern','structured_light_SinusoidalPattern_Params','structured_light_StructuredLightPattern','stylization','subtract','sumElems','text','text_BaseOCR','text_ERFilter','text_ERFilter_Callback','text_OCRBeamSearchDecoder','text_OCRBeamSearchDecoder_ClassifierCallback','text_OCRHMMDecoder','text_OCRHMMDecoder_ClassifierCallback','text_OCRTesseract','text_TextDetector','text_TextDetectorCNN','textureFlattening','threshold','trace','transform','transpose','triangulatePoints','undistort','undistortPoints','undistortPointsIter','useOpenVX','useOptimized','utils','validateDisparity','vconcat','videoio_registry','videostab','viz','waitKey','waitKeyEx','warpAffine','warpPerspective','warpPolar','watershed','writeOpticalFlow','ximgproc','ximgproc_AdaptiveManifoldFilter','ximgproc_ContourFitting','ximgproc_DTFilter','ximgproc_DisparityFilter','ximgproc_DisparityWLSFilter','ximgproc_EdgeAwareInterpolator','ximgproc_EdgeBoxes','ximgproc_FastBilateralSolverFilter','ximgproc_FastGlobalSmootherFilter','ximgproc_FastLineDetector','ximgproc_GuidedFilter','ximgproc_RFFeatureGetter','ximgproc_RICInterpolator','ximgproc_RidgeDetectionFilter','ximgproc_SparseMatchInterpolator','ximgproc_StructuredEdgeDetection','ximgproc_SuperpixelLSC','ximgproc_SuperpixelSEEDS','ximgproc_SuperpixelSLIC','ximgproc_segmentation_GraphSegmentation','ximgproc_segmentation_SelectiveSearchSegmentation','ximgproc_segmentation_SelectiveSearchSegmentationStrategy','ximgproc_segmentation_SelectiveSearchSegmentationStrategyColor','ximgproc_segmentation_SelectiveSearchSegmentationStrategyFill','ximgproc_segmentation_SelectiveSearchSegmentationStrategyMultiple','ximgproc_segmentation_SelectiveSearchSegmentationStrategySize','ximgproc_segmentation_SelectiveSearchSegmentationStrategyTexture','xphoto','xphoto_GrayworldWB','xphoto_LearningBasedWB','xphoto_SimpleWB','xphoto_TonemapDurand','xphoto_WhiteBalancer'] >>>cv2.getBuildInformation()'\nGeneralconfigurationforOpenCV4.5.1=====================================\n Versioncontrol:       unknown\n\n Extramodules:\n  Location(extra):      /build/opencv-fF3y1A/opencv-4.5.1+dfsg/contrib/modules\n  Versioncontrol(extra):  unknown\n\n latform:\n  Timestamp:         2021-06-16T12:09:47Z\n  Host:            Linux4.19.0-17-arm64aarch64\n  CMake:           3.18.4\n  CMakegenerator:      Ninja\n  CMakebuildtool:      /usr/bin/ninja\n  Configuration:       Release\n\n CPU/HWfeatures:\n  Baseline:          NEONFP16\n\n C/C++:\n  Builtasdynamiclibs?:   YES\n  C++standard:        11\n  C++Compiler:        /usr/bin/c++ (ver10.2.1)\n  C++flags(Release):    -g-O2-ffile-prefix-map=/build/opencv-fF3y1A/opencv-4.5.1+dfsg=.-fstack-protector-strong-Wformat-Werror=format-security-Wdate-time-D_FORTIFY_SOURCE=2 -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-O2-ffile-prefix-map=/build/opencv-fF3y1A/opencv-4.5.1+dfsg=.-fstack-protector-strong-Wformat-Werror=format-security -DNDEBUG\n  C++flags(Debug):     -g-O2-ffile-prefix-map=/build/opencv-fF3y1A/opencv-4.5.1+dfsg=.-fstack-protector-strong-Wformat-Werror=format-security-Wdate-time-D_FORTIFY_SOURCE=2 -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 -DDEBUG-D_DEBUG\n  CCompiler:         /usr/bin/cc\n  Cflags(Release):     -g-O2-ffile-prefix-map=/build/opencv-fF3y1A/opencv-4.5.1+dfsg=.-fstack-protector-strong-Wformat-Werror=format-security-Wdate-time-D_FORTIFY_SOURCE=2 -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-O2-ffile-prefix-map=/build/opencv-fF3y1A/opencv-4.5.1+dfsg=.-fstack-protector-strong-Wformat-Werror=format-security -DNDEBUG\n  Cflags(Debug):      -g-O2-ffile-prefix-map=/build/opencv-fF3y1A/opencv-4.5.1+dfsg=.-fstack-protector-strong-Wformat-Werror=format-security-Wdate-time-D_FORTIFY_SOURCE=2 -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 -DDEBUG-D_DEBUG\n  Linkerflags(Release):   -Wl,-z,relro-Wl,-z,now -Wl,--gc-sections-Wl,--as-needed-Wl,-z,relro-Wl,-z,now\n  Linkerflags(Debug):    -Wl,-z,relro-Wl,-z,now -Wl,--gc-sections-Wl,--as-needed \n  ccache:           NO\n  recompiledheaders:    NO\n  Extradependencies:     dlmpthreadrt\n  3rdpartydependencies:\n\n OpenCVmodules:\n  Tobebuilt:        alphamatarucobgsegmbioinspiredcalib3dccalibcoredatasetsdnndnn_objdetectdnn_superresdpmfacefeatures2dflannfreetypefuzzyhdfhfshighguiimg_hashimgcodecsimgprocintensity_transformjavaline_descriptormccmlobjdetectoptflowphase_unwrappingphotoplotpython3qualityrapidregrgbdsaliencyshapestereostitchingstructured_lightsuperressurface_matchingtexttrackingvideovideoiovideostabvizximgprocxobjdetectxphoto\n  Disabled:          world\n  Disabledbydependency:   sfm\n  Unavailable:        cnn_3dobjcudaarithmcudabgsegmcudacodeccudafeatures2dcudafilterscudaimgproccudalegacycudaobjdetectcudaoptflowcudastereocudawarpingcudevcvvgapijuliamatlabovispython2ts\n  Applications:        apps\n  Documentation:       doxygenpythonjavadoc\n  Non-freealgorithms:    NO\n\n GUI:\n  GTK+:            YES(ver3.24.24)\n   GThread:         YES(ver2.66.8)\n   GtkGlExt:         NO\n  OpenGLsupport:       NO\n  VTKsupport:        YES(ver9.0.1)\n\n MediaI/O:\n  ZLib:            /usr/lib/aarch64-linux-gnu/libz.so(ver1.2.11)\n  JPEG:            /usr/lib/aarch64-linux-gnu/libjpeg.so(ver62)\n  WEBP:            /usr/lib/aarch64-linux-gnu/libwebp.so(verencoder:0x020e)\n  NG:            /usr/lib/aarch64-linux-gnu/libpng.so(ver1.6.37)\n  TIFF:            /usr/lib/aarch64-linux-gnu/libtiff.so(ver42/4.2.0)\n  JPEG2000:         OpenJPEG(ver2.4.0)\n  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(ver2_5)\n  GDAL:            YES(/usr/lib/libgdal.so)\n  GDCM:            YES(3.0.8)\n  HDR:            YES\n  SUNRASTER:         YES\n  XM:            YES\n  FM:            YES\n\n VideoI/O:\n  DC1394:           YES(2.2.6)\n  FFMPEG:           YES\n   avcodec:         YES(58.91.100)\n   avformat:         YES(58.45.100)\n   avutil:          YES(56.51.100)\n   swscale:         YES(5.7.100)\n   avresample:        NO\n  GStreamer:         YES(1.18.4)\n  vAPI:           NO\n  v4l/v4l2:          YES(linux/videodev2.h)\n  gPhoto2:          YES\n\n arallelframework:      TBB(ver2020.3interface11103)\n\n Trace:            YES(built-in)\n\n Otherthird-partylibraries:\n  Lapack:           NO\n  Eigen:           YES(ver3.3.9)\n  CustomHAL:         NO\n  rotobuf:          /usr/lib/aarch64-linux-gnu/libprotobuf.so(3.12.4)\n\n OpenCL:            YES(noextrafeatures)\n  Includepath:        /usr/include/CL\n  Linklibraries:       Dynamicload\n\n ython3:\n  Interpreter:        /usr/bin/python3(ver3.9.2)\n  Libraries:         /usr/lib/aarch64-linux-gnu/libpython3.9.so(ver3.9.2)\n  numpy:           /usr/lib/python3/dist-packages/numpy/core/include(ver1.19.5)\n  installpath:        lib/python3.9/dist-packages\n\n ython(forbuild):      /usr/bin/python3\n\n Java:             \n  ant:            /usr/bin/ant(ver1.10.9)\n  JNI:            /usr/lib/jvm/default-java/include/usr/lib/jvm/default-java/include/linux/usr/lib/jvm/default-java/include\n  Javawrappers:       YES\n  Javatests:         NO\n\n Installto:          /usr\n-----------------------------------------------------------------\n\n'>>>  附录Bgstreamer在线文档GStreamerpensourcemultimediaframeworkhttps://gstreamer.freedesktop.org/API文档：ApplicationDevelopmentManual(gstreamer.freedesktop.org)CoreLibrary(gstreamer.freedesktop.org)appsrc(gstreamer.freedesktop.org)附录C 一份python程序用来测试推流速度它会自动在00,10,20,30,40,50秒切换自行生成的图片内容（通过RTSP推出）。你可以用它来测试系统的延迟。你会看到条状和斜方块的图片10秒为间隔交替切换。视频流查看程序建议使用vlc，它可以配置出非常低的延迟：obsstudio始终配不出零延迟的效果。下面这段程序通过配置参数，我实现过几乎零延迟(>>>>>>>>>>>>>>>rknnfirstframegened");self.isFirstFrameGenedYet.update_variable(True)self.streamGenerator.purge();self.purge()self.nextTime2Sent=time.time()self.queueOut.put(self.frameRaw)if(self.isFirstFrameGenedYet.shared_variable)and(time.time()>=self.nextTime2Sent):print("timeanchor",time.time(),self.nextTime2Sent)ret,frame=self.outFrame()if(ret):#print("queuelen=",self.queueOut.qsize());self.rtsp_out_push(frame)self.nextTime2Sent+=self.timeStepelse:time.sleep(0.01)else:time.sleep(0.01)defstop(self):self.isRunning=Falsedef__del__(self):self.isRunning=False#if(self.cap!=None):#self.cap.release()defoutFrame(self):whileself.queueOut.qsize()>1:self.queueOut.get()continue;if(notself.isFirstFrameGenedYet.shared_variable):returnFalse,None;#print(self.queueOut.qsize)if(self.queueOut.qsize()0:self.queueOut.get()continue;defneed_data_callback(self,appsrc,length,udata):print("needdata",length)defseek_data_callback(self,appsrc,offset,udata):print('seekdata',offset)defrtsp_out_init(self):print('startpostto%s'%(self.rtsp_url))self.fps=1keyIntMax=1#self.fps*2#if(keyIntMax>5):keyIntMax=#keyIntMaxkeyframeinter-span,lowercausedlatencylittle.#cv2.CAP_PROP_BUFFERSIZElowlatency#sync,audiovideosync...#'!video/x-raw,format=RGB,width=%d,height=%d'%(self.width,self.height)+\#stream-type=0noseek.#leaky-type=2queuefulldropold...#sync=Falsecfr=Falseshow-preroll-frame=Falsemax-latency=1sink#format=GST_FORMAT_TIMEdo-timestamp=Truemin-percent=0max-bytes=245760self.out=cv2.VideoWriter('appsrcis-live=Truestream-type=0emit-signals=Falsemax-latency=1'+\#'!queuemax-size-time=10'+\'!videoconvert!video/x-raw,format=I420'+\'!x264encspeed-preset=ultrafastbitrate=1200tune="zerolatency"key-int-max='+str(keyIntMax)+\'!video/x-h264,profile=baseline'+\'!rtspclientsinklocation=%s'%(self.rtsp_url),cv2.CAP_GSTREAMER,cv2.VideoWriter_fourcc(*'h264'),self.fps,(self.width,self.height),True)ifself.outisNone:print("videoouterror.")exit(1)defrtsp_out_push(self,npArray):tryut=self.outframe=npArrayprint(">>>>>>>>>>>>sentoutstage1..",self.cnt,time.time(),npArray[0,0])out.write(frame)print(">>>>>>>>>>>>sentout.....",self.cnt,time.time(),npArray[0,0])self.cnt+=1exceptcv2.errorase:print("Errorwritingvideo:",e)exit(1)exceptExceptionase:print("Anunexpectederroroccurred:",e)exit(1)if__name__=="__main__":pjtConfig=cat4Config.Cat4Config()threadIn=stream_in.StreamInThread("StreamInThread",pjtConfig)threadOut=StreamOutThread("StreamRTSPOutThread",pjtConfig,threadIn)threadOut.start()threadIn.start()whileTrue:time.sleep(3600)threadOut.stop()#threadCalc.stop()threadIn.stop()C.2 thread_stream_in.py 负责生成测试帧因为原本是要连原始的网络摄像头的，这部分逻辑没有全部清理掉。#!/usr/bin/envpython3#-*-coding:utf-8-*-#获取当前脚本文件所在目录的父目录，并构建相对路径importosimportsyscurrent_dir=os.path.dirname(os.path.abspath(__file__))project_path=os.path.join(current_dir,'..')sys.path.append(project_path)sys.path.append(current_dir)importcv2importthreadingimporttimeimportwarningsimportqueueimportcat4ConfigfromdatetimeimportdatetimeimportnumpyasnpclassStreamInThread(threading.Thread):def__init__(self,name,pjtConfig):threading.Thread.__init__(self)self.name=nameself.isRunning=Trueself.frame=None#theverylastframeself.cap=Noneself.queueIn=queue.Queue()self.MAX_QUEUE_LEN=5self.imageCache=None#theveryoldframeself.isFirstImageComing=Falseself.width=pjtConfig.widthself.height=pjtConfig.heightself.zone=pjtConfig.zoneself.rtsp_url=pjtConfig.stream_inself.cnt=0defrun(self):flagNotHandle=Falsezone=self.zoneself.cap=cv2.VideoCapture(self.rtsp_url,cv2.CAP_GSTREAMER)ifnotself.cap.isOpened():print("streamisnotopen")exit(1)else:print("gstreameropened!")self.isFirstImageComing=False#fps=self.cap.get(5)fps=5print('streaminfps=',fps);start1=time.time()curcolor=200;lastseconds=-1whileself.isRunning:#self.cap.get()height=self.heightwidth=self.widthY=np.zeros((height,width),dtype=np.uint8)U=np.zeros((height,width),dtype=np.uint8)V=np.zeros((height,width),dtype=np.uint8)Y[:,:]=255current_time=datetime.now()seconds=current_time.secondif(seconds%10==0)and(lastseconds!=seconds):lastseconds=seconds;if(curcolor==200):curcolor=100self.cnt=0else:curcolor=200self.cnt=0if(curcolor==100):U[:,:]=0foriinnp.arange(self.width):forjinnp.arange(self.height//2):U[j,i]=255V[:,:]=0Y[:,:]=curcolorarMat=np.dstack((Y,U,V))else:U[:,:]=0foriinnp.arange(self.width):forjinnp.arange(i):U[i,j]=128Y[:,:]=curcolorarMat=np.dstack((Y,U,V))frame=arMatprint(">>>>>>>>>>>>sentin.....",self.cnt,time.time(),self.queueIn.qsize())self.cnt+=1#createarectanglecolor=curcolorcolor+=1self.queueIn.put(frame)#print("%sframewrittentotheserver"%datetime.now(),curcolor)now=time.time()diff=(1.0/fps)-now+start1#print("diffinthread_in",diff)ifdiff>0:time.sleep(diff)start1=nowself.cap.release()defstop(self):self.isRunning=Falsedef__del__(self):self.isRunning=False#if(self.cap!=None):#self.cap.release()defoutFrame(self):returnself.rawImage()defrawImage(self):whileself.queueIn.qsize()>(self.MAX_QUEUE_LEN*2):self.queueIn.get()continue;if(self.queueIn.qsize()>0):self.imageCache=self.queueIn.get()self.isFirstImageComing=Truereturnself.isFirstImageComing,self.imageCachedefpurge(self):whileself.queueIn.qsize()>1:self.queueIn.get()continue;if__name__=="__main__":pjtConfig=cat4Config.Cat4Config()thread=StreamInThread("StreamInThread",pjtConfig)thread.start()time.sleep(10)thread.stop();C.3 catConfig.py 配置#!/usr/bin/envpython3#-*-coding:utf-8-*-#获取当前脚本文件所在目录的父目录，并构建相对路径importosimportsyscurrent_dir=os.path.dirname(os.path.abspath(__file__))project_path=os.path.join(current_dir,'..')sys.path.append(project_path)sys.path.append(current_dir)importcv2importthreadingimporttimeimportwarningsimportqueueclassCat4Config:def__init__(self):self.stream_in="rtsp://xxxx:xxxxx@192.168.75.7:554/h264/ch1/main/av_stream"self.stream_out="rtsp://127.0.0.1:8554/ch3"self.fps_out=5self.hide_warning_yet=Falseself.width=640self.height=640self.max_queue_line=2