无人机之眼 | ROS图像RTMP协议推流到地面站,CPU表示软件解码
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一、nginx服务器搭建
因为要将处理过的图片串成rtmp码流,因此,需要搭建一个rtmp服务器,常用的方案是Nginx服务器。
1.1 安装依赖 sudo apt-get update sudo apt-get install -y openssl libssl-dev libpcre3 libpcre3-dev zlib1g-dev sudo apt-get install -y autoconf automake build-essential git libass-dev libfreetype6-dev libsdl2-dev libtheora-dev libtool libva-dev libvdpau-dev libvorbis-dev libxcb1-dev libxcb-shm0-dev libxcb-xfixes0-dev pkg-config texinfo wget zlib1g-dev sudo apt-get install -y ffmpeg 1.2 编译源码 在工作空间下,新建一个nginx文件夹,用来存放需要下载nginx和nginx-rtmp-module两个安装包源码。 nginx下载链接,nginx-rtmp-module下载链接。 解压文件,生成nginx-1.18.0文件夹,生成nginx-rtmp-module文件夹。 然后编译安装nginx,cd进nginx的目录。 cd nginx-1.18.0 ./configure --add-module=../nginx-rtmp-module make -j4 sudo make install 1.3 测试nginx 直接运行以下命令:
sudo /usr/local/nginx/sbin/nginx 在浏览器中输入localhost:80(或者服务器的IP),看到如下画面,表示安装成功。 1.4 配置 编辑 /usr/local/nginx/conf/nginx.conf文件()。sudo gedit /usr/local/nginx/conf/nginx.conf
#user nobody; worker_processes 1; #error_log logs/error.log; #error_log logs/error.log notice; #error_log logs/error.log info; #pid logs/nginx.pid; events worker_connections 1024; rtmp
server listen 1935; # 服务端口--默认 chunk_size 4096; # 数据传输块的大小--默认 #设置直播的application名称是live application live live on; # live on表示开启直播模式 http include mime.types; default_type application/octet-stream; #log_format main '$remote_addr - $remote_user [$time_local] "$request" ' #'$status $body_bytes_sent "$http_referer" ' #$http_user_agent" "$http_x_forwarded_for"'; #access_log logs/access.log main; sendfile on; #tcp_nopush on; #keepalive_timeout 0; keepalive_timeout 65; #gzip on; server listen 80; server_name localhost; #charset koi8-r; #access_log logs/host.access.log main; location / root html; index index.html index.htm; location /info rtmp_stat all; rtmp_stat_stylesheet stat.xsl; location /stat.xsl root html; #error_page 404 /404.html; #redirect server error pages to the static page /50x.html #error_page 500 502 503 504 /50x.html; location = /50x.html root html; 配置完之后,需要重启nginx:
sudo cp nginx-rtmp-module/stat.xsl /usr/local/nginx/html/ sudo /usr/local/nginx/sbin/nginx -s reload 然后在浏览器中输入localhost:80/info可看到如下画面: 至此,完成了rtmp-nginx服务器的全部配置。
1.5 让系统启动时自动加载nginx服务
首先需要安装sysv-rc-conf: sudo apt-get update apt install sysv-rc-conf 设置nginx开机启动: 先为nginx在下创建一个启动脚本/etc/init.d/
gedit /etc/init.d/nginx 添加内容如下:
#! /bin/sh #chkconfig: 2345 55 25 #Description: Startup script for nginx webserver on Debian. Place in /etc/init.d and #run 'update-rc.d -f nginx defaults', or use the appropriate command on your #distro. For CentOS/Redhat run: 'chkconfig --add nginx' ###BEGIN INIT INFO #Provides: nginx #Required-Start: $all #Required-Stop: $all# Default-Start: 2 3 4 5 #Default-Stop: 0 1 6 #Short-Description: starts the nginx web server #Description: starts nginx using start-stop-daemon ###END INIT INFO #Author: licess #website: http://lnmp.org PATH=/usr/local/sbin:/usr/local/bin:/sbin:/bin:/usr/sbin:/usr/bin NAME=nginx NGINX_BIN=/usr/local/nginx/sbin/$NAME CONFIGFILE=/usr/local/nginx/conf/$NAME.conf PIDFILE=/usr/local/nginx/logs/$NAME.pid case "$1" in start) echo -n "Starting $NAME... "
if netstat -tnpl | grep -q nginx;then
echo "$NAME (pid `pidof $NAME`) already running."
exit 1
fi
$NGINX_BIN -c $CONFIGFILE
if [ "$?" != 0 ] ; then
echo " failed"
exit 1 else
echo " done"
fi
;;
stop)
echo -n "Stoping $NAME... "
if ! netstat -tnpl | grep -q nginx; then
echo "$NAME is not running."
exit 1
fi
$NGINX_BIN -s stop
if [ "$?" != 0 ] ; then
echo " failed. Use force-quit"
exit 1
else
echo " done"
fi
;;
status)
if netstat -tnpl | grep -q nginx; then
PID=`pidof nginx`
echo "$NAME (pid $PID) is running..."
else
echo "$NAME is stopped"
exit 0 fi
;;
force-quit)
echo -n "Terminating $NAME... "
if ! netstat -tnpl | grep -q nginx; then
echo "$NAME is not running."
exit 1
fi
kill `pidof $NAME`
if [ "$?" != 0 ] ; then
echo " failed"
exit 1
else
echo " done"
fi
;;
restart)
$0 stop
sleep 1
$0 start
;;
reload) echo -n "Reload service $NAME... "
if netstat -tnpl | grep -q nginx; then
$NGINX_BIN -s reload
echo " done"
else
echo "$NAME is not running, can't reload."
exit 1
fi
;;
configtest)
echo -n "Test $NAME configure files... "
$NGINX_BIN -t
;;
*)
echo "Usage: $0 start|stop|force-quit|restart|reload|status|configtest"
exit 1
;;
esac 保存成功之后我们要对这个管理脚本设置一个权限: chmod +x /etc/init.d/nginx 接下来我们可以看看这个脚本能否正确执行: /etc/init.d/nginx restart 这个管理脚本支持的命令有start|stop|force-quit|restart|reload|status|configtest。
如果没有错误能正确执行,那我们可以开始把他加入启动项了: sysv-rc-conf --list # 我们先查看一下list中有没有我们刚刚加进去的这个nginx管理脚本 sysv-rc-conf nginx on # 然后用这个命令添加开机自启动
二、运行Prometheus推流示例程序(Python编写)
运行如下命令:
roslaunch prometheus_detection web_cam0.launch # 打开一个usb摄像头0 roslaunch prometheus_detection rtmp_stream.launch # 开始推流 具体的Python推流代码如下(位置在):
Prometheus/Modules/object_detection/py_nodes/rtmp_stream/ocv_rtmp_stream.py#!/usr/bin/env python #-- coding: utf-8 -- import rospy from sensor_msgs.msg import Image from geometry_msgs.msg import Pose, Point, Quaternion from cv_bridge import CvBridge from std_msgs.msg import String from std_msgs.msg import Bool import numpy as np import cv2 import subprocess import os import yaml import math rospy.init_node('rtmp_stream', anonymous=True) rtmp = r'rtmp://localhost:1935/live' size_str = str(640) + 'x' + str(400) command = ['ffmpeg', '-y', '-an', '-f', 'rawvideo', '-vcodec','rawvideo', '-pix_fmt', 'bgr24', '-s', size_str, '-r', '25', '-i', '-', '-c:v', 'libx264', '-pix_fmt', 'yuv420p', '-preset', 'ultrafast', '-f', 'flv', rtmp] pipe = subprocess.Popen(
command,
shell=False,
stdin=subprocess.PIPE )
def image_callback(imgmsg):
bridge = CvBridge()
frame = bridge.imgmsg_to_cv2(imgmsg, "bgr8")
#processing #end
h, w = frame.shape[:2]
img_resize = 400
if h > w:
h = int(float(h) / w * img_resize)
w = img_resize
else:
w = int(float(w) / h * img_resize)
h = img_resize
frame = cv2.resize(frame, (w, h))
frame = frame[:, :640, :]
pipe.stdin.write(frame.tostring())
cv2.imshow("cap", frame)
#cv2.imshow("area", area)
cv2.waitKey(10)
def rtmp_stream(topic_name):
rospy.Subscriber(topic_name, Image, image_callback)
rospy.spin()
if name == 'main':
subscriber = rospy.get_param('~camera_topic', '/prometheus/camera/rgb/image_raw')
try:
rtmp_stream(subscriber)
except rospy.ROSInterruptException:
pass
pipe.terminate()
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