rtsp

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rtsp

1.打开推流服务器

2.接收ros图像

3.ffmpeg命令推流

pushflow.cpp

// 1.包含头文件；
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
#include <iostream>
#include <csignal>
#include <opencv4/opencv2/opencv.hpp>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/msg/image.hpp>
using namespace std::chrono_literals;
using std::placeholders::_1;FILE *fp = nullptr;// 3.定义节点类；
class MinimalSubscriber : public rclcpp::Node
{public:MinimalSubscriber(std::string name): Node(name){// 3-1.创建订阅方；//subscription_ = this->create_subscription<std_msgs::msg::String>("rtsptopic", 10, std::bind(&MinimalSubscriber::topic_callback, this, _1));std::string rtspUrl = "rtsp://127.0.0.1:8554/test";std::stringstream command;command << "ffmpeg "<< "-re "<< "-f rawvideo "<< "-vcodec rawvideo "<< "-pix_fmt bgr24 "<< "-s 1080x720 "<< "-r 19 "<< "-i - "<< "-an "<< "-q:v 1 "//<<"-c:v libx264 "<< "-f rtsp "<< rtspUrl;//<<" "//<< "-c copy";fp = popen(command.str().c_str(),"w");//if(fp!= nullptr){subscription_ = this->create_subscription<sensor_msgs::msg::CompressedImage>("detectResultMatTopic", 10, std::bind(&MinimalSubscriber::topic_callback, this, _1));//subscription_ = this->create_subscription<sensor_msgs::msg::CompressedImage>("pubImageTopic", 10, std::bind(&MinimalSubscriber::topic_callback, this, _1));//pclose(fp);// }}private:rclcpp::Subscription<sensor_msgs::msg::CompressedImage>::SharedPtr subscription_;// 3-2.处理订阅到的消息；void topic_callback(const sensor_msgs::msg::CompressedImage::ConstPtr  msg) const{cv_bridge::CvImagePtr cv_ptr_compressed = cv_bridge::toCvCopy(msg,sensor_msgs::image_encodings::BGR8);cv::Mat imgCallback = cv_ptr_compressed->image;cv::Mat des1080;cv::resize(imgCallback, des1080, cv::Size(1080, 720), 0, 0, cv::INTER_NEAREST);//cv::imshow("imgCallbackrtsp",des1080);//cv::waitKey(1);fwrite(des1080.data,sizeof(char),des1080.total()*des1080.elemSize(),fp);}};int main(int argc, char * argv[])
{// 2.初始化 ROS2 客户端；rclcpp::init(argc, argv);// 4.调用spin函数，并传入节点对象指针。auto node = std::make_shared<MinimalSubscriber>("rtsp");rclcpp::spin(node);//rclcpp::init(argc, argv);// 4.调用spin函数，并传入节点对象指针。//auto node = std::make_shared<MinimalSubscriber>("detect");//rclcpp::spin(node);//rclcpp::spin(std::make_shared<MinimalSubscriber>());// 5.释放资源；//rclcpp::shutdown();// 5.释放资源；rclcpp::shutdown();return 0;
}

CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
project(rtsp_topic)# Default to C99
if(NOT CMAKE_C_STANDARD)set(CMAKE_C_STANDARD 99)
endif()# Default to C++14
if(NOT CMAKE_CXX_STANDARD)set(CMAKE_CXX_STANDARD 14)
endif()if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")add_compile_options(-Wall -Wextra -Wpedantic)
endif()# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)find_package(cv_bridge REQUIRED)
find_package(image_transport)
find_package(sensor_msgs REQUIRED)find_package(OpenCV REQUIRED)
include_directories( ${OpenCV_INCLUDE_DIRS})add_executable(rtspsrc/pushflow.cpp
)target_link_libraries(rtsp ${OpenCV_LIBS})# ros
target_link_libraries(rtsp${rclcpp_LIBRARIES} 
)ament_target_dependencies(rtsprclcppstd_msgssensor_msgs cv_bridge OpenCVimage_transport
)# 安装可执行文件
install(TARGETS rtspDESTINATION lib/${PROJECT_NAME}
)ament_package()

package.xml

<?xml version="1.0"?>
<?xml-model href=".xsd" schematypens=""?>
<package format="3"><name>rtsp_topic</name><version>0.0.0</version><description>TODO: Package description</description><maintainer email="jetson@todo.todo">jetson</maintainer><license>TODO: License declaration</license><buildtool_depend>ament_cmake</buildtool_depend><depend>rclcpp</depend><depend>std_msgs</depend><test_depend>ament_lint_auto</test_depend><test_depend>ament_lint_common</test_depend><export><build_type>ament_cmake</build_type></export>
</package>

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