一、Nginx服務器搭建
因爲要將處理過的圖片串成rtmp碼流,因此,需要搭建一個rtmp服務器,常用的方案是Nginx服務器。
1.1 安裝依賴
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 編譯源碼
- 在工作空間下,新建一個nginx文件夾,用來存放需要下載nginx和nginx-rtmp-module兩個安裝包源碼。
- nginx下載鏈接,nginx-rtmp-module下載鏈接。
- 解壓文件,生成nginx-1.18.0文件夾,生成nginx-rtmp-module文件夾。
- 然後編譯安裝nginx,cd進nginx的目錄。
cd nginx-1.18.0
./configure --add-module=../nginx-rtmp-module
make -j4
sudo make install
1.3 測試nginx
直接運行以下命令:
sudo /usr/local/nginx/sbin/nginx
在瀏覽器中輸入localhost:80(或者服務器的IP),看到如下畫面,表示安裝成功。
1.4 配置
編輯 /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; # 服務端口--默認
chunk_size 4096; # 數據傳輸塊的大小--默認
# 設置直播的application名稱是live
application live {
live on; # live on表示開啓直播模式
}
}
}
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;
}
}
}
配置完之後,需要重啓nginx:
sudo cp nginx-rtmp-module/stat.xsl /usr/local/nginx/html/
sudo /usr/local/nginx/sbin/nginx -s reload
然後在瀏覽器中輸入localhost:80/info可看到如下畫面:
至此,完成了rtmp-nginx服務器的全部配置。
1.5 讓系統啓動時自動加載nginx服務
- 首先需要安裝sysv-rc-conf:
sudo apt-get update
apt install sysv-rc-conf
- 設置nginx開機啓動:
先爲nginx在下創建一個啓動腳本/etc/init.d/
gedit /etc/init.d/nginx
添加內容如下:
#! /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
- 保存成功之後我們要對這個管理腳本設置一個權限:
chmod +x /etc/init.d/nginx
- 接下來我們可以看看這個腳本能否正確執行:
/etc/init.d/nginx restart
這個管理腳本支持的命令有start|stop|force-quit|restart|reload|status|configtest。
- 如果沒有錯誤能正確執行,那我們可以開始把他加入啓動項了:
sysv-rc-conf --list # 我們先查看一下list中有沒有我們剛剛加進去的這個nginx管理腳本
sysv-rc-conf nginx on # 然後用這個命令添加開機自啓動
二、運行Prometheus推流示例程序(Python編寫)
運行如下命令:
roslaunch prometheus_detection web_cam0.launch # 打開一個usb攝像頭0
roslaunch prometheus_detection rtmp_stream.launch # 開始推流
具體的Python推流代碼如下(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()
- End -
技術發展的日新月異,阿木實驗室將緊跟技術的腳步,不斷把機器人行業最新的技術和硬件推薦給大家。看到經過我們培訓的學員在技術上突飛猛進,是我們培訓最大的價值。如果你在機器人行業,就請關注我們的公衆號,我們將持續發佈機器人行業最有價值的信息和技術。 阿木實驗室致力於爲機器人研發提供開源軟硬件工具和課程服務,讓研發更高效!