文章目錄
- 前言
- 一、Aivero Contrib 簡介
- 二、整體安裝步驟
-
- 1.安裝GStreamer
- 2.安裝conan并添加aivero遠端配置檔案
- 3.擷取源碼并安裝
- 4.配置路徑
- 三、示範
-
- 1.顯示k4asrc插件資訊
- 2.利用工具包播放RGBD視訊,并推拉流
-
- 1)從檔案播放RGBD視訊流
- 2)啟動攝像頭,并播放RGBD視訊
- 3)推拉RGBD視訊的RTP流
- 參考
前言
在Ubuntu18.04工作站上,利用aivero-rgbd-tookit工具包與Azure Kinect攝像頭進行連接配接,用于後面實時攝錄RGBD視訊并推RTSP流到RTSP伺服器,在用戶端可以直接拉取RGBD流。
一、Aivero Contrib 簡介
Aivero Contrib是由Aivero團隊開發和維護的開源元件包,其中aivero-rgbd-tookit是一個基于Gstreamer的工具包,用于與RGB-D相機進行接口連接配接(如Intel RealSense和Microsoft Azure Kinect相機)。
開源代碼位址:https://gitlab.com/aivero/open-source/contrib/-/tree/master/
二、整體安裝步驟
1.安裝GStreamer
sudo apt update
sudo apt-get install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-bad1.0-dev gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly gstreamer1.0-libav gstreamer1.0-doc gstreamer1.0-tools gstreamer1.0-x gstreamer1.0-alsa gstreamer1.0-gl gstreamer1.0-gtk3 gstreamer1.0-qt5 gstreamer1.0-pulseaudio
2.安裝conan并添加aivero遠端配置檔案
pip3 install conan
conan config install https://gitlab.com/aivero/open-source/conan config/-/archive/master/conan-config-master.tar.gz -sf conan-config-master
conan config set general.default_profile=linux-x86_64
conan search -r aivero-all gst-rgbd-src
如果順利,會出現如下顯示:
3.擷取源碼并安裝
git clone https://gitlab.com/aivero/open-source/contrib.git
cd contrib
conan create aivero-rgbd-toolkit
conan install aivero-rgbd-toolkit/master@ -if rgbd_toolkit
4.配置路徑
如果上一步安裝成功,contrib檔案夾下會存在一個rgbd_toolkit檔案夾,裡面就是需要的一些依賴檔案以及元件。
重點關注裡面的一個aivero_environment.sh檔案,裡面是一些路徑資訊,需要根據安裝路徑進行相應的修改,然後執行.sh檔案導入。
我的aivero_environment.sh檔案參考:
export PREFIX=/home/eg/Downloads/Kinect/Kinect_RTSP/contrib/rgbd_toolkit
#export PATH=$PREFIX/bin:$PATH
export PATH=/usr/local/bin:$PATH
export LD_LIBRARY_PATH=/usr/lib/x86_64-linux-gnu:$PREFIX/lib
#export LD_LIBRARY_PATH=/lib/x86_64-linux-gnu:/usr/lib/x86_64-linux-gnu:$PREFIX/lib
export PKG_CONFIG_PATH=$PREFIX/lib/pkgconfig
export GST_PLUGIN_PATH=$PREFIX/lib/gstreamer-1.0:/usr/lib/x86_64-linux-gnu/gstreamer-1.0:/usr/local/lib/x86_64-linux-gnu/gstreamer-1.0
三、示範
1.顯示k4asrc插件資訊
2.利用工具包播放RGBD視訊,并推拉流
1)從檔案播放RGBD視訊流
export VIDEOPATH=your_video_path
gst-launch-1.0 k4asrc recording-location=$VIDEOPATH ! rgbddemux name=demuxdemux.src_depth ! queue ! colorizer near-cut=300 far-cut=5000 ! videoconvert ! glimagesink
2)啟動攝像頭,并播放RGBD視訊
export SERIAL=your_Kinect_serial
gst-launch-1.0 k4asrc serial=$SERIAL enable-color=true ! rgbddemux name=demux demux.src_depth ! queue ! colorizer near-cut=300 far-cut=5000 ! videoconvert ! glimagesink demux.src_color ! queue ! videoconvert ! glimagesink
3)推拉RGBD視訊的RTP流
gst-launch-1.0 k4asrc serial=$SERIAL enable-color=true ! rgbddemux name=demux demux.src_depth ! queue ! colorizer near-cut=300 far-cut=5000 ! rtpvrawpay ! udpsink host=10.20.1.18 port=9001
gst-launch-1.0 udpsrc port=9001 ! "application/x-rtp, media=video, clock-rate=90000, encoding-name=RAW, depth=(string)8, width=(string)640, height=(string)576, payload=96, sampling=RGB" ! rtpjitterbuffer ! rtpvrawdepay ! videoconvert ! queue ! fpsdisplaysink sync=false
參考
1.https://gitlab.com/aivero/open-source/contrib/-/tree/master/aivero-rgbd-toolkit
2.https://github.com/MaibornWolff/Azure_Kinect_RTSP-Streamer
3.https://gitlab.com/aivero/legacy/public/aivero-rgbd-toolkit/-/issues/11