ros2 c++ FFmpeg opencv rtsp拉流

一、前提条件

1.ubuntu ros2 humble
2.sudo apt-get install ffmpeg libavformat-dev libavcodec-dev libavutil-dev libswscale-dev

二、简单代码

rtmp_player_node.cpp

#include <chrono>
#include <cstdio>
#include <rclcpp/rclcpp.hpp>
#include <opencv2/opencv.hpp>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/msg/image.hpp>
#include <std_msgs/msg/string.hpp>

#include <iostream>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>

extern "C" {
   
   
    #include "libavcodec/avcodec.h"
    #include "libavformat/avformat.h"
    #include "libavutil/avutil.h"
    #include "libswscale/swscale.h"
}
 
using namespace std::chrono_literals;
 
class VideoGrab : public rclcpp::Node
{
   
   
public:
  VideoGrab() : Node("video_grab")
  {
   
   
    image_publisher_ = this->create_publisher<sensor_msgs::msg::Image>("/video_stream", 5);
   
    avformat_network_init();
    if (avformat_open_input(&formatContext_, "rtsp://user:pass@ip:port", NULL, NULL) != 0)
    {
   
   
      std::cout << "Unable to open RTSP stream" << std::endl;
      return;
    }

    if (avformat_find_stream_info(formatContext_, NULL) < 0)
    {
   
   
      std::cout << "Unable to retrieve stream information" << std::endl;
      return;
    }

    cv::Mat image_;

    rtsp_th_ = std::make_shared<std::thread>(std::bind(&VideoGrab::run, this));
    rtsp_th_->detach();
    pub_th_ = std::make_shared<std::thread>(std::bind(&VideoGrab::publish, this));