Raspbian简易RTSP服务

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1. 源由

鉴于前期的一些准备工作：

• 《ArduPilot开源飞控之Companion Computers简单分析》
• 《ArduPilot开源代码之CompanionComputer上天计划》

以及手头可用的资源RaspberryPi(PiZero/Pi3B+)，选择rpanion-server这个想对容易上手的伴机电脑。

在使用过程中确实也遇到一些问题：

1. Can’t set “Maximum Bitrate” beyond 10MB on Raspberry Pi3B+ #191
2. Re-install process will fail due to the existence of binary(node/npm) links #194
3. Feature Request: pan-tilt gimbal controls #196
4. Is there any way to save configuration locally on Rpanion? #197
5. 720P@20FPS latency is obviously there, any idea? #204
6. No video feed thru UDP with RTP #175
7. Feature Request: send VIDEO_STREAM_INFO mavlink messages to GCS #169

整个过程中也得到了stephendade的大力支持和帮助。

当然，整理这份资料，主要目的是

1. 记录一下其他方式搭建简易RTSP服务器
2. 了解最简系统下的RTSP服务性能
3. 同时，和Rpanion做一个对比

期望：用最简单的命令或者环境来做对比测试。

2. 搭建简易RTSP服务器

• 最简单的环境：rpi-rtsp-gstreamer 对应的资料：《Streaming Raspberry Pi Video via RTSP with GStreamer and Video4Linux》
• 最简单的命令：libcamera-vid + cvlc 对应的资料：《How to use libcamera-vid to stream rtsp on raspberry pi? #3097》

注：最终结合了上面两份资料，选择了最简单命令来搭建环境。

2.1 系统安装

略，详见《Raspbian镜像无头烧录》

2.2 软件安装

$ sudo apt-get install gstreamer1.0-tools -y $ sudo apt-get install libgstrtspserver-1.0-dev gstreamer1.0-rtsp -y $ sudo apt-get install vlc -y $ sudo apt install libcamera-apps -y 

2.3 命令介绍

$ libcamera-hello --list-camera Available cameras ----------------- 0 : ov5647 [2592x1944] (/base/soc/i2c0mux/i2c@1/ov5647@36) Modes: 'SGBRG10_CSI2P' : 640x480 [58.92 fps - (16, 0)/2560x1920 crop] 1296x972 [43.25 fps - (0, 0)/2592x1944 crop] 1920x1080 [30.62 fps - (348, 434)/1928x1080 crop] 2592x1944 [15.63 fps - (0, 0)/2592x1944 crop] $ libcamera-vid --codec h264 --profile main --level 4 -b  --framerate 30 --width 1920 --height 1080 -t 0 --inline -o - | cvlc stream:///dev/stdin --sout '#rtp{sdp=rtsp://:8554/stream1}' :demux=h264 

2.3.1 libcamera-hello

OV5647摄像头CSI模块，支持以下模式：

• 640×480 [58.92 fps – (16, 0)/2560×1920 crop]
• 1296×972 [43.25 fps – (0, 0)/2592×1944 crop]
• 1920×1080 [30.62 fps – (348, 434)/1928×1080 crop]
• 2592×1944 [15.63 fps – (0, 0)/2592×1944 crop]

$ libcamera-hello --help Valid options are: -h [ --help ] [=arg(=1)] (=0) Print this help message --version [=arg(=1)] (=0) Displays the build version number --list-cameras [=arg(=1)] (=0) Lists the available cameras attached to the system. --camera arg (=0) Chooses the camera to use. To list the available indexes, use the --list-cameras option. -v [ --verbose ] [=arg(=2)] (=1) Set verbosity level. Level 0 is no output, 1 is default, 2 is verbose. -c [ --config ] [=arg(=config.txt)] Read the options from a file. If no filename is specified, default to config.txt. In case of duplicate options, the ones provided on the command line will be used. Note that the config file must only contain the long form options. --info-text arg (=#%frame (%fps fps) exp %exp ag %ag dg %dg) Sets the information string on the titlebar. Available values: %frame (frame number) %fps (framerate) %exp (shutter speed) %ag (analogue gain) %dg (digital gain) %rg (red colour gain) %bg (blue colour gain) %focus (focus FoM value) %aelock (AE locked status) %lp (lens position, if known) %afstate (AF state, if supported) --width arg (=0) Set the output image width (0 = use default value) --height arg (=0) Set the output image height (0 = use default value) -t [ --timeout ] arg (=5000) Time (in ms) for which program runs -o [ --output ] arg Set the output file name --post-process-file arg Set the file name for configuring the post-processing --rawfull [=arg(=1)] (=0) Force use of full resolution raw frames -n [ --nopreview ] [=arg(=1)] (=0) Do not show a preview window -p [ --preview ] arg (=0,0,0,0) Set the preview window dimensions, given as x,y,width,height e.g. 0,0,640,480 -f [ --fullscreen ] [=arg(=1)] (=0) Use a fullscreen preview window --qt-preview [=arg(=1)] (=0) Use Qt-based preview window (WARNING: causes heavy CPU load, fullscreen not supported) --hflip [=arg(=1)] (=0) Request a horizontal flip transform --vflip [=arg(=1)] (=0) Request a vertical flip transform --rotation arg (=0) Request an image rotation, 0 or 180 --roi arg (=0,0,0,0) Set region of interest (digital zoom) e.g. 0.25,0.25,0.5,0.5 --shutter arg (=0) Set a fixed shutter speed in microseconds --analoggain arg (=0) Set a fixed gain value (synonym for 'gain' option) --gain arg Set a fixed gain value --metering arg (=centre) Set the metering mode (centre, spot, average, custom) --exposure arg (=normal) Set the exposure mode (normal, sport) --ev arg (=0) Set the EV exposure compensation, where 0 = no change --awb arg (=auto) Set the AWB mode (auto, incandescent, tungsten, fluorescent, indoor, daylight, cloudy, custom) --awbgains arg (=0,0) Set explict red and blue gains (disable the automatic AWB algorithm) --flush [=arg(=1)] (=0) Flush output data as soon as possible --wrap arg (=0) When writing multiple output files, reset the counter when it reaches this number --brightness arg (=0) Adjust the brightness of the output images, in the range -1.0 to 1.0 --contrast arg (=1) Adjust the contrast of the output image, where 1.0 = normal contrast --saturation arg (=1) Adjust the colour saturation of the output, where 1.0 = normal and 0.0 = greyscale --sharpness arg (=1) Adjust the sharpness of the output image, where 1.0 = normal sharpening --framerate arg (=-1) Set the fixed framerate for preview and video modes --denoise arg (=auto) Sets the Denoise operating mode: auto, off, cdn_off, cdn_fast, cdn_hq --viewfinder-width arg (=0) Width of viewfinder frames from the camera (distinct from the preview window size --viewfinder-height arg (=0) Height of viewfinder frames from the camera (distinct from the preview window size) --tuning-file arg (=-) Name of camera tuning file to use, omit this option for libcamera default behaviour --lores-width arg (=0) Width of low resolution frames (use 0 to omit low resolution stream --lores-height arg (=0) Height of low resolution frames (use 0 to omit low resolution stream --mode arg Camera mode as W:H:bit-depth:packing, where packing is P (packed) or U (unpacked) --viewfinder-mode arg Camera mode for preview as W:H:bit-depth:packing, where packing is P (packed) or U (unpacked) --buffer-count arg (=0) Number of in-flight requests (and buffers) configured for video, raw, and still. --viewfinder-buffer-count arg (=0) Number of in-flight requests (and buffers) configured for preview window. --autofocus-mode arg (=default) Control to set the mode of the AF (autofocus) algorithm.(manual, auto, continuous) --autofocus-range arg (=normal) Set the range of focus distances that is scanned.(normal, macro, full) --autofocus-speed arg (=normal) Control that determines whether the AF algorithm is to move the lens as quickly as possible or more steadily.(normal, fast) --autofocus-window arg (=0,0,0,0) Sets AfMetering to AfMeteringWindows an set region used, e.g. 0.25,0.25,0.5,0.5 --lens-position arg Set the lens to a particular focus position, expressed as a reciprocal distance (0 moves the lens to infinity), or "default" for the hyperfocal distance --hdr [=arg(=1)] (=0) Enable (1) or disable (0) High Dynamic Range, where supported --metadata arg Save captured image metadata to a file or "-" for stdout --metadata-format arg (=json) Format to save the metadata in, either txt or json (requires --metadata) 

2.3.2 libcamera-vid

视频采集

• 编码：--codec h264
• 配置：--profile main
• 级别：--level 4
• 码流：-b
• 帧率：--framerate 30
• 宽高：--width 1920 --height 1080
• 延时：-t 0
• 强制：--inline
• 输出：-o -

$ libcamera-vid --help Valid options are: -h [ --help ] [=arg(=1)] (=0) Print this help message --version [=arg(=1)] (=0) Displays the build version number --list-cameras [=arg(=1)] (=0) Lists the available cameras attached to the system. --camera arg (=0) Chooses the camera to use. To list the available indexes, use the --list-cameras option. -v [ --verbose ] [=arg(=2)] (=1) Set verbosity level. Level 0 is no output, 1 is default, 2 is verbose. -c [ --config ] [=arg(=config.txt)] Read the options from a file. If no filename is specified, default to config.txt. In case of duplicate options, the ones provided on the command line will be used. Note that the config file must only contain the long form options. --info-text arg (=#%frame (%fps fps) exp %exp ag %ag dg %dg) Sets the information string on the titlebar. Available values: %frame (frame number) %fps (framerate) %exp (shutter speed) %ag (analogue gain) %dg (digital gain) %rg (red colour gain) %bg (blue colour gain) %focus (focus FoM value) %aelock (AE locked status) %lp (lens position, if known) %afstate (AF state, if supported) --width arg (=0) Set the output image width (0 = use default value) --height arg (=0) Set the output image height (0 = use default value) -t [ --timeout ] arg (=5000) Time (in ms) for which program runs -o [ --output ] arg Set the output file name --post-process-file arg Set the file name for configuring the post-processing --rawfull [=arg(=1)] (=0) Force use of full resolution raw frames -n [ --nopreview ] [=arg(=1)] (=0) Do not show a preview window -p [ --preview ] arg (=0,0,0,0) Set the preview window dimensions, given as x,y,width,height e.g. 0,0,640,480 -f [ --fullscreen ] [=arg(=1)] (=0) Use a fullscreen preview window --qt-preview [=arg(=1)] (=0) Use Qt-based preview window (WARNING: causes heavy CPU load, fullscreen not supported) --hflip [=arg(=1)] (=0) Request a horizontal flip transform --vflip [=arg(=1)] (=0) Request a vertical flip transform --rotation arg (=0) Request an image rotation, 0 or 180 --roi arg (=0,0,0,0) Set region of interest (digital zoom) e.g. 0.25,0.25,0.5,0.5 --shutter arg (=0) Set a fixed shutter speed in microseconds --analoggain arg (=0) Set a fixed gain value (synonym for 'gain' option) --gain arg Set a fixed gain value --metering arg (=centre) Set the metering mode (centre, spot, average, custom) --exposure arg (=normal) Set the exposure mode (normal, sport) --ev arg (=0) Set the EV exposure compensation, where 0 = no change --awb arg (=auto) Set the AWB mode (auto, incandescent, tungsten, fluorescent, indoor, daylight, cloudy, custom) --awbgains arg (=0,0) Set explict red and blue gains (disable the automatic AWB algorithm) --flush [=arg(=1)] (=0) Flush output data as soon as possible --wrap arg (=0) When writing multiple output files, reset the counter when it reaches this number --brightness arg (=0) Adjust the brightness of the output images, in the range -1.0 to 1.0 --contrast arg (=1) Adjust the contrast of the output image, where 1.0 = normal contrast --saturation arg (=1) Adjust the colour saturation of the output, where 1.0 = normal and 0.0 = greyscale --sharpness arg (=1) Adjust the sharpness of the output image, where 1.0 = normal sharpening --framerate arg (=-1) Set the fixed framerate for preview and video modes --denoise arg (=auto) Sets the Denoise operating mode: auto, off, cdn_off, cdn_fast, cdn_hq --viewfinder-width arg (=0) Width of viewfinder frames from the camera (distinct from the preview window size --viewfinder-height arg (=0) Height of viewfinder frames from the camera (distinct from the preview window size) --tuning-file arg (=-) Name of camera tuning file to use, omit this option for libcamera default behaviour --lores-width arg (=0) Width of low resolution frames (use 0 to omit low resolution stream --lores-height arg (=0) Height of low resolution frames (use 0 to omit low resolution stream --mode arg Camera mode as W:H:bit-depth:packing, where packing is P (packed) or U (unpacked) --viewfinder-mode arg Camera mode for preview as W:H:bit-depth:packing, where packing is P (packed) or U (unpacked) --buffer-count arg (=0) Number of in-flight requests (and buffers) configured for video, raw, and still. --viewfinder-buffer-count arg (=0) Number of in-flight requests (and buffers) configured for preview window. --autofocus-mode arg (=default) Control to set the mode of the AF (autofocus) algorithm.(manual, auto, continuous) --autofocus-range arg (=normal) Set the range of focus distances that is scanned.(normal, macro, full) --autofocus-speed arg (=normal) Control that determines whether the AF algorithm is to move the lens as quickly as possible or more steadily.(normal, fast) --autofocus-window arg (=0,0,0,0) Sets AfMetering to AfMeteringWindows an set region used, e.g. 0.25,0.25,0.5,0.5 --lens-position arg Set the lens to a particular focus position, expressed as a reciprocal distance (0 moves the lens to infinity), or "default" for the hyperfocal distance --hdr [=arg(=1)] (=0) Enable (1) or disable (0) High Dynamic Range, where supported --metadata arg Save captured image metadata to a file or "-" for stdout --metadata-format arg (=json) Format to save the metadata in, either txt or json (requires --metadata) -b [ --bitrate ] arg (=0) Set the video bitrate for encoding, in bits/second (h264 only) --profile arg Set the encoding profile (h264 only) --level arg Set the encoding level (h264 only) -g [ --intra ] arg (=0) Set the intra frame period (h264 only) --inline [=arg(=1)] (=0) Force PPS/SPS header with every I frame (h264 only) --codec arg (=h264) Set the codec to use, either h264, mjpeg or yuv420 --save-pts arg Save a timestamp file with this name -q [ --quality ] arg (=50) Set the MJPEG quality parameter (mjpeg only) -l [ --listen ] [=arg(=1)] (=0) Listen for an incoming client network connection before sending data to the client -k [ --keypress ] [=arg(=1)] (=0) Pause or resume video recording when ENTER pressed -s [ --signal ] [=arg(=1)] (=0) Pause or resume video recording when signal received -i [ --initial ] arg (=record) Use 'pause' to pause the recording at startup, otherwise 'record' (the default) --split [=arg(=1)] (=0) Create a new output file every time recording is paused and then resumed --segment arg (=0) Break the recording into files of approximately this many milliseconds --circular [=arg(=4)] (=0) Write output to a circular buffer of the given size (in MB) which is saved on exit --frames arg (=0) Run for the exact number of frames specified. This will override any timeout set. 

2.3.3 cvlc

cvlc stream:///dev/stdin --sout '#rtp{sdp=rtsp://:8554/stream1}' :demux=h264 这里需要仔细的阅读以下文档：

• RTP (I): Intro to RTP and SDP
• RTP (II): Streaming with FFmpeg

还不太熟悉这个命令，不过个人理解如下：

• 输入输出：stream:///dev/stdin --sout '#rtp{sdp=rtsp://:8554/stream1}'
• H264编码：:demux=h264

$ cvlc --help VLC media player 3.0.20 Vetinari (revision 3.0.20-0-g6f0d0ab126b) Usage: vlc [options] [stream] ... You can specify multiple streams on the commandline. They will be enqueued in the playlist. The first item specified will be played first. Options-styles: --option A global option that is set for the duration of the program. -option A single letter version of a global --option. :option An option that only applies to the stream directly before it and that overrides previous settings. Stream MRL syntax: [[access][/demux]://]URL[#[title][:chapter][-[title][:chapter]]] [:option=value ...] Many of the global --options can also be used as MRL specific :options. Multiple :option=value pairs can be specified. URL syntax: file:///path/file Plain media file http://host[:port]/file HTTP URL ftp://host[:port]/file FTP URL mms://host[:port]/file MMS URL screen:// Screen capture dvd://[device] DVD device vcd://[device] VCD device cdda://[device] Audio CD device udp://[[<source address>]@[<bind address>][:<bind port>]] UDP stream sent by a streaming server vlc://pause:<seconds> Pause the playlist for a certain time vlc://quit Special item to quit VLC core program (core) Audio --audio, --no-audio Enable audio (default enabled) --force-dolby-surround {0 (Auto), 1 (On), 2 (Off)} Force detection of Dolby Surround --audio-replay-gain-mode {none,track,album} Replay gain mode --audio-replay-gain-preamp <float> Replay preamp --audio-replay-gain-default <float> Default replay gain --audio-time-stretch, --no-audio-time-stretch Enable time stretching audio (default enabled) --audio-filter <string> Audio filters --audio-visual {any,visual,glspectrum,none} Audio visualisations Video -f, --fullscreen, --no-fullscreen Fullscreen video output (default disabled) --video-on-top, --no-video-on-top Always on top (default disabled) --video-wallpaper, --no-video-wallpaper Enable wallpaper mode (default disabled) --video-title-show, --no-video-title-show Show media title on video (default enabled) --video-title-timeout <integer> Show video title for x milliseconds --video-title-position {0 (Centre), 1 (Left), 2 (Right), 4 (Top), 8 (Bottom), 5 (Top-Left), 6 (Top-Right), 9 (Bottom-Left), 10 (Bottom-Right)} Position of video title --mouse-hide-timeout <integer> Hide cursor and fullscreen controller after x milliseconds Snapshot: --snapshot-path <string> Video snapshot directory (or filename) --snapshot-prefix <string> Video snapshot file prefix --snapshot-format {png,jpg,tiff} Video snapshot format --snapshot-preview, --no-snapshot-preview Display video snapshot preview (default enabled) --snapshot-sequential, --no-snapshot-sequential Use sequential numbers instead of timestamps (default disabled) Window properties: --crop <string> Video cropping --custom-crop-ratios <string> Custom crop ratios list --aspect-ratio <string> Source aspect ratio --autoscale, --no-autoscale Video Auto Scaling (default enabled) --custom-aspect-ratios <string> Custom aspect ratios list --deinterlace {0 (Off), -1 (Automatic), 1 (On)} Deinterlace --deinterlace-mode {auto,discard,blend,mean,bob,linear,x,yadif,yadif2x,phosphor,ivtc} Deinterlace mode --video-filter <string> Video filter module --video-splitter <string> Video splitter module Subpictures On Screen Display: --spu, --no-spu Enable sub-pictures (default enabled) --osd, --no-osd On Screen Display (default enabled) Subtitles: --sub-file <string> Use subtitle file --sub-autodetect-file, --no-sub-autodetect-file Autodetect subtitle files (default enabled) --sub-text-scale <integer [10 .. 500]> Subtitles text scaling factor Overlays: --sub-source <string> Subpictures source module --sub-filter <string> Subpictures filter module Track settings: --audio-language <string> Audio language --sub-language <string> Subtitle language --menu-language <string> Menu language --preferred-resolution {-1 (Best available), 1080 (Full HD (1080p)), 720 (HD (720p)), 576 (Standard Definition (576 or 480 lines)), 360 (Low Definition (360 lines)), 240 (Very Low Definition (240 lines))} Preferred video resolution Playback control: --input-repeat <integer [0 .. 65535]> Input repetitions --input-fast-seek, --no-input-fast-seek Fast seek (default disabled) --rate <float> Playback speed Default devices: --dvd <string> DVD device --vcd <string> VCD device Advanced: --input-title-format <string> Change title according to current media Input --stream-filter <string> Stream filter module Playlist Performance options: -Z, --random, --no-random Play files randomly forever (default disabled) -L, --loop, --no-loop Repeat all (default disabled) -R, --repeat, --no-repeat Repeat current item (default disabled) --play-and-exit, --no-play-and-exit Play and exit (default disabled) --play-and-stop, --no-play-and-stop Play and stop (default disabled) --start-paused, --no-start-paused Start paused (default disabled) --playlist-autostart, --no-playlist-autostart Auto start (default enabled) --playlist-cork, --no-playlist-cork Pause on audio communication (default enabled) --media-library, --no-media-library Use media library (default disabled) --playlist-tree, --no-playlist-tree Display playlist tree (default disabled) --open <string> Default stream --auto-preparse, --no-auto-preparse Automatically preparse items (default enabled) --preparse-timeout <integer> Preparsing timeout --metadata-network-access, --no-metadata-network-access Allow metadata network access (default disabled) --recursive {none,collapse,expand} Subdirectory behaviour --ignore-filetypes <string> Ignored extensions --show-hiddenfiles, --no-show-hiddenfiles Show hidden files (default disabled) -v, --verbose <integer> Verbosity (0,1,2) --pidfile <string> Write process id to file --advanced, --no-advanced Show advanced options (default disabled) --interact, --no-interact Interface interaction (default enabled) -I, --intf <string> Interface module --extraintf <string> Extra interface modules --control <string> Control interfaces Hot keys --hotkeys-y-wheel-mode {-1 (Ignore), 0 (Volume control), 2 (Position control), 3 (Position control reversed)} Mouse wheel vertical axis control --hotkeys-x-wheel-mode {-1 (Ignore), 0 (Volume control), 2 (Position control), 3 (Position control reversed)} Mouse wheel horizontal axis control --global-key-toggle-fullscreen <string> Fullscreen --key-toggle-fullscreen <string> Fullscreen --global-key-leave-fullscreen <string> Exit fullscreen --key-leave-fullscreen <string> Exit fullscreen --global-key-play-pause <string> Play/Pause --key-play-pause <string> Play/Pause --global-key-faster <string> Faster --key-faster <string> Faster --global-key-slower <string> Slower --key-slower <string> Slower --global-key-rate-normal <string> Normal rate --key-rate-normal <string> Normal rate --global-key-rate-faster-fine <string> Faster (fine) --key-rate-faster-fine <string> Faster (fine) --global-key-rate-slower-fine <string> Slower (fine) --key-rate-slower-fine <string> Slower (fine) --global-key-next <string> Next --key-next <string> Next --global-key-prev <string> Previous --key-prev <string> Previous --global-key-stop <string> Stop --key-stop <string> Stop --global-key-jump-extrashort <string> Very short backwards jump --key-jump-extrashort <string> Very short backwards jump --global-key-jump+extrashort <string> Very short forward jump --key-jump+extrashort <string> Very short forward jump --global-key-jump-short <string> Short backwards jump --key-jump-short <string> Short backwards jump --global-key-jump+short <string> Short forward jump --key-jump+short <string> Short forward jump --global-key-jump-medium <string> Medium backwards jump --key-jump-medium <string> Medium backwards jump --global-key-jump+medium <string> Medium forward jump --key-jump+medium <string> Medium forward jump --global-key-jump-long <string> Long backwards jump --key-jump-long <string> Long backwards jump --global-key-jump+long <string> Long forward jump --key-jump+long <string> Long forward jump --global-key-frame-next <string> Next frame --key-frame-next <string> Next frame --global-key-quit <string> Quit --key-quit <string> Quit --global-key-vol-up <string> Volume up --key-vol-up <string> Volume up --global-key-vol-down <string> Volume down --key-vol-down <string> Volume down --global-key-vol-mute <string> Mute --key-vol-mute <string> Mute --global-key-audio-track <string> Cycle audio track --key-audio-track <string> Cycle audio track --global-key-audiodevice-cycle <string> Cycle through audio devices --key-audiodevice-cycle <string> Cycle through audio devices --global-key-subtitle-revtrack <string> Cycle subtitle track in reverse order --key-subtitle-revtrack <string> Cycle subtitle track in reverse order --global-key-subtitle-track <string> Cycle subtitle track --key-subtitle-track <string> Cycle subtitle track --global-key-subtitle-toggle <string> Toggle subtitles --key-subtitle-toggle <string> Toggle subtitles --global-key-program-sid-next <string> Cycle next program Service ID --key-program-sid-next <string> Cycle next program Service ID --global-key-program-sid-prev <string> Cycle previous program Service ID --key-program-sid-prev <string> Cycle previous program Service ID --global-key-aspect-ratio <string> Cycle source aspect ratio --key-aspect-ratio <string> Cycle source aspect ratio --global-key-crop <string> Cycle video crop --key-crop <string> Cycle video crop --global-key-toggle-autoscale <string> Toggle autoscaling --key-toggle-autoscale <string> Toggle autoscaling --global-key-incr-scalefactor <string> Increase scale factor --key-incr-scalefactor <string> Increase scale factor --global-key-decr-scalefactor <string> Decrease scale factor --key-decr-scalefactor <string> Decrease scale factor --global-key-deinterlace <string> Toggle deinterlacing --key-deinterlace <string> Toggle deinterlacing --global-key-deinterlace-mode <string> Cycle deinterlace modes --key-deinterlace-mode <string> Cycle deinterlace modes --global-key-intf-show <string> Show controller in fullscreen --key-intf-show <string> Show controller in fullscreen --global-key-wallpaper <string> Toggle wallpaper mode in video output --key-wallpaper <string> Toggle wallpaper mode in video output --global-key-random <string> Random --key-random <string> Random --global-key-loop <string> Normal/Loop/Repeat --key-loop <string> Normal/Loop/Repeat --global-key-zoom-quarter <string> 1:4 Quarter --key-zoom-quarter <string> 1:4 Quarter --global-key-zoom-half <string> 1:2 Half --key-zoom-half <string> 1:2 Half --global-key-zoom-original <string> 1:1 Original --key-zoom-original <string> 1:1 Original --global-key-zoom-double <string> 2:1 Double --key-zoom-double <string> 2:1 Double Jump sizes: --extrashort-jump-size <integer> Very short jump length --short-jump-size <integer> Short jump length --medium-jump-size <integer> Medium jump length --long-jump-size <integer> Long jump length --bookmark1 <string> Playlist bookmark 1 --bookmark2 <string> Playlist bookmark 2 --bookmark3 <string> Playlist bookmark 3 --bookmark4 <string> Playlist bookmark 4 --bookmark5 <string> Playlist bookmark 5 --bookmark6 <string> Playlist bookmark 6 --bookmark7 <string> Playlist bookmark 7 --bookmark8 <string> Playlist bookmark 8 --bookmark9 <string> Playlist bookmark 9 --bookmark10 <string> Playlist bookmark 10 -h, --help, --no-help print help for VLC (can be combined with --advanced and --help-verbose) (default disabled) -H, --full-help, --no-full-help Exhaustive help for VLC and its modules (default disabled) --longhelp, --no-longhelp print help for VLC and all its modules (can be combined with --advanced and --help-verbose) (default disabled) --help-verbose, --no-help-verbose ask for extra verbosity when displaying help (default disabled) -l, --list, --no-list print a list of available modules (default disabled) --list-verbose, --no-list-verbose print a list of available modules with extra detail (default disabled) -p, --module <string> print help on a specific module (can be combined with --advanced and --help-verbose). Prefix the module name with = for strict matches. --ignore-config, --no-ignore-config no configuration option will be loaded nor saved to config file (default enabled) --reset-config, --no-reset-config reset the current config to the default values (default disabled) --reset-plugins-cache, --no-reset-plugins-cache resets the current plugins cache (default disabled) --version, --no-version print version information (default disabled) --config <string> use alternate config file Note: add --advanced to your command line to see advanced options. To get exhaustive help, use '-H'. 

3. 实测

注：链接视频是一个合集，有Rpanion/libcamera_ivd等视频，可以点开来看下效果。

总的来说：Rpi3B+ OV5647 CSI摄像模组，在640×480 @ 30/50FPS下实时的效果还是可以的。目前该摄像头驱动好像并不支持720P，所以高清的时候，会很卡顿。

$ libcamera-vid --codec h264 --profile main --level 4 --framerate 30 --width 1920 --height 1080 -t 0 --inline -o - | cvlc stream:///dev/stdin --sout '#rtp{sdp=rtsp://:8554/stream1}' :demux=h264

• OV5647_libcamera_cvlc_1920x1080x30FPS

4. 参考资料