无锡公共工程建设中心网站/南昌seo排名优化

1. 源由

前端时间用Raspberry Pi3B+带上ArduRover跑了一个4GLTE的无人遥控车。

本次打算拆下来，在摄像头端做一个C/C++的图像和IMU的数据采集源工具。

结果立马发现问题，图像采集速率上不去(~6.5FPS)。以前ArduRover和ArduCopter上没有遇到过问题，帧速率30FPS是没问题的，当时还是设置的720P。

• ArduRover 4.5.2 Rpanion 4G LTE 邻里漫步
• ArduRover 4.5.2 with Cat
• Ardupilot 4.5.1 Rpanion 4GLTE(Domestic Routing) 720P First Fly
• ArduCopter 4.5.1 Rpanion 4G LTE Outside

鉴于后续验证需要FPS至少15Hz，而当前情况无法满足，决定从干净的OS镜像来验证下。

2. 分析

其实，目前使用下来，Rpanion是非常容易上手使用的一个伴机软件，主要提供了：摄像头视频转发/电传报文转发。

开源主要的问题就是由于受众有限，常出现版本管理和测试不足的问题。本次会尽量做一个对比实验，期望能找出一些问题线索。

因为怀疑是软件设置或者依赖库出现问题，所以采用一份简单的ffmpeg验证代码来做测试：rtp_stream.py

import socket
import subprocess
import numpy as np
import picamera2
import time
import cv2  # Import OpenCV module# Set up RTP streaming
rtp_host = "192.168.1.19"
rtp_port = 5400
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)# Use ffmpeg to encode video with specified profile and level
ffmpeg_command = ['ffmpeg','-f', 'rawvideo','-pix_fmt', 'yuv420p',  # Change to YUV 4:2:0 pixel format'-s', '640x480',  # Frame size'-r', '30',  # Frame rate'-i', '-',  # Input from stdin'-c:v', 'libx264',  # Use H.264 codec'-profile:v', 'baseline',  # Set profile to baseline'-level', '5.0',  # Set level to 5'-f', 'rtp',  # Output formatf'rtp://{rtp_host}:{rtp_port}'
]process = subprocess.Popen(ffmpeg_command, stdin=subprocess.PIPE)camera = picamera2.Picamera2()
camera.configure(camera.create_video_configuration(main={"size": (640, 480)}))
camera.start()try:while True:frame = camera.capture_array()# Convert frame to YUV 4:2:0frame_yuv = cv2.cvtColor(frame, cv2.COLOR_BGR2YUV_I420)process.stdin.write(frame_yuv.tobytes())  # Send the frame to ffmpegtime.sleep(0.033)  # Sleep for ~30 FPS
except KeyboardInterrupt:pass
finally:camera.stop()process.terminate()sock.close()

3. 环境搭建

本次环境搭建会基于最新的bookworm系统。

Raspberry Pi OS LiteRelease date: July 4th 2024System: 32-bitKernel version: 6.6Debian version: 12 (bookworm)Size: 500MB

步骤1：安装镜像

略，详见以下文档。

• Raspberry Pi3B+之安装bookworm+Rpanion系统
• Raspbian镜像无头烧录

步骤2：系统更新

update时收到一个warning的消息，这里可以直接忽略。

$ sudo apt-get update
Get:1 http://archive.raspberrypi.com/debian bookworm InRelease [39.0 kB]
Get:2 http://raspbian.raspberrypi.com/raspbian bookworm InRelease [15.0 kB]
Get:3 http://archive.raspberrypi.com/debian bookworm/main arm64 Packages [478 kB]
Get:4 http://raspbian.raspberrypi.com/raspbian bookworm/main armhf Packages [14.5 MB]
Get:5 http://archive.raspberrypi.com/debian bookworm/main armhf Packages [507 kB]
Fetched 15.5 MB in 18s (876 kB/s)
Reading package lists... Done
W: http://raspbian.raspberrypi.com/raspbian/dists/bookworm/InRelease: Key is stored in legacy trusted.gpg keyring (/etc/apt/trusted.gpg), see the DEPRECATION section in apt-key(8) for details.$ sudo apt-get upgrade

注：若出现upgrade获取软件包问题时，请使用代理服务export https_proxy=http://192.168.1.10:808，以上是笔者的代理服务器，请根据自己的情况替换。

步骤3：安装numpy组件

若不安装该组件，测试代码会报错，无法执行。

$ python3 rtp_stream.py
Traceback (most recent call last):File "/home/daniel/rtp_stream.py", line 3, in <module>import numpy as np
ModuleNotFoundError: No module named 'numpy'

组件安装，并确认安装版本：

$ sudo apt install python3-numpy
$ python3 -c "import numpy; print(numpy.__version__)"
1.24.2

步骤4：安装python3-picamera2组件

若不安装该组件，测试代码会报错，无法执行。

$ python3 rtp_stream.py
Traceback (most recent call last):File "/home/daniel/rtp_stream.py", line 4, in <module>import picamera2
ModuleNotFoundError: No module named 'picamera2'

组件安装，并确认安装版本：

$ sudo apt install -y python3-picamera2
$ nano picamera2_version.py
$ cat picamera2_version.py
from picamera2 import Picamera2camera = Picamera2()
print("Picamera2 module is working!")$ python3 picamera2_version.py
[1:03:03.937631448] [25996]  INFO Camera camera_manager.cpp:316 libcamera v0.3.1+50-69a894c4
[1:03:04.002791133] [25999]  WARN RPiSdn sdn.cpp:40 Using legacy SDN tuning - please consider moving SDN inside rpi.denoise
[1:03:04.007792711] [25999]  INFO RPI vc4.cpp:447 Registered camera /base/soc/i2c0mux/i2c@1/ov5647@36 to Unicam device /dev/media0 and ISP device /dev/media1
[1:03:04.007917192] [25999]  INFO RPI pipeline_base.cpp:1125 Using configuration file '/usr/share/libcamera/pipeline/rpi/vc4/rpi_apps.yaml'
Picamera2 module is working!

步骤4：安装cv2组件

若不安装该组件，测试代码会报错，无法执行。

$ python3 rtp_stream.py
Traceback (most recent call last):File "/home/daniel/rtp_stream.py", line 6, in <module>import cv2  # Import OpenCV module^^^^^^^^^^
ModuleNotFoundError: No module named 'cv2'

组件安装：

$ sudo apt install python3-opencv

步骤5：安装ffmpeg组件

若不安装该组件，测试代码会报错，无法执行。

$ python3 rtp_stream.py
Traceback (most recent call last):File "/home/daniel/rtp_stream.py", line 28, in <module>process = subprocess.Popen(ffmpeg_command, stdin=subprocess.PIPE)^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^File "/usr/lib/python3.11/subprocess.py", line 1024, in __init__self._execute_child(args, executable, preexec_fn, close_fds,File "/usr/lib/python3.11/subprocess.py", line 1901, in _execute_childraise child_exception_type(errno_num, err_msg, err_filename)
FileNotFoundError: [Errno 2] No such file or directory: 'ffmpeg'

组件安装，并确认安装版本：

$ sudo apt install ffmpeg
$ ffmpeg -version
ffmpeg version 5.1.6-0+deb12u1+rpt1 Copyright (c) 2000-2024 the FFmpeg developers
built with gcc 12 (Raspbian 12.2.0-14+rpi1)
configuration: --prefix=/usr --extra-version=0+deb12u1+rpt1 --toolchain=hardened --incdir=/usr/include/arm-linux-gnueabihf --enable-gpl --disable-stripping --disable-mmal --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libdav1d --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libglslang --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librabbitmq --enable-librist --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libsrt --enable-libssh --enable-libsvtav1 --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzimg --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opencl --enable-opengl --enable-sand --enable-sdl2 --disable-sndio --enable-libjxl --enable-neon --enable-v4l2-request --enable-libudev --enable-epoxy --enable-pocketsphinx --enable-librsvg --enable-libdc1394 --enable-libdrm --enable-vout-drm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-libplacebo --enable-librav1e --enable-shared --libdir=/usr/lib/arm-linux-gnueabihf --cpu=arm1176jzf-s --arch=arm
libavutil      57. 28.100 / 57. 28.100
libavcodec     59. 37.100 / 59. 37.100
libavformat    59. 27.100 / 59. 27.100
libavdevice    59.  7.100 / 59.  7.100
libavfilter     8. 44.100 /  8. 44.100
libswscale      6.  7.100 /  6.  7.100
libswresample   4.  7.100 /  4.  7.100
libpostproc    56.  6.100 / 56.  6.100

步骤6：测试验证

上述安装无误，测试代码执行应该不会报错，并将RTP报文发送到192.168.1.19:5400。

只要在该位置(笔者环境是一台Jetson Orin Nano)部署RTP播放器即可进行验证。

$ python3 rtp_stream.py
[1:22:47.885388362] [27548]  INFO Camera camera_manager.cpp:316 libcamera v0.3.1+50-69a894c4
[1:22:47.946776908] [27553]  WARN RPiSdn sdn.cpp:40 Using legacy SDN tuning - please consider moving SDN inside rpi.denoise
[1:22:47.952128493] [27553]  INFO RPI vc4.cpp:447 Registered camera /base/soc/i2c0mux/i2c@1/ov5647@36 to Unicam device /dev/media0 and ISP device /dev/media1
[1:22:47.952253910] [27553]  INFO RPI pipeline_base.cpp:1125 Using configuration file '/usr/share/libcamera/pipeline/rpi/vc4/rpi_apps.yaml'
[1:22:47.968421584] [27548]  INFO Camera camera.cpp:1191 configuring streams: (0) 640x480-XBGR8888 (1) 640x480-SGBRG10_CSI2P
[1:22:47.969165129] [27553]  INFO RPI vc4.cpp:622 Sensor: /base/soc/i2c0mux/i2c@1/ov5647@36 - Selected sensor format: 640x480-SGBRG10_1X10 - Selected unicam format: 640x480-pGAA
ffmpeg version 5.1.6-0+deb12u1+rpt1 Copyright (c) 2000-2024 the FFmpeg developersbuilt with gcc 12 (Raspbian 12.2.0-14+rpi1)configuration: --prefix=/usr --extra-version=0+deb12u1+rpt1 --toolchain=hardened --incdir=/usr/include/arm-linux-gnueabihf --enable-gpl --disable-stripping --disable-mmal --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libdav1d --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libglslang --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librabbitmq --enable-librist --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libsrt --enable-libssh --enable-libsvtav1 --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzimg --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opencl --enable-opengl --enable-sand --enable-sdl2 --disable-sndio --enable-libjxl --enable-neon --enable-v4l2-request --enable-libudev --enable-epoxy --enable-pocketsphinx --enable-librsvg --enable-libdc1394 --enable-libdrm --enable-vout-drm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-libplacebo --enable-librav1e --enable-shared --libdir=/usr/lib/arm-linux-gnueabihf --cpu=arm1176jzf-s --arch=armWARNING: library configuration mismatchavutil      configuration: --prefix=/usr --extra-version=0+deb12u1+rpt1 --toolchain=hardened --incdir=/usr/include/arm-linux-gnueabihf --enable-gpl --disable-stripping --disable-mmal --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libdav1d --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libglslang --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librabbitmq --enable-librist --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libsrt --enable-libssh --enable-libsvtav1 --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzimg --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opencl --enable-opengl --enable-sand --enable-sdl2 --disable-sndio --enable-libjxl --enable-neon --enable-v4l2-request --enable-libudev --enable-epoxy --enable-pocketsphinx --enable-librsvg --enable-libdc1394 --enable-libdrm --enable-vout-drm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-libplacebo --enable-librav1e --libdir=/usr/lib/arm-linux-gnueabihf/neon/vfp --cpu=cortex-a7 --arch=armv6t2 --disable-thumb --enable-shared --disable-doc --disable-programsavcodec     configuration: --prefix=/usr --extra-version=0+deb12u1+rpt1 --toolchain=hardened --incdir=/usr/include/arm-linux-gnueabihf --enable-gpl --disable-stripping --disable-mmal --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libdav1d --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libglslang --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librabbitmq --enable-librist --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libsrt --enable-libssh --enable-libsvtav1 --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzimg --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opencl --enable-opengl --enable-sand --enable-sdl2 --disable-sndio --enable-libjxl --enable-neon --enable-v4l2-request --enable-libudev --enable-epoxy --enable-pocketsphinx --enable-librsvg --enable-libdc1394 --enable-libdrm --enable-vout-drm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-libplacebo --enable-librav1e --libdir=/usr/lib/arm-linux-gnueabihf/neon/vfp --cpu=cortex-a7 --arch=armv6t2 --disable-thumb --enable-shared --disable-doc --disable-programsavformat    configuration: --prefix=/usr --extra-version=0+deb12u1+rpt1 --toolchain=hardened --incdir=/usr/include/arm-linux-gnueabihf --enable-gpl --disable-stripping --disable-mmal --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libdav1d --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libglslang --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librabbitmq --enable-librist --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libsrt --enable-libssh --enable-libsvtav1 --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzimg --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opencl --enable-opengl --enable-sand --enable-sdl2 --disable-sndio --enable-libjxl --enable-neon --enable-v4l2-request --enable-libudev --enable-epoxy --enable-pocketsphinx --enable-librsvg --enable-libdc1394 --enable-libdrm --enable-vout-drm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-libplacebo --enable-librav1e --libdir=/usr/lib/arm-linux-gnueabihf/neon/vfp --cpu=cortex-a7 --arch=armv6t2 --disable-thumb --enable-shared --disable-doc --disable-programsavdevice    configuration: --prefix=/usr --extra-version=0+deb12u1+rpt1 --toolchain=hardened --incdir=/usr/include/arm-linux-gnueabihf --enable-gpl --disable-stripping --disable-mmal --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libdav1d --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libglslang --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librabbitmq --enable-librist --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libsrt --enable-libssh --enable-libsvtav1 --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzimg --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opencl --enable-opengl --enable-sand --enable-sdl2 --disable-sndio --enable-libjxl --enable-neon --enable-v4l2-request --enable-libudev --enable-epoxy --enable-pocketsphinx --enable-librsvg --enable-libdc1394 --enable-libdrm --enable-vout-drm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-libplacebo --enable-librav1e --libdir=/usr/lib/arm-linux-gnueabihf/neon/vfp --cpu=cortex-a7 --arch=armv6t2 --disable-thumb --enable-shared --disable-doc --disable-programsavfilter    configuration: --prefix=/usr --extra-version=0+deb12u1+rpt1 --toolchain=hardened --incdir=/usr/include/arm-linux-gnueabihf --enable-gpl --disable-stripping --disable-mmal --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libdav1d --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libglslang --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librabbitmq --enable-librist --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libsrt --enable-libssh --enable-libsvtav1 --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzimg --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opencl --enable-opengl --enable-sand --enable-sdl2 --disable-sndio --enable-libjxl --enable-neon --enable-v4l2-request --enable-libudev --enable-epoxy --enable-pocketsphinx --enable-librsvg --enable-libdc1394 --enable-libdrm --enable-vout-drm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-libplacebo --enable-librav1e --libdir=/usr/lib/arm-linux-gnueabihf/neon/vfp --cpu=cortex-a7 --arch=armv6t2 --disable-thumb --enable-shared --disable-doc --disable-programsswscale     configuration: --prefix=/usr --extra-version=0+deb12u1+rpt1 --toolchain=hardened --incdir=/usr/include/arm-linux-gnueabihf --enable-gpl --disable-stripping --disable-mmal --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libdav1d --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libglslang --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librabbitmq --enable-librist --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libsrt --enable-libssh --enable-libsvtav1 --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzimg --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opencl --enable-opengl --enable-sand --enable-sdl2 --disable-sndio --enable-libjxl --enable-neon --enable-v4l2-request --enable-libudev --enable-epoxy --enable-pocketsphinx --enable-librsvg --enable-libdc1394 --enable-libdrm --enable-vout-drm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-libplacebo --enable-librav1e --libdir=/usr/lib/arm-linux-gnueabihf/neon/vfp --cpu=cortex-a7 --arch=armv6t2 --disable-thumb --enable-shared --disable-doc --disable-programsswresample  configuration: --prefix=/usr --extra-version=0+deb12u1+rpt1 --toolchain=hardened --incdir=/usr/include/arm-linux-gnueabihf --enable-gpl --disable-stripping --disable-mmal --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libdav1d --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libglslang --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librabbitmq --enable-librist --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libsrt --enable-libssh --enable-libsvtav1 --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzimg --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opencl --enable-opengl --enable-sand --enable-sdl2 --disable-sndio --enable-libjxl --enable-neon --enable-v4l2-request --enable-libudev --enable-epoxy --enable-pocketsphinx --enable-librsvg --enable-libdc1394 --enable-libdrm --enable-vout-drm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-libplacebo --enable-librav1e --libdir=/usr/lib/arm-linux-gnueabihf/neon/vfp --cpu=cortex-a7 --arch=armv6t2 --disable-thumb --enable-shared --disable-doc --disable-programspostproc    configuration: --prefix=/usr --extra-version=0+deb12u1+rpt1 --toolchain=hardened --incdir=/usr/include/arm-linux-gnueabihf --enable-gpl --disable-stripping --disable-mmal --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libdav1d --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libglslang --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librabbitmq --enable-librist --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libsrt --enable-libssh --enable-libsvtav1 --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzimg --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opencl --enable-opengl --enable-sand --enable-sdl2 --disable-sndio --enable-libjxl --enable-neon --enable-v4l2-request --enable-libudev --enable-epoxy --enable-pocketsphinx --enable-librsvg --enable-libdc1394 --enable-libdrm --enable-vout-drm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-libplacebo --enable-librav1e --libdir=/usr/lib/arm-linux-gnueabihf/neon/vfp --cpu=cortex-a7 --arch=armv6t2 --disable-thumb --enable-shared --disable-doc --disable-programslibavutil      57. 28.100 / 57. 28.100libavcodec     59. 37.100 / 59. 37.100libavformat    59. 27.100 / 59. 27.100libavdevice    59.  7.100 / 59.  7.100libavfilter     8. 44.100 /  8. 44.100libswscale      6.  7.100 /  6.  7.100libswresample   4.  7.100 /  4.  7.100libpostproc    56.  6.100 / 56.  6.100
Input #0, rawvideo, from 'pipe:':Duration: N/A, start: 0.000000, bitrate: 110592 kb/sStream #0:0: Video: rawvideo (I420 / 0x30323449), yuv420p, 640x480, 110592 kb/s, 30 tbr, 30 tbn
Stream mapping:Stream #0:0 -> #0:0 (rawvideo (native) -> h264 (libx264))
[libx264 @ 0xfb58c0] using cpu capabilities: ARMv6 NEON
[libx264 @ 0xfb58c0] profile Constrained Baseline, level 5.0, 4:2:0, 8-bit
Output #0, rtp, to 'rtp://192.168.1.19:5400':Metadata:encoder         : Lavf59.27.100Stream #0:0: Video: h264, yuv420p(progressive), 640x480, q=2-31, 30 fps, 90k tbnMetadata:encoder         : Lavc59.37.100 libx264Side data:cpb: bitrate max/min/avg: 0/0/0 buffer size: 0 vbv_delay: N/A
SDP:
v=0
o=- 0 0 IN IP4 127.0.0.1
s=No Name
c=IN IP4 192.168.1.19
t=0 0
a=tool:libavformat LIBAVFORMAT_VERSION
m=video 5400 RTP/AVP 96
a=rtpmap:96 H264/90000
a=fmtp:96 packetization-mode=1^Cav_interleaved_write_frame(): Immediate exit requested00 bitrate=N/A speed=   0xLast message repeated 47 timesssage repeated 28 times
Error writing trailer of rtp://192.168.1.19:5400: Immediate exit requested
frame=   53 fps=8.3 q=-1.0 Lsize=      20kB time=00:00:01.73 bitrate=  93.5kbits/s speed=0.273x
video:159kB audio:0kB subtitle:0kB other streams:0kB global headers:0kB muxing overhead: unknown
Error closing file rtp://192.168.1.19:5400: Immediate exit requested
[libx264 @ 0xfb58c0] frame I:2     Avg QP:23.33  size: 10914
[libx264 @ 0xfb58c0] frame P:51    Avg QP:24.95  size:  2763
[libx264 @ 0xfb58c0] mb I  I16..4: 54.1%  0.0% 45.9%
[libx264 @ 0xfb58c0] mb P  I16..4:  7.3%  0.0%  0.2%  P16..4: 64.7%  2.0%  1.6%  0.0%  0.0%    skip:24.3%
[libx264 @ 0xfb58c0] coded y,uvDC,uvAC intra: 24.4% 89.0% 28.8% inter: 3.2% 63.5% 0.5%
[libx264 @ 0xfb58c0] i16 v,h,dc,p: 57% 21% 10% 12%
[libx264 @ 0xfb58c0] i4 v,h,dc,ddl,ddr,vr,hd,vl,hu: 23% 11% 43%  4%  5%  5%  3%  3%  2%
[libx264 @ 0xfb58c0] i8c dc,h,v,p: 64% 16% 17%  3%
[libx264 @ 0xfb58c0] ref P L0: 46.5% 26.0% 27.5%
[libx264 @ 0xfb58c0] kb/s:736.93
Exiting normally, received signal 15.

4. 测试验证

rpanion(gst) vs ffmpeg test on rpi3b+

4.1 验证代码

• rtp_stream_baseline_30.py // profile baseline, 30FPS
• rtp_stream_high_30.py // profile high, 30FPS
• rtp_stream_baseline_60.py // profile baseline, 60FPS
• rtp_stream_high_60.py // profile high, 60FPS

$ diff -urN rtp_stream_baseline_30.py rtp_stream_high_30.py
--- rtp_stream_baseline_30.py   2024-09-30 01:38:31.000000000 +0100
+++ rtp_stream_high_30.py       2024-09-30 01:38:15.000000000 +0100
@@ -19,7 +19,7 @@'-r', '30',  # Frame rate'-i', '-',  # Input from stdin'-c:v', 'libx264',  # Use H.264 codec
-    '-profile:v', 'baseline',  # Set profile to baseline
+    '-profile:v', 'high',  # Set profile to baseline'-level', '5.0',  # Set level to 5'-f', 'rtp',  # Output formatf'rtp://{rtp_host}:{rtp_port}'
@@ -37,7 +37,7 @@# Convert frame to YUV 4:2:0frame_yuv = cv2.cvtColor(frame, cv2.COLOR_BGR2YUV_I420)process.stdin.write(frame_yuv.tobytes())  # Send the frame to ffmpeg
-        time.sleep(0.033)  # Sleep for ~30 FPS baseline
+        time.sleep(0.033)  # Sleep for ~30 FPS highexcept KeyboardInterrupt:passfinally:

$ diff -urN rtp_stream_baseline_60.py rtp_stream_high_60.py
--- rtp_stream_baseline_60.py   2024-09-30 01:38:48.000000000 +0100
+++ rtp_stream_high_60.py       2024-09-30 01:37:58.000000000 +0100
@@ -19,7 +19,7 @@'-r', '60',  # Frame rate'-i', '-',  # Input from stdin'-c:v', 'libx264',  # Use H.264 codec
-    '-profile:v', 'baseline',  # Set profile to baseline
+    '-profile:v', 'high',  # Set profile to baseline'-level', '5.0',  # Set level to 5'-f', 'rtp',  # Output formatf'rtp://{rtp_host}:{rtp_port}'
@@ -37,7 +37,7 @@# Convert frame to YUV 4:2:0frame_yuv = cv2.cvtColor(frame, cv2.COLOR_BGR2YUV_I420)process.stdin.write(frame_yuv.tobytes())  # Send the frame to ffmpeg
-        time.sleep(0.0167)  # Sleep for ~60 FPS baseline
+        time.sleep(0.0167)  # Sleep for ~60 FPS highexcept KeyboardInterrupt:passfinally:

4.2 验证结果

• rtp_stream_baseline_30 vs rtp_stream_high_30, profile high的FPS性能更好一点
• rtp_stream_baseline_60 vs rtp_stream_high_60, 在60FPS设置下，两种profile情况并无太大差异
• rpanion(gst) 软件在设置旋转180度的时候，发现FPS帧速率很低，只有6.5左右
• rpanion(gst) 软件同样设置情况，仅使用0度默认旋转方向，帧速率能够稳定在设置值30FPS

所以，这个设置旋转的角度很有可能就是当前看到低FPS的源头。

4.3 问题分析

但是在bulleye系统上，曾经使用该设置720P也能很好的运行在30FPS，怀疑是上述系统可能有硬件编码器的介入。

当前的bookworm系统好像无法安装和使用硬件编码器，这个问题值得深入分析下。

$ python3 rtp_stream_omx.py
[2:22:37.302522766] [2918]  INFO Camera camera_manager.cpp:316 libcamera v0.3.1+50-69a894c4
[2:22:37.359684273] [2922]  WARN RPiSdn sdn.cpp:40 Using legacy SDN tuning - please consider moving SDN inside rpi.denoise
[2:22:37.365105905] [2922]  INFO RPI vc4.cpp:447 Registered camera /base/soc/i2c0mux/i2c@1/ov5647@36 to Unicam device /dev/media2 and ISP device /dev/media0
[2:22:37.365232987] [2922]  INFO RPI pipeline_base.cpp:1125 Using configuration file '/usr/share/libcamera/pipeline/rpi/vc4/rpi_apps.yaml'
[2:22:37.380838095] [2918]  INFO Camera camera.cpp:1191 configuring streams: (0) 640x480-XBGR8888 (1) 640x480-SGBRG10_CSI2P
[2:22:37.381569757] [2922]  INFO RPI vc4.cpp:622 Sensor: /base/soc/i2c0mux/i2c@1/ov5647@36 - Selected sensor format: 640x480-SGBRG10_1X10 - Selected unicam format: 640x480-pGAA
ffmpeg version 5.1.6-0+deb12u1+rpt1 Copyright (c) 2000-2024 the FFmpeg developersbuilt with gcc 12 (Raspbian 12.2.0-14+rpi1)configuration: --prefix=/usr --extra-version=0+deb12u1+rpt1 --toolchain=hardened --incdir=/usr/include/arm-linux-gnueabihf --enable-gpl --disable-stripping --disable-mmal --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libdav1d --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libglslang --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librabbitmq --enable-librist --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libsrt --enable-libssh --enable-libsvtav1 --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzimg --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opencl --enable-opengl --enable-sand --enable-sdl2 --disable-sndio --enable-libjxl --enable-neon --enable-v4l2-request --enable-libudev --enable-epoxy --enable-pocketsphinx --enable-librsvg --enable-libdc1394 --enable-libdrm --enable-vout-drm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-libplacebo --enable-librav1e --enable-shared --libdir=/usr/lib/arm-linux-gnueabihf --cpu=arm1176jzf-s --arch=armWARNING: library configuration mismatchavutil      configuration: --prefix=/usr --extra-version=0+deb12u1+rpt1 --toolchain=hardened --incdir=/usr/include/arm-linux-gnueabihf --enable-gpl --disable-stripping --disable-mmal --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libdav1d --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libglslang --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librabbitmq --enable-librist --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libsrt --enable-libssh --enable-libsvtav1 --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzimg --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opencl --enable-opengl --enable-sand --enable-sdl2 --disable-sndio --enable-libjxl --enable-neon --enable-v4l2-request --enable-libudev --enable-epoxy --enable-pocketsphinx --enable-librsvg --enable-libdc1394 --enable-libdrm --enable-vout-drm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-libplacebo --enable-librav1e --libdir=/usr/lib/arm-linux-gnueabihf/neon/vfp --cpu=cortex-a7 --arch=armv6t2 --disable-thumb --enable-shared --disable-doc --disable-programsavcodec     configuration: --prefix=/usr --extra-version=0+deb12u1+rpt1 --toolchain=hardened --incdir=/usr/include/arm-linux-gnueabihf --enable-gpl --disable-stripping --disable-mmal --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libdav1d --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libglslang --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librabbitmq --enable-librist --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libsrt --enable-libssh --enable-libsvtav1 --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzimg --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opencl --enable-opengl --enable-sand --enable-sdl2 --disable-sndio --enable-libjxl --enable-neon --enable-v4l2-request --enable-libudev --enable-epoxy --enable-pocketsphinx --enable-librsvg --enable-libdc1394 --enable-libdrm --enable-vout-drm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-libplacebo --enable-librav1e --libdir=/usr/lib/arm-linux-gnueabihf/neon/vfp --cpu=cortex-a7 --arch=armv6t2 --disable-thumb --enable-shared --disable-doc --disable-programsavformat    configuration: --prefix=/usr --extra-version=0+deb12u1+rpt1 --toolchain=hardened --incdir=/usr/include/arm-linux-gnueabihf --enable-gpl --disable-stripping --disable-mmal --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libdav1d --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libglslang --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librabbitmq --enable-librist --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libsrt --enable-libssh --enable-libsvtav1 --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzimg --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opencl --enable-opengl --enable-sand --enable-sdl2 --disable-sndio --enable-libjxl --enable-neon --enable-v4l2-request --enable-libudev --enable-epoxy --enable-pocketsphinx --enable-librsvg --enable-libdc1394 --enable-libdrm --enable-vout-drm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-libplacebo --enable-librav1e --libdir=/usr/lib/arm-linux-gnueabihf/neon/vfp --cpu=cortex-a7 --arch=armv6t2 --disable-thumb --enable-shared --disable-doc --disable-programsavdevice    configuration: --prefix=/usr --extra-version=0+deb12u1+rpt1 --toolchain=hardened --incdir=/usr/include/arm-linux-gnueabihf --enable-gpl --disable-stripping --disable-mmal --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libdav1d --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libglslang --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librabbitmq --enable-librist --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libsrt --enable-libssh --enable-libsvtav1 --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzimg --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opencl --enable-opengl --enable-sand --enable-sdl2 --disable-sndio --enable-libjxl --enable-neon --enable-v4l2-request --enable-libudev --enable-epoxy --enable-pocketsphinx --enable-librsvg --enable-libdc1394 --enable-libdrm --enable-vout-drm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-libplacebo --enable-librav1e --libdir=/usr/lib/arm-linux-gnueabihf/neon/vfp --cpu=cortex-a7 --arch=armv6t2 --disable-thumb --enable-shared --disable-doc --disable-programsavfilter    configuration: --prefix=/usr --extra-version=0+deb12u1+rpt1 --toolchain=hardened --incdir=/usr/include/arm-linux-gnueabihf --enable-gpl --disable-stripping --disable-mmal --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libdav1d --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libglslang --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librabbitmq --enable-librist --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libsrt --enable-libssh --enable-libsvtav1 --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzimg --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opencl --enable-opengl --enable-sand --enable-sdl2 --disable-sndio --enable-libjxl --enable-neon --enable-v4l2-request --enable-libudev --enable-epoxy --enable-pocketsphinx --enable-librsvg --enable-libdc1394 --enable-libdrm --enable-vout-drm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-libplacebo --enable-librav1e --libdir=/usr/lib/arm-linux-gnueabihf/neon/vfp --cpu=cortex-a7 --arch=armv6t2 --disable-thumb --enable-shared --disable-doc --disable-programsswscale     configuration: --prefix=/usr --extra-version=0+deb12u1+rpt1 --toolchain=hardened --incdir=/usr/include/arm-linux-gnueabihf --enable-gpl --disable-stripping --disable-mmal --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libdav1d --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libglslang --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librabbitmq --enable-librist --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libsrt --enable-libssh --enable-libsvtav1 --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzimg --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opencl --enable-opengl --enable-sand --enable-sdl2 --disable-sndio --enable-libjxl --enable-neon --enable-v4l2-request --enable-libudev --enable-epoxy --enable-pocketsphinx --enable-librsvg --enable-libdc1394 --enable-libdrm --enable-vout-drm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-libplacebo --enable-librav1e --libdir=/usr/lib/arm-linux-gnueabihf/neon/vfp --cpu=cortex-a7 --arch=armv6t2 --disable-thumb --enable-shared --disable-doc --disable-programsswresample  configuration: --prefix=/usr --extra-version=0+deb12u1+rpt1 --toolchain=hardened --incdir=/usr/include/arm-linux-gnueabihf --enable-gpl --disable-stripping --disable-mmal --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libdav1d --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libglslang --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librabbitmq --enable-librist --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libsrt --enable-libssh --enable-libsvtav1 --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzimg --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opencl --enable-opengl --enable-sand --enable-sdl2 --disable-sndio --enable-libjxl --enable-neon --enable-v4l2-request --enable-libudev --enable-epoxy --enable-pocketsphinx --enable-librsvg --enable-libdc1394 --enable-libdrm --enable-vout-drm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-libplacebo --enable-librav1e --libdir=/usr/lib/arm-linux-gnueabihf/neon/vfp --cpu=cortex-a7 --arch=armv6t2 --disable-thumb --enable-shared --disable-doc --disable-programspostproc    configuration: --prefix=/usr --extra-version=0+deb12u1+rpt1 --toolchain=hardened --incdir=/usr/include/arm-linux-gnueabihf --enable-gpl --disable-stripping --disable-mmal --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libdav1d --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libglslang --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librabbitmq --enable-librist --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libsrt --enable-libssh --enable-libsvtav1 --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzimg --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opencl --enable-opengl --enable-sand --enable-sdl2 --disable-sndio --enable-libjxl --enable-neon --enable-v4l2-request --enable-libudev --enable-epoxy --enable-pocketsphinx --enable-librsvg --enable-libdc1394 --enable-libdrm --enable-vout-drm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-libplacebo --enable-librav1e --libdir=/usr/lib/arm-linux-gnueabihf/neon/vfp --cpu=cortex-a7 --arch=armv6t2 --disable-thumb --enable-shared --disable-doc --disable-programslibavutil      57. 28.100 / 57. 28.100libavcodec     59. 37.100 / 59. 37.100libavformat    59. 27.100 / 59. 27.100libavdevice    59.  7.100 / 59.  7.100libavfilter     8. 44.100 /  8. 44.100libswscale      6.  7.100 /  6.  7.100libswresample   4.  7.100 /  4.  7.100libpostproc    56.  6.100 / 56.  6.100
Input #0, rawvideo, from 'pipe:':Duration: N/A, start: 0.000000, bitrate: 110592 kb/sStream #0:0: Video: rawvideo (I420 / 0x30323449), yuv420p, 640x480, 110592 kb/s, 30 tbr, 30 tbn
Stream mapping:Stream #0:0 -> #0:0 (rawvideo (native) -> h264 (h264_omx))
[h264_omx @ 0x9d68c0] libOMX_Core.so not found
[h264_omx @ 0x9d68c0] libOmxCore.so not found
Error initializing output stream 0:0 -- Error while opening encoder for output stream #0:0 - maybe incorrect parameters such as bit_rate, rate, width or height
Conversion failed!
Traceback (most recent call last):File "/home/daniel/rtp_stream_omx.py", line 39, in <module>process.stdin.write(frame_yuv.tobytes())  # Send the frame to ffmpeg^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
BrokenPipeError: [Errno 32] Broken pipe

使用bullseye系统就没有上述问题。因此，该主要问题是树莓派镜像对硬件编码支持性的问题。