远程遥控挖掘机视觉推流工程项目概述目标：将 GMSL 摄像头画面通过 RTSP 推流，实现远程低延迟视频传输硬件：天准域控制器 GEACX1（Jetson AGX Orin 32G）+ 森云 GMSL 摄像头（imx185）软件栈：Ubuntu 20.04 + OpenCV 5.0.0 + GStreamer + FFmpeg + Mediamtx最终方案：OpenCV 采集 → FFmpeg 编码 → Mediamtx RTSP 转发一、环境准备1.1 安装系统依赖sudoaptupdatesudoaptinstall-ypython3-pip python3-dev python3-gi python3-gst-1.0\gir1.2-gst-rtsp-server-1.0 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-tools\libcairo2-dev libgirepository1.0-dev gobject-introspection gir1.2-glib-2.0\v4l-utils ffmpeg1.2 安装 Python 依赖pip3installopencv-python numpy注：不要用 pip 安装 PyGObject，使用系统自带的python3-gi1.3 安装 Mediamtx（RTSP 服务器）cd/home/nvidiawgethttps://github.com/Bluenviron/mediamtx/releases/latest/download/mediamtx_linux_arm64.tar.gztar-xzfmediamtx_linux_arm64.tar.gzchmod+x mediamtx二、摄像头调试2.1 设备激活及确认设备节点sudovim/etc/configure-camera/cam_cfg.inisudosystemctl restart jetson-cam-cfg.servicesudojournalctl-ujetson-cam-cfg.servicesudotztek-jetson-tool-cpld-test-d/dev/ttyTHS1-t4-c8-f30-w1000-o0sudotztek-jetson-tool-cpld-test-d/dev/ttyTHS1-t10-c8-f30-w1000-o0#上述配置的通道号为0，代表第一路相机触发，可选择通道号0-7如此，摄像头才会被激活接着，查看设备信息v4l2-ctl --list-devices输出示例：vi-output, imx185 30-001b: /dev/video0 /dev/video1 vi-output, imx185 32-001f: /dev/video4 /dev/video52.2 查看摄像头支持的格式v4l2-ctl-d/dev/video0 --list-formats-ext关键信息：像素格式：YUYV（YUYV 4:2:2）分辨率：1920x1080 @ 30fps2.3 测试摄像头是否正常gst-launch-1.0 v4l2srcdevice