From 17d0fd920af2121d679335838533191bce63feb6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E9=82=93=E6=99=BA=E8=88=AA?= <23373333@buaa.edu.cn>
Date: Sat, 7 Feb 2026 22:03:29 +0800
Subject: [PATCH] test2

---
 reproject/main.py | 53 ++++++++++++++++++++++++++++-------------------
 1 file changed, 32 insertions(+), 21 deletions(-)

diff --git a/reproject/main.py b/reproject/main.py
index fa70471..f9e1dee 100644
--- a/reproject/main.py
+++ b/reproject/main.py
@@ -248,38 +248,49 @@ def video_stream_thread():
     server.start()
     fourcc = cv2.VideoWriter_fourcc(*'avc1')
     # jetson-nvenc 编码器
+   # -----------------------------------------------------------
+    # 1. 定义参数
+    filename = 'output.mp4'
+    fps = 30.0
     width = 1280
     height = 720
-    fps = 30
-    bitrate = 2000000  # 建议设为 2Mbps (2000000) 或 4Mbps，1Mbps 对 720p 来说有点糊
-    filename = "output.mp4"
+    
+    # 2. 构建 GStreamer 软编码管道
+    # 核心思路：BGR (OpenCV) -> I420 (YUV) -> x264enc (CPU编码) -> MP4
     gst_pipeline = (
         f"appsrc ! "
-        f"video/x-raw, format=BGR, width={width}, height={height}, framerate={fps}/1 ! "  # 1. 明确声明输入参数
+        f"video/x-raw, format=BGR, width={width}, height={height}, framerate={int(fps)}/1 ! "
         f"queue ! "
-        f"videoconvert ! "                                          # 2. CPU转换 (BGR -> BGRx)
-        f"video/x-raw, format=BGRx ! "                              #    nvvidconv 对 BGRx 支持比 BGR 好
-        f"nvvidconv ! "                                             # 3. 硬件转换 (搬运到 NVMM)
-        f"video/x-raw(memory:NVMM), format=NV12 ! "                 #    编码器只吃 NV12 格式的 NVMM 数据
-        f"nvv4l2h264enc bitrate={bitrate} control-rate=1 profile=High ! " 
+        f"videoconvert ! "
+        f"video/x-raw, format=I420 ! "  # 转换颜色空间给编码器
+        f"x264enc speed-preset=ultrafast tune=zerolatency bitrate=2000 ! " # bitrate=2000 即 2Mbps，体积很小
         f"h264parse ! "
         f"qtmux ! "
         f"filesink location={filename} "
     )
-
-    # 注意：cv2.CAP_GSTREAMER 是必须的
-    out = cv2.VideoWriter(gst_pipeline, cv2.CAP_GSTREAMER, 0, float(fps), (width, height))
+    
+    print(f"[Video] 尝试启动管道: {gst_pipeline}")
+    
+    # 3. 初始化 VideoWriter (必须使用 CAP_GSTREAMER)
+    out = cv2.VideoWriter(gst_pipeline, cv2.CAP_GSTREAMER, 0, fps, (width, height))
+    
+    # 4. 严检查
+    if not out.isOpened():
+        print("❌ [Fatal Error] 视频录制启动失败！")
+        print("可能原因：")
+        print("1. 你的 OpenCV 没有开启 GStreamer 支持 (cv2.getBuildInformation() 查看)")
+        print("2. 系统缺少插件 (尝试 sudo apt install gstreamer1.0-plugins-ugly)")
+        
+        # --- 最后的保底：如果上面都挂了，用 MPEG-4 ---
+        print("⚠️ 正在回退到 mp4v (MPEG-4) 编码...")
+        fourcc = cv2.VideoWriter_fourcc(*'mp4v')
+        out = cv2.VideoWriter(filename, fourcc, fps, (width, height))
+    else:
+        print("✅ [Video] H.264 软编码启动成功！视频将保存为 MP4。")
+    # -----------------------------------------------------------
     # out1 = cv2.VideoWriter('output1.mp4', fourcc, 30.0, (1280, 720))
     # out2 = cv2.VideoWriter('output2.mp4', fourcc, 30.0, (1280, 720))
-    if not out.isOpened():
-        print("❌ [Error] 视频录制启动失败！")
-        print("请检查：")
-        print("1. 分辨率是否严格匹配？(Pipeline写了1280x720，但摄像头是这个吗？)")
-        print("2. 是否安装了 GStreamer 插件？")
-        print(f"当前使用的 Pipeline: {gst_pipeline}")
-    else:
-        print("✅ [Video] 视频录制已启动，正在写入...")
-        
+
     while not stop_event.is_set():
         try:
             frame = video_queue.get(timeout=1)