Hello,
I'm running the luckfox_pico_rtsp_opencv example from the luckfox_pico_rkmpi_example repo on a LuckFox Pico Plus (RV1103) with 640 x 480 frame size and I have a noticeable latency on the client side (board is directly connected to my laptop via an Ethernet cable, and the stream is captured with VLC) of around 1 second.
For a LuckFox board streaming RTSP under typical conditions, what is considered an "acceptable" or "normal" end-to-end latency? Is 1 second unusually high, or somewhat expected for certain configurations, especially with this specific example?
Based on your experiences with LuckFox devices, and perhaps this luckfox_pico_rtsp_opencv example, what are the most common culprits for such latency?
Is it likely from the encoding process within the example?
Could it be the RTSP server component used in the example?
Network (even though direct)?
VLC client buffering (and if so, how to check/reduce)?
How can I improve the latency to achieve a more reasonable real-time stream using this example or by modifying it?
Best regards.
RTSP Latency (~1 second) with luckfox_pico_rtsp_opencv example on Pico Plus (RV1103)
Hello, the examples we provide are mainly intended to facilitate learners' understanding of RKMPI. During RTSP transmission, a delay of approximately 1 second is normal. The main reasons for the delay include four parts:
1. Processing frame data using opencv-mobile. This involves data copying and CPU operations. Since the delay issue also exists in the rkipc routine without using opencv-mobile, the introduction of opencv-mobile is not the main source of the delay.
2. Delay caused by the encoding process. There is a project on GitHub that uses the rkmpi library for RTSP transmission and can achieve a delay of less than 100ms. Therefore, the delay caused by encoding is not the main source.
3. Delay caused by the RTSP library. Since I haven't tested other media libraries, it is impossible to determine whether the librtsp provided by Rockchip causes significant delay.
4. Buffering mechanism of VLC. Previously, we received feedback from customers that using VLC to pull Luckfox pico in Ubuntu performs better than in Windows.
For secondary development based on the example, I suggest replacing librtsp with other libraries. Librtsp itself has fewer configurable options, and Rockchip has not provided the source code, making it difficult to conduct further debugging.
1. Processing frame data using opencv-mobile. This involves data copying and CPU operations. Since the delay issue also exists in the rkipc routine without using opencv-mobile, the introduction of opencv-mobile is not the main source of the delay.
2. Delay caused by the encoding process. There is a project on GitHub that uses the rkmpi library for RTSP transmission and can achieve a delay of less than 100ms. Therefore, the delay caused by encoding is not the main source.
3. Delay caused by the RTSP library. Since I haven't tested other media libraries, it is impossible to determine whether the librtsp provided by Rockchip causes significant delay.
4. Buffering mechanism of VLC. Previously, we received feedback from customers that using VLC to pull Luckfox pico in Ubuntu performs better than in Windows.
For secondary development based on the example, I suggest replacing librtsp with other libraries. Librtsp itself has fewer configurable options, and Rockchip has not provided the source code, making it difficult to conduct further debugging.
Thanks for your assistance.
I have modified the code to measure the runtime of different sections:
1. Capturing a frame and converting its color space (from YUV420SP to BGR).
2. Encoding the frame.
3. Streaming the frame via RTSP.
As shown in the (first) code snippet, the runtime for each section is stored. After capturing a set number of frames (IT_NUM), these measurements (in microseconds) are saved to a file.
From this data, it can be seen that the total processing time for a frame is slightly less than 20 milliseconds. Interestingly, the RTSP streaming section itself only takes around 1 millisecond. The most time-consuming part appears to be the combined "capturing frame and changing the color space" step.
To investigate further, I separated the "capturing frame and changing the color space" step into two distinct measurements:
1. Capturing the frame from the VI (Video Input) module.
2. Performing the color space transformation (YUV420SP to BGR).
Here's the modified code snippet for this finer-grained timing:
1/2
I have modified the code to measure the runtime of different sections:
1. Capturing a frame and converting its color space (from YUV420SP to BGR).
2. Encoding the frame.
3. Streaming the frame via RTSP.
Code: Select all
#define IT_NUM 600
int main(int argc, char *argv[]) {
system("RkLunch-stop.sh");
RK_S32 s32Ret = 0;
struct timespec start = {0, 0};
struct timespec stop = {0, 0};
float times[3 * IT_NUM];
FILE *fp = NULL;
char f_path[] = "/root/time_log.txt";
fp = fopen(f_path, "wb");
int width = DISP_WIDTH;
int height = DISP_HEIGHT;
char fps_text[16];
float fps = 0;
memset(fps_text,0,16);
//h264_frame
VENC_STREAM_S stFrame;
stFrame.pstPack = (VENC_PACK_S *)malloc(sizeof(VENC_PACK_S));
RK_U64 H264_PTS = 0;
RK_U32 H264_TimeRef = 0;
VIDEO_FRAME_INFO_S stViFrame;
// Create Pool
MB_POOL_CONFIG_S PoolCfg;
memset(&PoolCfg, 0, sizeof(MB_POOL_CONFIG_S));
PoolCfg.u64MBSize = width * height * 3 ;
PoolCfg.u32MBCnt = 1;
PoolCfg.enAllocType = MB_ALLOC_TYPE_DMA;
//PoolCfg.bPreAlloc = RK_FALSE;
MB_POOL src_Pool = RK_MPI_MB_CreatePool(&PoolCfg);
printf("Create Pool success !\n");
// Get MB from Pool
MB_BLK src_Blk = RK_MPI_MB_GetMB(src_Pool, width * height * 3, RK_TRUE);
// Build h264_frame
VIDEO_FRAME_INFO_S h264_frame;
h264_frame.stVFrame.u32Width = width;
h264_frame.stVFrame.u32Height = height;
h264_frame.stVFrame.u32VirWidth = width;
h264_frame.stVFrame.u32VirHeight = height;
h264_frame.stVFrame.enPixelFormat = RK_FMT_RGB888;
h264_frame.stVFrame.u32FrameFlag = 160;
h264_frame.stVFrame.pMbBlk = src_Blk;
unsigned char *data = (unsigned char *)RK_MPI_MB_Handle2VirAddr(src_Blk);
cv::Mat frame(cv::Size(width,height),CV_8UC3,data);
// rkaiq init
RK_BOOL multi_sensor = RK_FALSE;
const char *iq_dir = "/etc/iqfiles";
rk_aiq_working_mode_t hdr_mode = RK_AIQ_WORKING_MODE_NORMAL;
//hdr_mode = RK_AIQ_WORKING_MODE_ISP_HDR2;
SAMPLE_COMM_ISP_Init(0, hdr_mode, multi_sensor, iq_dir);
SAMPLE_COMM_ISP_Run(0);
// rkmpi init
if (RK_MPI_SYS_Init() != RK_SUCCESS) {
RK_LOGE("rk mpi sys init fail!");
return -1;
}
// rtsp init
rtsp_demo_handle g_rtsplive = NULL;
rtsp_session_handle g_rtsp_session;
g_rtsplive = create_rtsp_demo(554);
g_rtsp_session = rtsp_new_session(g_rtsplive, "/live/0");
rtsp_set_video(g_rtsp_session, RTSP_CODEC_ID_VIDEO_H264, NULL, 0);
rtsp_sync_video_ts(g_rtsp_session, rtsp_get_reltime(), rtsp_get_ntptime());
// vi init
vi_dev_init();
vi_chn_init(0, width, height);
// venc init
RK_CODEC_ID_E enCodecType = RK_VIDEO_ID_AVC;
venc_init(0, width, height, enCodecType);
printf("init success\n");
sleep(10);
for (int i = 0;i < 3 * IT_NUM;i += 3) {
// get vi frame
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &start);
h264_frame.stVFrame.u32TimeRef = H264_TimeRef++;
h264_frame.stVFrame.u64PTS = TEST_COMM_GetNowUs();
s32Ret = RK_MPI_VI_GetChnFrame(0, 0, &stViFrame, -1);
if(s32Ret == RK_SUCCESS)
{
void *vi_data = RK_MPI_MB_Handle2VirAddr(stViFrame.stVFrame.pMbBlk);
cv::Mat yuv420sp(height + height / 2, width, CV_8UC1, vi_data);
cv::Mat bgr(height, width, CV_8UC3, data);
cv::cvtColor(yuv420sp, bgr, cv::COLOR_YUV420sp2BGR);
cv::resize(bgr, frame, cv::Size(width ,height), 0, 0, cv::INTER_LINEAR);
//sprintf(fps_text,"fps = %.2f",fps);
//cv::putText(frame,fps_text,
// cv::Point(40, 40),
// cv::FONT_HERSHEY_SIMPLEX,1,
// cv::Scalar(0,255,0),2);
}
memcpy(data, frame.data, width * height * 3);
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &stop);
times[i + 0] = (float)stop.tv_sec * 1000000 + (float)stop.tv_nsec / 1000 - ((float)start.tv_sec * 1000000 + (float)start.tv_nsec / 1000);
// encode H264
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &start);
RK_MPI_VENC_SendFrame(0, &h264_frame ,-1);
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &stop);
times[i + 1] = (float)stop.tv_sec * 1000000 + (float)stop.tv_nsec / 1000 - ((float)start.tv_sec * 1000000 + (float)start.tv_nsec / 1000);
// rtsp
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &start);
s32Ret = RK_MPI_VENC_GetStream(0, &stFrame, -1);
if(s32Ret == RK_SUCCESS) {
if(g_rtsplive && g_rtsp_session) {
//printf("len = %d PTS = %d \n",stFrame.pstPack->u32Len, stFrame.pstPack->u64PTS);
void *pData = RK_MPI_MB_Handle2VirAddr(stFrame.pstPack->pMbBlk);
rtsp_tx_video(g_rtsp_session, (uint8_t *)pData, stFrame.pstPack->u32Len,
stFrame.pstPack->u64PTS);
rtsp_do_event(g_rtsplive);
}
//RK_U64 nowUs = TEST_COMM_GetNowUs();
//fps = (float) 1000000 / (float)(nowUs - h264_frame.stVFrame.u64PTS);
}
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &stop);
times[i + 2] = (float)stop.tv_sec * 1000000 + (float)stop.tv_nsec / 1000 - ((float)start.tv_sec * 1000000 + (float)start.tv_nsec / 1000);
// release frame
s32Ret = RK_MPI_VI_ReleaseChnFrame(0, 0, &stViFrame);
if (s32Ret != RK_SUCCESS) {
RK_LOGE("RK_MPI_VI_ReleaseChnFrame fail %x", s32Ret);
}
s32Ret = RK_MPI_VENC_ReleaseStream(0, &stFrame);
if (s32Ret != RK_SUCCESS) {
RK_LOGE("RK_MPI_VENC_ReleaseStream fail %x", s32Ret);
}
}
// Destory MB
RK_MPI_MB_ReleaseMB(src_Blk);
// Destory Pool
RK_MPI_MB_DestroyPool(src_Pool);
RK_MPI_VI_DisableChn(0, 0);
RK_MPI_VI_DisableDev(0);
SAMPLE_COMM_ISP_Stop(0);
RK_MPI_VENC_StopRecvFrame(0);
RK_MPI_VENC_DestroyChn(0);
free(stFrame.pstPack);
if (g_rtsplive)
rtsp_del_demo(g_rtsplive);
RK_MPI_SYS_Exit();
for (int j = 0;j < 3 * IT_NUM;j += 3){
fprintf(fp, "%f\t%f\t%f\n", times[j], times[j + 1], times[j + 2]);
}
fclose(fp);
return 0;
}Code: Select all
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17508.000000 145.000000 1099.000000To investigate further, I separated the "capturing frame and changing the color space" step into two distinct measurements:
1. Capturing the frame from the VI (Video Input) module.
2. Performing the color space transformation (YUV420SP to BGR).
Here's the modified code snippet for this finer-grained timing:
Code: Select all
int main(int argc, char *argv[]) {
system("RkLunch-stop.sh");
RK_S32 s32Ret = 0;
struct timespec start = {0, 0};
struct timespec stop = {0, 0};
float times[4 * IT_NUM];
FILE *fp = NULL;
char f_path[] = "/root/time_log.txt";
fp = fopen(f_path, "wb");
int width = DISP_WIDTH;
int height = DISP_HEIGHT;
char fps_text[16];
float fps = 0;
memset(fps_text,0,16);
//h264_frame
VENC_STREAM_S stFrame;
stFrame.pstPack = (VENC_PACK_S *)malloc(sizeof(VENC_PACK_S));
RK_U64 H264_PTS = 0;
RK_U32 H264_TimeRef = 0;
VIDEO_FRAME_INFO_S stViFrame;
// Create Pool
MB_POOL_CONFIG_S PoolCfg;
memset(&PoolCfg, 0, sizeof(MB_POOL_CONFIG_S));
PoolCfg.u64MBSize = width * height * 3 ;
PoolCfg.u32MBCnt = 1;
PoolCfg.enAllocType = MB_ALLOC_TYPE_DMA;
//PoolCfg.bPreAlloc = RK_FALSE;
MB_POOL src_Pool = RK_MPI_MB_CreatePool(&PoolCfg);
printf("Create Pool success !\n");
// Get MB from Pool
MB_BLK src_Blk = RK_MPI_MB_GetMB(src_Pool, width * height * 3, RK_TRUE);
// Build h264_frame
VIDEO_FRAME_INFO_S h264_frame;
h264_frame.stVFrame.u32Width = width;
h264_frame.stVFrame.u32Height = height;
h264_frame.stVFrame.u32VirWidth = width;
h264_frame.stVFrame.u32VirHeight = height;
h264_frame.stVFrame.enPixelFormat = RK_FMT_RGB888;
h264_frame.stVFrame.u32FrameFlag = 160;
h264_frame.stVFrame.pMbBlk = src_Blk;
unsigned char *data = (unsigned char *)RK_MPI_MB_Handle2VirAddr(src_Blk);
cv::Mat frame(cv::Size(width,height),CV_8UC3,data);
// rkaiq init
RK_BOOL multi_sensor = RK_FALSE;
const char *iq_dir = "/etc/iqfiles";
rk_aiq_working_mode_t hdr_mode = RK_AIQ_WORKING_MODE_NORMAL;
//hdr_mode = RK_AIQ_WORKING_MODE_ISP_HDR2;
SAMPLE_COMM_ISP_Init(0, hdr_mode, multi_sensor, iq_dir);
SAMPLE_COMM_ISP_Run(0);
// rkmpi init
if (RK_MPI_SYS_Init() != RK_SUCCESS) {
RK_LOGE("rk mpi sys init fail!");
return -1;
}
// rtsp init
rtsp_demo_handle g_rtsplive = NULL;
rtsp_session_handle g_rtsp_session;
g_rtsplive = create_rtsp_demo(554);
g_rtsp_session = rtsp_new_session(g_rtsplive, "/live/0");
rtsp_set_video(g_rtsp_session, RTSP_CODEC_ID_VIDEO_H264, NULL, 0);
rtsp_sync_video_ts(g_rtsp_session, rtsp_get_reltime(), rtsp_get_ntptime());
// vi init
vi_dev_init();
vi_chn_init(0, width, height);
// venc init
RK_CODEC_ID_E enCodecType = RK_VIDEO_ID_AVC;
venc_init(0, width, height, enCodecType);
printf("init success\n");
sleep(10);
for (int i = 0;i < 4 * IT_NUM;i += 4) {
// get vi frame
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &start);
h264_frame.stVFrame.u32TimeRef = H264_TimeRef++;
h264_frame.stVFrame.u64PTS = TEST_COMM_GetNowUs();
s32Ret = RK_MPI_VI_GetChnFrame(0, 0, &stViFrame, -1);
if(s32Ret == RK_SUCCESS)
{
void *vi_data = RK_MPI_MB_Handle2VirAddr(stViFrame.stVFrame.pMbBlk);
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &stop);
times[i + 0] = (float)stop.tv_sec * 1000000 + (float)stop.tv_nsec / 1000 - ((float)start.tv_sec * 1000000 + (float)start.tv_nsec / 1000);
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &start);
cv::Mat yuv420sp(height + height / 2, width, CV_8UC1, vi_data);
cv::Mat bgr(height, width, CV_8UC3, data);
cv::cvtColor(yuv420sp, bgr, cv::COLOR_YUV420sp2BGR);
cv::resize(bgr, frame, cv::Size(width ,height), 0, 0, cv::INTER_LINEAR);
//sprintf(fps_text,"fps = %.2f",fps);
//cv::putText(frame,fps_text,
// cv::Point(40, 40),
// cv::FONT_HERSHEY_SIMPLEX,1,
// cv::Scalar(0,255,0),2);
}
memcpy(data, frame.data, width * height * 3);
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &stop);
times[i + 1] = (float)stop.tv_sec * 1000000 + (float)stop.tv_nsec / 1000 - ((float)start.tv_sec * 1000000 + (float)start.tv_nsec / 1000);
// encode H264
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &start);
RK_MPI_VENC_SendFrame(0, &h264_frame ,-1);
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &stop);
times[i + 2] = (float)stop.tv_sec * 1000000 + (float)stop.tv_nsec / 1000 - ((float)start.tv_sec * 1000000 + (float)start.tv_nsec / 1000);
// rtsp
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &start);
s32Ret = RK_MPI_VENC_GetStream(0, &stFrame, -1);
if(s32Ret == RK_SUCCESS) {
if(g_rtsplive && g_rtsp_session) {
//printf("len = %d PTS = %d \n",stFrame.pstPack->u32Len, stFrame.pstPack->u64PTS);
void *pData = RK_MPI_MB_Handle2VirAddr(stFrame.pstPack->pMbBlk);
rtsp_tx_video(g_rtsp_session, (uint8_t *)pData, stFrame.pstPack->u32Len,
stFrame.pstPack->u64PTS);
rtsp_do_event(g_rtsplive);
}
//RK_U64 nowUs = TEST_COMM_GetNowUs();
//fps = (float) 1000000 / (float)(nowUs - h264_frame.stVFrame.u64PTS);
}
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &stop);
times[i + 3] = (float)stop.tv_sec * 1000000 + (float)stop.tv_nsec / 1000 - ((float)start.tv_sec * 1000000 + (float)start.tv_nsec / 1000);
// release frame
s32Ret = RK_MPI_VI_ReleaseChnFrame(0, 0, &stViFrame);
if (s32Ret != RK_SUCCESS) {
RK_LOGE("RK_MPI_VI_ReleaseChnFrame fail %x", s32Ret);
}
s32Ret = RK_MPI_VENC_ReleaseStream(0, &stFrame);
if (s32Ret != RK_SUCCESS) {
RK_LOGE("RK_MPI_VENC_ReleaseStream fail %x", s32Ret);
}
}
// Destory MB
RK_MPI_MB_ReleaseMB(src_Blk);
// Destory Pool
RK_MPI_MB_DestroyPool(src_Pool);
RK_MPI_VI_DisableChn(0, 0);
RK_MPI_VI_DisableDev(0);
SAMPLE_COMM_ISP_Stop(0);
RK_MPI_VENC_StopRecvFrame(0);
RK_MPI_VENC_DestroyChn(0);
free(stFrame.pstPack);
if (g_rtsplive)
rtsp_del_demo(g_rtsplive);
RK_MPI_SYS_Exit();
for (int j = 0;j < 4 * IT_NUM;j += 4){
fprintf(fp, "%f\t%f\t%f\t%f\n", times[j], times[j + 1], times[j + 2], times[j + 3]);
}
fclose(fp);
return 0;
}
Last edited by CounterMader on 2025-05-22 10:01, edited 1 time in total.
And the corresponding results:
and it can be seen that the color space transform is the most time consuming part. so i have some questions:
1) VI Module Output Format: The VI module outputs data in YUV420SP format. its configured in the vi_chn_init().
Is it possible that the VI hardware inherently outputs YUV420SP, or is there typically a way to configure it to output BGR directly (or another format that might be less costly to convert to BGR, if BGR is my final requirement before encoding)? Changing this could significantly reduce processing time.
2)RTSP Latency vs. VLC Latency: My measurements show the RTSP processing section taking only around 1 millisecond. However, when viewing the stream in VLC, I observe an end-to-end latency of approximately 1 second. Could this large discrepancy suggest that a significant portion of the observed latency is introduced by VLC's internal buffering or processing, rather than my streaming application itself?
3)Purpose of memcpy after Color Space Transformation: After transforming the color space, I have a memcpy operation:
Can you explain the reason for this? would exploring DMA (Direct Memory Access) for this transfer be beneficial?
2/2
best regards.
Code: Select all
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1866.000000 11788.000000 137.000000 826.0000001) VI Module Output Format: The VI module outputs data in YUV420SP format. its configured in the vi_chn_init().
Code: Select all
int vi_chn_init(int channelId, int width, int height) {
int ret;
int buf_cnt = 2;
// VI init
VI_CHN_ATTR_S vi_chn_attr;
memset(&vi_chn_attr, 0, sizeof(vi_chn_attr));
vi_chn_attr.stIspOpt.u32BufCount = buf_cnt;
vi_chn_attr.stIspOpt.enMemoryType =
VI_V4L2_MEMORY_TYPE_DMABUF; // VI_V4L2_MEMORY_TYPE_MMAP;
vi_chn_attr.stSize.u32Width = width;
vi_chn_attr.stSize.u32Height = height;
vi_chn_attr.enPixelFormat = RK_FMT_YUV420SP;
vi_chn_attr.enCompressMode = COMPRESS_MODE_NONE; // COMPRESS_AFBC_16x16;
vi_chn_attr.u32Depth = 2; //0, get fail, 1 - u32BufCount, can get, if bind to other device, must be < u32BufCount
ret = RK_MPI_VI_SetChnAttr(0, channelId, &vi_chn_attr);
ret |= RK_MPI_VI_EnableChn(0, channelId);
if (ret) {
printf("ERROR: create VI error! ret=%d\n", ret);
return ret;
}
return ret;
}2)RTSP Latency vs. VLC Latency: My measurements show the RTSP processing section taking only around 1 millisecond. However, when viewing the stream in VLC, I observe an end-to-end latency of approximately 1 second. Could this large discrepancy suggest that a significant portion of the observed latency is introduced by VLC's internal buffering or processing, rather than my streaming application itself?
3)Purpose of memcpy after Color Space Transformation: After transforming the color space, I have a memcpy operation:
Code: Select all
memcpy(data, frame.data, width * height * 3);Can you explain the reason for this? would exploring DMA (Direct Memory Access) for this transfer be beneficial?
2/2
best regards.
The understanding of the routine source code and its secondary development do not fall within the scope of technical support. I will simply answer your questions. For further understanding, please start by referring to the documentation and source code and conducting experiments. Please understand that our resources are limited. The routine only provides a framework, and there are many optimization spaces that cannot be fully assisted.
1. If you do not need opencv-mobile to perform secondary processing on the image, refer to the example in $SDK/media/sample and directly bind VI to VENC (set the output of VI and the input of VENC to the same mode). Without using color format conversion, the frame rate can be significantly improved.
2. librtsp is closed-source and the internal details are unclear. However, it can be confirmed that after VENC outputs the frame to g_rtsp_session, there will be further operations in the background or other threads to complete the transmission. Therefore, I recommend using other solutions to replace librtsp to obtain more information and optimization space.
3. The memcpy after color format conversion is for the convenience of adjusting the output image size and synchronizing the memory block. Removing it can increase the frame rate by one frame, but it will cause ghosting in the secondary processing of opencv-mobile. If you need further optimization of the program, you can use OSD to replace opencv-mobile for image processing methods. This will not lose the frame rate and will not affect the display effect, but it is more complex to use.
1. If you do not need opencv-mobile to perform secondary processing on the image, refer to the example in $SDK/media/sample and directly bind VI to VENC (set the output of VI and the input of VENC to the same mode). Without using color format conversion, the frame rate can be significantly improved.
2. librtsp is closed-source and the internal details are unclear. However, it can be confirmed that after VENC outputs the frame to g_rtsp_session, there will be further operations in the background or other threads to complete the transmission. Therefore, I recommend using other solutions to replace librtsp to obtain more information and optimization space.
3. The memcpy after color format conversion is for the convenience of adjusting the output image size and synchronizing the memory block. Removing it can increase the frame rate by one frame, but it will cause ghosting in the secondary processing of opencv-mobile. If you need further optimization of the program, you can use OSD to replace opencv-mobile for image processing methods. This will not lose the frame rate and will not affect the display effect, but it is more complex to use.