提交代码。

Main/Camera.cpp

@@ -1,6 +1,7 @@
 #include "Camera.h"
 #include "Core/Logger.h"
 #include "sensorsdk_api.h"
+#include <thread>
 
 Camera::Camera() {
     SensorSDK_CameraLens cameraLens = {};
@@ -12,6 +13,7 @@ Camera::Camera() {
     int status = SensorSdk_Init(7, boardLine, lensType, autoLensParmPath, &cameraLens);
     if (status == 0) {
         LOG(info) << "SensorSdk_Init() successed.";
+        std::this_thread::sleep_for(std::chrono::milliseconds(5000));
     } else {
         LOG(info) << "SensorSdk_Init() failed.";
     }

Main/RtspServer.cpp

@@ -1,4 +1,6 @@
 #include "RtspServer.h"
+#include <boost/asio/io_context.hpp>
+#include <boost/asio/strand.hpp>
 #include <chrono>
 #include <cstring>
 #include <mk_common.h>
@@ -12,21 +14,23 @@ lowLatency=1
 )";
 class RtspServerPrivate {
 public:
+    RtspServerPrivate(boost::asio::io_context &ioContext) : strand{ioContext.get_executor()} {
+    }
+    boost::asio::strand<boost::asio::io_context::executor_type> strand;
     mk_media media;
     mk_h264_splitter splitter;
 };
 
 static void on_h264_frame(void *user_data, mk_h264_splitter splitter, const char *data, int size) {
+    using namespace std::chrono;
     using namespace std::chrono_literals;
-    std::this_thread::sleep_for(40ms);
-    static int dts = 0;
-    mk_frame frame = mk_frame_create(MKCodecH264, dts, dts, data, size, NULL, NULL);
-    dts += 40;
+    int pts = duration_cast<milliseconds>(system_clock::now().time_since_epoch()).count();
+    mk_frame frame = mk_frame_create(MKCodecH264, pts, pts, data, size, NULL, NULL);
     mk_media_input_frame((mk_media)user_data, frame);
     mk_frame_unref(frame);
 }
 
-RtspServer::RtspServer() : m_d(new RtspServerPrivate()) {
+RtspServer::RtspServer(boost::asio::io_context &ioContext) : m_d(new RtspServerPrivate(ioContext)) {
     mk_config config;
     std::memset(&config, 0, sizeof(mk_config));
     config.ini = iniConfig;
@@ -58,5 +62,7 @@ RtspServer::~RtspServer() {
 }
 
 void RtspServer::push(const uint8_t *data, uint32_t size) {
-    mk_h264_splitter_input_data(m_d->splitter, reinterpret_cast<const char *>(data), size);
+    boost::asio::post(m_d->strand, [this, frame = std::vector<uint8_t>(data, data + size)]() {
+        mk_h264_splitter_input_data(m_d->splitter, reinterpret_cast<const char *>(frame.data()), frame.size());
+    });
 }

Main/RtspServer.h

@@ -3,11 +3,16 @@
 
 #include <string>
 
+namespace boost {
+namespace asio {
+class io_context;
+}
+} // namespace boost
 class RtspServerPrivate;
 
 class RtspServer {
 public:
-    RtspServer();
+    RtspServer(boost::asio::io_context &ioContext);
     ~RtspServer();
 
     /**

Main/main.cpp

@@ -21,7 +21,7 @@ int main(int argc, char const *argv[]) {
     try {
         auto camera = Singleton<Camera>::construct();
         auto ioContext = Singleton<IoContext>::construct(std::thread::hardware_concurrency());
-        auto rtsp = std::make_shared<RtspServer>();
+        auto rtsp = std::make_shared<RtspServer>(*ioContext->ioContext());
         auto streamer = std::make_shared<Streamer>(*ioContext->ioContext());
         streamer->start("amass.fun", 443);