Simple RTSP Server

If using the jetson this is a good pipe command:

gst-launch-1.0 v4l2src device=/dev/video0 !   'video/x-raw,format=NV12,width=640,height=512' !  \
 nvvidconv !   nvv4l2h264enc !   h264parse config-interval=1 !  \
  rtspclientsink location=rtsp://localhost:8554/flir protocols=udp 

• gstreamer & dependencies:

  • gstreamer1.0-tools

  • gstreamer1.0-plugins-base

  • gstreamer1.0-plugins-good

  • gstreamer1.0-plugins-bad

  • gstreamer1.0-plugins-ugly

  • gstreamer1.0-libav

  • gstreamer1.0-rtsp

  • sox

  • libcairo2

  • libcairo2-dev

  • libgirepository1.0-dev

• python and dependencies:

  • python3

  • PyGObject

  • python3-gi

  • python3-gst-1.0

  • gir1.2-gst-rtsp-server-1.0

• rtsp libraries:

  • libgstrtspserver-1.0-0

  • libgstreamer-plugins-base1.0-0

import gi
gi.require_version('Gst', '1.0')
gi.require_version('GstRtspServer', '1.0')
from gi.repository import Gst, GstRtspServer, GLib
Gst.init(None)
class MyFactory(GstRtspServer.RTSPMediaFactory):
    def __init__(self, **properties):
        super(MyFactory, self).__init__(**properties)
        self.launch_string = 'v4l2src device=/dev/video1 ! video/x-h264,width=640,height=480,framerate=30/1 ! h264parse ! rtph264pay name=pay0 pt=96'
    def do_create_element(self, url):
        return Gst.parse_launch(self.launch_string)
server = GstRtspServer.RTSPServer()
factory = MyFactory()
factory.set_shared(True)
server.get_mount_points().add_factory("/stream", factory)
server.attach(None)
loop = GLib.MainLoop()
loop.run()

Improving streaming: https://docs.cubepilot.org/user-guides/herelink/herelink-user-guides/herelink-1.0-airunit-to-airunit-instruction#id-5b-mission-planner