LIVE555 is an open source (LGPL) C++ library for multimedia streaming. It supports open standards such as RTP/RTCP, RTSP, SIP for streaming, and can also manage video and audio formats such as MPEG, H.263+ JPEG video. It is designed in such a way that it can be easily extended to support more formats.
It is used by VLC media player and MPlayer.
http://www.live555.com/
http://en.wikipedia.org/wiki/LIVE555
A complete RTSP server application.
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