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server.py
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import sys
import gi

gi.require_version('Gst', '1.0')
gi.require_version('GstRtspServer','1.0')
from gi.repository import Gst, GstRtspServer, GLib

loop = GLib.MainLoop()
Gst.init(None)

class MyFactory(GstRtspServer.RTSPMediaFactory):
    def __init__(self):
        GstRtspServer.RTSPMediaFactory.__init__(self)

    def do_create_element(self, url):
        s_src = "v4l2src ! video/x-raw,rate=30,width=320,height=240 ! videoconvert ! video/x-raw,format=I420"
        s_h264 = "videoconvert ! vaapiencode_h264 bitrate=1000"
        s_src = "videotestsrc ! video/x-raw,rate=30,width=320,height=240,format=I420"
        s_h264 = "x264enc tune=zerolatency"
        pipeline_str = "( {s_src} ! queue max-size-buffers=1 name=q_enc ! {s_h264} ! rtph264pay name=pay0 pt=96 )".format(**locals())
        if len(sys.argv) > 1:
            pipeline_str = " ".join(sys.argv[1:])
        print(pipeline_str)
        return Gst.parse_launch(pipeline_str)

class GstServer():
    def __init__(self):
        self.server = GstRtspServer.RTSPServer()
        f = MyFactory()
        f.set_shared(True)
        m = self.server.get_mount_points()
        m.add_factory("/test", f)
        self.server.attach(None)

if __name__ == '__main__':
    s = GstServer()
    loop.run()

# gst-play-1.0 rtsp://127.0.0.1:8554/test
player
1
gst-launch-1.0 rtspsrc location=rtsp://127.0.0.1:8554/test ! rtph264depay ! avdec_h264 ! autovideosink

todo: explain server