I would like to develop a very tiny and small RTSP client to get the video stream from network cameras. Does anybody know where can I find a simple explanation of the protocol and some good examples?
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You connect to the camera via RTSP protocol to query its capabilities, identify streams and prepare/start transmission.
As a part of initialization and handshaking, you will discover available streams.
Then you will set up RTP session(s) to receive data, over UDP or sharing the same TCP connection.
To decode media streams you will convert the payload into pure data you need for further processing. With IP cameras your primary interest is perhaps MPEG-4 AVC (H.264):
This looks like some (introductory) reading.