I would like to put a video from the android device into RTP packets and then send them over UDP to a RTSP/RTP server. Are there already some libraries in Android I can use to achieve this?
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Well you got the RTPStream
where as per the official documentation RtpStream represents the base class of streams which send and receive network packets with media payloads over Real-time Transport Protocol (RTP).
http://developer.android.com/reference/android/net/rtp/RtpStream.html
then you want to take a look at the API demos as stated here: Video streaming using RTSP: Android and see how the rtp/rtsp packet are made here: Creating RTP Packets from Android Camera to Send