An interesting library I came across. It currently has CVE-2018-4013 associated, but nonetheless, it provides a solution to some things I've been considering:
LIVE555 Streaming Media "forms a set of C++ libraries for multimedia streaming, using open standard protocols (RTP/RTCP, RTSP, SIP) ... These libraries ... can be used to build streaming applications ... The libraries can also be used to stream, receive, and process MPEG, H.265, H.264, H.263+, DV or JPEG video, and several audio codecs ... They can easily be extended to support additional (audio and/or video) codecs, and can also be used to build basic RTSP or SIP clients and servers"