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The v4l2RTSPserver is an open source project from 'mpromonet' which we make use of in the RPOS project.
So you are probably better off asking the question on the mpromonet github pages.
But, looking at the error, I wonder if you have a different version of live555 that the v4lrtspserver does not compile against
/usr/bin/ld: liblibv4l2rtspserver.a(HTTPServer.cpp.o): in function
HTTPServer::HTTPClientConnection::streamSource(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)': HTTPServer.cpp:(.text+0x15c): undefined reference to
ByteStreamMemoryBufferSource::createNew(UsageEnvironment&, unsigned char*, unsigned long long, unsigned char, unsigned int, unsigned int)'/usr/bin/ld: liblibv4l2rtspserver.a(MulticastServerMediaSubsession.cpp.o): in function
MulticastServerMediaSubsession::createRtpSink(UsageEnvironment&, in_addr, Port, Port, int, StreamReplicator*)': MulticastServerMediaSubsession.cpp:(.text+0xbc): undefined reference to
StreamReplicator::createStreamReplica()'/usr/bin/ld: liblibv4l2rtspserver.a(MulticastServerMediaSubsession.cpp.o): in function
MulticastServerMediaSubsession::sdpLines()': MulticastServerMediaSubsession.cpp:(.text+0x2d0): undefined reference to
PassiveServerMediaSubsession::sdpLines(int)'/usr/bin/ld: liblibv4l2rtspserver.a(MulticastServerMediaSubsession.cpp.o):(.rodata+0x134): undefined reference to
PassiveServerMediaSubsession::sdpLines(int)' /usr/bin/ld: liblibv4l2rtspserver.a(MulticastServerMediaSubsession.cpp.o):(.rodata+0x138): undefined reference to
PassiveServerMediaSubsession::getStreamParameters(unsigned int, sockaddr_storage const&, Port const&, Port const&, int, unsigned char, unsigned char, TLSState*, sockaddr_storage&, unsigned char&, unsigned char&, Port&, Port&, void*&)'/usr/bin/ld: liblibv4l2rtspserver.a(MulticastServerMediaSubsession.cpp.o):(.rodata+0x13c): undefined reference to
PassiveServerMediaSubsession::startStream(unsigned int, void*, void (*)(void*), void*, unsigned short&, unsigned int&, void (*)(void*, unsigned char), void*)' /usr/bin/ld: liblibv4l2rtspserver.a(MulticastServerMediaSubsession.cpp.o):(.rodata+0x154): undefined reference to
PassiveServerMediaSubsession::getCurrentNPT(void*)'/usr/bin/ld: liblibv4l2rtspserver.a(MulticastServerMediaSubsession.cpp.o):(.rodata+0x15c): undefined reference to
PassiveServerMediaSubsession::getRTPSinkandRTCP(void*, RTPSink const*&, RTCPInstance const*&)' /usr/bin/ld: liblibv4l2rtspserver.a(MulticastServerMediaSubsession.cpp.o):(.rodata+0x160): undefined reference to
PassiveServerMediaSubsession::deleteStream(unsigned int, void*&)'/usr/bin/ld: liblibv4l2rtspserver.a(MulticastServerMediaSubsession.cpp.o):(.rodata+0x170): undefined reference to
PassiveServerMediaSubsession::rtcpIsMuxed()' /usr/bin/ld: liblibv4l2rtspserver.a(MulticastServerMediaSubsession.cpp.o):(.rodata+0x18c): undefined reference to
typeinfo for PassiveServerMediaSubsession'/usr/bin/ld: liblibv4l2rtspserver.a(MulticastServerMediaSubsession.cpp.o): in function
MulticastServerMediaSubsession::MulticastServerMediaSubsession(UsageEnvironment&, in_addr, Port, Port, int, StreamReplicator*)': MulticastServerMediaSubsession.cpp:(.text._ZN30MulticastServerMediaSubsessionC2ER16UsageEnvironment7in_addr4PortS3_iP16StreamReplicator[_ZN30MulticastServerMediaSubsessionC5ER16UsageEnvironment7in_addr4PortS3_iP16StreamReplicator]+0x60): undefined reference to
PassiveServerMediaSubsession::PassiveServerMediaSubsession(RTPSink&, RTCPInstance*)'/usr/bin/ld: MulticastServerMediaSubsession.cpp:(.text._ZN30MulticastServerMediaSubsessionC2ER16UsageEnvironment7in_addr4PortS3_iP16StreamReplicator[_ZN30MulticastServerMediaSubsessionC5ER16UsageEnvironment7in_addr4PortS3_iP16StreamReplicator]+0xa4): undefined reference to
PassiveServerMediaSubsession::~PassiveServerMediaSubsession()' /usr/bin/ld: liblibv4l2rtspserver.a(MulticastServerMediaSubsession.cpp.o): in function
MulticastServerMediaSubsession::~MulticastServerMediaSubsession()':MulticastServerMediaSubsession.cpp:(.text._ZN30MulticastServerMediaSubsessionD2Ev[_ZN30MulticastServerMediaSubsessionD5Ev]+0x44): undefined reference to
PassiveServerMediaSubsession::~PassiveServerMediaSubsession()' /usr/bin/ld: liblibv4l2rtspserver.a(ServerMediaSubsession.cpp.o): in function
BaseServerMediaSubsession::createSink(UsageEnvironment&, Groupsock*, unsigned char, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, V4L2DeviceSource*)':ServerMediaSubsession.cpp:(.text+0x2a0): undefined reference to
JPEGVideoRTPSink::createNew(UsageEnvironment&, Groupsock*)' /usr/bin/ld: ServerMediaSubsession.cpp:(.text+0x3d4): undefined reference to
RawVideoRTPSink::createNew(UsageEnvironment&, Groupsock*, unsigned char, unsigned int, unsigned int, unsigned int, char const*, char const*)'/usr/bin/ld: liblibv4l2rtspserver.a(ServerMediaSubsession.cpp.o): in function
MJPEGVideoSource::MJPEGVideoSource(UsageEnvironment&, FramedSource*)': ServerMediaSubsession.cpp:(.text._ZN16MJPEGVideoSourceC2ER16UsageEnvironmentP12FramedSource[_ZN16MJPEGVideoSourceC5ER16UsageEnvironmentP12FramedSource]+0x24): undefined reference to
JPEGVideoSource::JPEGVideoSource(UsageEnvironment&)'/usr/bin/ld: liblibv4l2rtspserver.a(TSServerMediaSubsession.cpp.o): in function
TSServerMediaSubsession::TSServerMediaSubsession(UsageEnvironment&, StreamReplicator*, StreamReplicator*, unsigned int)': TSServerMediaSubsession.cpp:(.text+0x4c): undefined reference to
StreamReplicator::createStreamReplica()'/usr/bin/ld: TSServerMediaSubsession.cpp:(.text+0x5c): undefined reference to
MPEG2TransportStreamFromESSource::createNew(UsageEnvironment&)' /usr/bin/ld: TSServerMediaSubsession.cpp:(.text+0xbc): undefined reference to
MPEG2TransportStreamFromESSource::addNewVideoSource(FramedSource*, int, short)'/usr/bin/ld: TSServerMediaSubsession.cpp:(.text+0x118): undefined reference to
MPEG2TransportStreamFromESSource::addNewVideoSource(FramedSource*, int, short)' /usr/bin/ld: TSServerMediaSubsession.cpp:(.text+0x14c): undefined reference to
MPEG2TransportStreamFromESSource::addNewAudioSource(FramedSource*, int, short)'/usr/bin/ld: liblibv4l2rtspserver.a(TSServerMediaSubsession.cpp.o): in function
TSServerMediaSubsession::getStreamSource(void*)': TSServerMediaSubsession.cpp:(.text+0x558): undefined reference to
ByteStreamMemoryBufferSource::createNew(UsageEnvironment&, unsigned char*, unsigned long long, unsigned char, unsigned int, unsigned int)'/usr/bin/ld: liblibv4l2rtspserver.a(UnicastServerMediaSubsession.cpp.o): in function
UnicastServerMediaSubsession::createNewStreamSource(unsigned int, unsigned int&)': UnicastServerMediaSubsession.cpp:(.text+0x84): undefined reference to
StreamReplicator::createStreamReplica()'/usr/bin/ld: liblibv4l2rtspserver.a(V4l2RTSPServer.cpp.o): in function
DeviceSourceFactory::createStreamReplicator(UsageEnvironment*, int, DeviceInterface*, int, V4L2DeviceSource::CaptureMode, int, bool)': V4l2RTSPServer.cpp:(.text._ZN19DeviceSourceFactory22createStreamReplicatorEP16UsageEnvironmentiP15DeviceInterfaceiN16V4L2DeviceSource11CaptureModeEib[_ZN19DeviceSourceFactory22createStreamReplicatorEP16UsageEnvironmentiP15DeviceInterfaceiN16V4L2DeviceSource11CaptureModeEib]+0xd0): undefined reference to
StreamReplicator::createNew(UsageEnvironment&, FramedSource*, unsigned char)'/usr/bin/ld: liblibv4l2rtspserver.a(MJPEGVideoSource.cpp.o):(.rodata+0x194): undefined reference to
JPEGVideoSource::isJPEGVideoSource() const' /usr/bin/ld: liblibv4l2rtspserver.a(MJPEGVideoSource.cpp.o):(.rodata+0x1cc): undefined reference to
typeinfo for JPEGVideoSource'/usr/bin/ld: liblibv4l2rtspserver.a(MJPEGVideoSource.cpp.o): in function
MJPEGVideoSource::~MJPEGVideoSource()': MJPEGVideoSource.cpp:(.text._ZN16MJPEGVideoSourceD2Ev[_ZN16MJPEGVideoSourceD5Ev]+0x34): undefined reference to
JPEGVideoSource::~JPEGVideoSource()'collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/v4l2rtspserver.dir/build.make:93: v4l2rtspserver] Error 1
make[1]: *** [CMakeFiles/Makefile2:126: CMakeFiles/v4l2rtspserver.dir/all] Error 2
make: *** [Makefile:163: all] Error 2
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