写一个c++ ffmpeg打开UYVY相机转换为rgb推流rtsp的完整代码

以下是一个使用ffmpeg库在C语言中打开UYVY相机，将其转换为RGB格式并推流到RTSP服务器的完整代码：

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <libavutil/imgutils.h>
#include <libavutil/pixfmt.h>
#include <libavformat/avformat.h>

#define DEVICE "/dev/video0"
#define WIDTH 640
#define HEIGHT 480
#define FPS 30
#define RTSP_URL "rtsp://127.0.0.1:8554/live.sdp"

int main(int argc, char *argv[]) {
    int ret;
    AVFormatContext *fmt_ctx = NULL;
    AVStream *video_stream = NULL;
    AVCodec *codec = NULL;
    AVCodecContext *codec_ctx = NULL;
    AVFrame *frame = NULL;
    AVPacket pkt;
    uint8_t *buffer = NULL;
    int buffer_size;
    struct AVInputFormat *input_fmt = NULL;
    AVDictionary *options = NULL;

    av_register_all();
    avformat_network_init();

    // Open input device
    input_fmt = av_find_input_format("v4l2");
    if ((ret = avformat_open_input(&fmt_ctx, DEVICE, input_fmt, &options)) < 0) {
        fprintf(stderr, "Failed to open input device: %s\n", av_err2str(ret));
        return 1;
    }

    // Find video stream info
    if ((ret = avformat_find_stream_info(fmt_ctx, NULL)) < 0) {
        fprintf(stderr, "Failed to find stream info: %s\n", av_err2str(ret));
        return 1;
    }

    // Find first video stream
    for (int i = 0; i < fmt_ctx->nb_streams; i++) {
        if (fmt_ctx->streams[i]->codecpar->codec_type == AVMEDIA_TYPE_VIDEO) {
            video_stream = fmt_ctx->streams[i];
            break;
        }
    }
    if (!video_stream) {
        fprintf(stderr, "Failed to find video stream\n");
        return 1;
    }

    // Find decoder for input stream
    codec = avcodec_find_decoder(video_stream->codecpar->codec_id);
    if (!codec) {
        fprintf(stderr, "Failed to find decoder for input stream\n");
        return 1;
    }

    // Allocate codec context
    codec_ctx = avcodec_alloc_context3(codec);
    if (!codec_ctx) {
        fprintf(stderr, "Failed to allocate codec context\n");
        return 1;
    }

    // Copy codec parameters from input stream
    if ((ret = avcodec_parameters_to_context(codec_ctx, video_stream->codecpar)) < 0) {
        fprintf(stderr, "Failed to copy codec parameters to context: %s\n", av_err2str(ret));
        return 1;
    }

    // Open codec
    if ((ret = avcodec_open2(codec_ctx, codec, NULL)) < 0) {
        fprintf(stderr, "Failed to open codec: %s\n", av_err2str(ret));
        return 1;
    }

    // Allocate input frame
    frame = av_frame_alloc();
    if (!frame) {
        fprintf(stderr, "Failed to allocate input frame\n");
        return 1;
    }

    // Determine required buffer size and allocate buffer
    buffer_size = av_image_get_buffer_size(AV_PIX_FMT_UYVY422, WIDTH, HEIGHT, 1);
    buffer = (uint8_t *)av_malloc(buffer_size);

    // Initialize input frame with buffer