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You can use gstreamer
to capture, process and publish your video. GStreamer can ingest video from most video sources including IP cameras. Kinesis Video Streams provides a Gstreamer sink to send the video to KVS.
The following example from the above document shows how to capture an RTSP stream to KVS:
gst-launch-1.0 -v rtspsrc location="rtsp://YourCameraRtspUrl" short-header=TRUE ! rtph264depay ! h264parse ! kvssink stream-name="YourStreamName" storage-size=128
For the specific issue about combining audio and video, you can check the following document: https://github.com/awslabs/amazon-kinesis-video-streams-producer-sdk-cpp/blob/master/docs/linux.md#running-the-gst-launch-10-command-to-start-streaming-both-audio-and-video-in-raspberry-pi-and-ubuntu
https://docs.aws.amazon.com/kinesisvideostreams/latest/dg/examples-gstreamer-plugin.html
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