https://golanglibs.com/top?q=rtsp lists several for rstp. I have not used any, so I cannot recommend one over another. As for ONVIF, I don't know of any implementations, but it is just a SOAP api, so generic SOAP programming should be enough to interact with it, I believe. Here is a SOAP/WSDL library for golang: https://github.com/justwatchcom/goat
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