Add "undefined" payload types to dynamic case

This also cameras with non-standard payload types to still be used.

pkg/format/format.go

@@ -88,7 +88,12 @@ func Unmarshal(mediaType string, payloadType uint8, rtpMap string, fmtp map[stri
 		* dynamic payload types
 		**/
 
-		case payloadType >= 96 && payloadType <= 127:
+		// The condition has been changed from originally only accepting the range 96 - 127
+		// which is defined by the rtp protocol definition as type "dynamic"
+		// However for use in our system, we have included the additional ranges of 35 - 71
+		// and 77 - 95. Which are defined as an "undefined type" by the RTP definition.
+		// case payloadType >= 96 && payloadType <= 127:
+		case (payloadType >= 35 && payloadType <= 71) || (payloadType >= 77 && payloadType <= 127):
 			switch {
 			// video