vlc-stream.py

# python3 stream.py | cvlc --demux=rawvideo --rawvid-fps=15 --rawvid-width=640 --rawvid-height=480  --rawvid-chroma=RV24 - --sout=#transcode\{vcodec=theo,vb=1024,channels=2,samplerate=44100,ab=128,acodec=vorb\}:http\{mux=ogg,dst=:8080/stream\} :sout-all :sout-keep -I dummy
import pyrealsense2 as rs
import numpy as np
import cv2
import sys

pipeline = rs.pipeline()
config = rs.config()
config.enable_stream(rs.stream.depth, 640, 480 , rs.format.z16, 15)

pipeline.start(config)

try:
    while True:
        frames = pipeline.wait_for_frames()
        depth_frame = frames.get_depth_frame()
        if not depth_frame: #or not ir1_frame:
            continue

        depth_image = np.asanyarray(depth_frame.get_data())
        depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.03), cv2.COLORMAP_JET)

        sys.stdout.buffer.write(depth_colormap.tobytes())

finally:
    pipeline.stop()