Very simple low latency camera streaming in Python with OpenCV and ZeroMQ.

receive_cam.py

import sys
import cv2
import zmq
import base64
import numpy as np


context = zmq.Context()
footage_socket = context.socket(zmq.SUB)
footage_socket.connect('tcp://localhost:5555')

footage_socket.setsockopt_string(zmq.SUBSCRIBE, '')


while True:
    try:
        try:
            frame = footage_socket.recv_string(zmq.NOBLOCK)
            img = base64.b64decode(frame)
            npimg = np.frombuffer(img, dtype=np.uint8)
            source = cv2.imdecode(npimg, cv2.IMREAD_COLOR)

            cv2.imshow('Receiver', source)
        except zmq.ZMQError:
            pass

        if cv2.waitKey(1) & 0xFF == ord('q'):                                                                                                                                           break
    except KeyboardInterrupt:
        cv2.destroyAllWindows()
        break

send_cam.py

import numpy as np
import cv2
import zmq
import base64

context = zmq.Context()
footage_socket = context.socket(zmq.PUB)
footage_socket.bind('tcp://*:5555')

# Reduce the high water mark to prevent buffering
footage_socket.setsockopt(zmq.SNDHWM, 10)
footage_socket.setsockopt(zmq.RCVHWM, 10)

camera = cv2.VideoCapture(0)

while True:
    try:
        # Read a frame from the camera
        ret, frame = camera.read()

        frame = cv2.resize(frame, (640, 480))  # resize the frame
        encoded, buffer = cv2.imencode('.jpg', frame)
        jpg_as_text = base64.b64encode(buffer)
        footage_socket.send(jpg_as_text)

        # Display the resulting frame
        cv2.imshow('Sender', frame)
        if cv2.waitKey(1) & 0xFF == ord('q'):
            break
    except KeyboardInterrupt:
        camera.release()
        cv2.destroyAllWindows()
        break