Thank you for the valuable advice.
I took a brief look at the code of the raspindi project you mentioned, and this is basically a simplification and modification of the raspivid base. The calls to NDIlib are added. Of course, this is a c++ program.
Based on our veye_raspivid, I think it is feasible to do some porting work.
But our software engineers are very busy now, so it will take some time to arrange this.