raspivid -o - -t 0 -w 640 -h 480 -fps 25|cvlc -vvv stream:///dev/stdin --sout '#standard{access=http,mux=ts,dst=:8091}' :demux=h264

I have always used the above commands to create a raw Raspberry Pi h264 stream, and then use VLC to open “http://Raspberry Pi ip:8091” to watch the video stream, but there will be a freeze every 30 seconds, and an error ES_OUT_SET_( GROUP_)PCR is called too late.

Solution:

raspivid -o - -t 0 w 640 -h 480 -fps 25| cvlc -vvv stream:///dev/stdin --sout '#standard{access=http,mux=ts,dst=:8091}' :demux=h264 --h264-fps=25

Use the –h264 fps option to suggest the fps of the VLC input stream.