Accessing an image in shared CPU/GPU memory between C++ and Python

We support UVC driver by default, please check Jetson Nano FAQ

Q: I have a USB camera. How can I launch it on Jetson Nano?

jetson-utils is also based on UVC driver and v4l2. The format of depth camera can be special and may not be included. If you can run v4l2-ctl command to capture frames from the depth camera, you should be able to add the format to jetson-utils and give it a try.