Stream live camera feed from RPI compute module to RPI 3 - c++

Question

I'm developing a portable hardware/software application to use 2 cameras in a stereo vision configuration, and process the raw data for information to output.
For this reason I have a Raspberry pi Compute module kit, and a Raspberry pi 3.
The compute module kit will operate the two cameras
The pi 3 will run the code as it has the computational power
OpenCV (C++) is the preferred CV package
As this is a portable application, internet based streaming is not a suitable option.
I've not had time to play around with the GPIO pins, or find a method of streaming the two camera feeds from the compute module to the pi 3.
How would you suggest I proceed with this? Has anyone performed such a project? What links can you provide to help me implement this?
This is for a dissertation project, and will hopefully help in the long run when developing as a full prototype.
Frame Size: 640x480
Frame Rate: 15 fps
The cameras are 5cm apart from each other

Answer 1

Updated Answer
I have been doing some further tests on this. Using the iperf tool and my own simple TCP connection code as well, I connected two Raspberry Pis directly to each other over wired Ethernet and measured the TCP performance.
Using the standard, built-in 10/100 interface on a Raspberry Pi 2 and a Raspberry Pi 3, you can achieve 94Mbits/s.
If, however, you put a TRENDnet USB3 Gigabit adaptor on each Pi, and repeat the test, you can get 189Mbits/s and almost 200 if you set the MTU to 4088.
Original Answer
I made a quick test - not a full answer - but more than I can add as a comment or format correctly!
I set up 2 Raspberry Pi 2s with a wired Ethernet connection. I took a 640x480 picture on one as a JPEG - and it came out at 178,000 bytes.
Then, on the receiving Pi, I set up to receive 1,000 frames. Like this:
#!/bin/bash
for ((i=0;i<1000;i++)); do
echo $i
nc -l 1234 > pic-${i}.jpg
done
On the sending Pi, I set up to transit the picture 1,000 times:
for ((i=0;i<1000;i++)) ; do nc 192.168.0.65 1234 < pipic1.jpg ;done
That took 34 seconds, so it does 33 fps roughly but it stuttered a lot because of writing to the filesystem and therefore SD card. So, I removed the
nc -l 1234 > pic-${i}.jpg
and didn't write the data to disk - which is what you will need as you are writing to the screen, as follows:
nc -l 1234 > /dev/null