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Accessing Gazebo Camera Using Application Outside ROS

I have succesfully running Gazebo 8 + Ardupilot SITL on Ubuntu 16.04, I also succesfully using Mavproxy to interact SITL with a simple python script (Using Dronekit not ROS application). My question is there any method/tutorial to interact with the Gazebo camera to application outside ROS ? Maybe using UDP/TCP stream ? Or virtual webcam ? Thank you.