Consegui que isso funcionasse:
cvlc -vvv --daemon --pidfile ./coffee_stream.pid rtsp://10.217.112.30:554/axis-media/media.amp?videocodec=h264 --sout="#transcode{vfilter=gradient{type=1},vcodec=theo,acodec=vorb,vb=800,ab=128}:standard{access=http{mime=video/ogg},mux=ogg,dst=:8091}"