As @zivy mentioned, both SimpleITK and ITK support commercial development; they are distributed under an Apache 2.0.
ITK Python wrapping supports writing and reading transformation files, but the interface has not been convenient in the past; ITK 5.1 will provide Pythonic itk.transformread and itk.transformwrite functions similar to the itk.imread, itk.imwrite, itk.meshread, itk.meshwrite functions for images and meshes.
ITK has a Video framework for processing timeseries in real time. Wrapping has not been added, but it could be added.
ITK 5.1 supports working with xarray DataArray’s. These are essentially NumPy arrays with associated metadata. xarray includes support for a dimension, which could have a label t, whose coordinates are NumPy datetime64 values. This serves many times series processing needs well.