Is RTSP important for your application or could you use RTMP? Its pretty easy to use ffmpeg on Raspi zero W to stream the camera frames encoded in h264 to an RTMP server, and you could run an RTMP server on your laptop. Here is an example bash command to start a stream from the camera to the server:

ffmpeg -f v4l2 -framerate 30 -video_size 1280x720 -i /dev/video0 -c:v libx264 -b:v 3000k -maxrate 3000k -bufsize 5000k -f flv rtmp://local_LAN_server_IP_address/live/streamkey

ffmpeg is also capable of converting to RTSP, but I'm not an expert on that, so explore it a bit if required by your next step. You can find more details here: https://manpages.org/ffmpeg