Hi,
For setting up RTSP server, please refer to this post:
RTSP stream not recognizing USB camera - #3 by DaneLLL
It works with v4l2src and there is a memory copy from CPU buffer to NVMM buffer. If you don’t hit performance issue, it is good to use v4l2src. For further improvement, you can customize nvv4l2camerasrc to support YUYV. This would eliminate the memory copy.