config.yaml

# only active cameras will be employed
active_cameras: [webcam_0]

config:

  server:
    max_packet_size: 1500
    rtsp_port_num: 8554
    topic_prefix: ~
    max_buf_size: 2000000
    http_enabled: false
    http_port_num: 8080
    
    # URL mappings (does not work, uses the tag name as URL, e.g. webcam_0)
    mappings:
      webcam_0: /video_stream_0

  # can be modified to handle video files, URL streams, etc.
  cameras:
    webcam_0:
      # video source
      resource: /dev/video0
      
      # decoding parameters
      input:
        frame_rate: {num: 30, den: 1}
        resolution: {width: 640, height: 480}
        pixel_format: yuyv422

      # video preprocessing (intermediate phase b/w decoding (capturing) and encoding) 
      output:
        # the FPS can be adjusted (higher values - less quality for the same bitrate)
        frame_rate: {num: 30, den: 1}
        # frame resampling
        resolution: {width: 320, height: 240}
        # converting to the supported by the encoder format (yuv420p, yuv422p, etc.) 
        pixel_format: yuv422p

      # refer to the codec documentation for tuning the parameters
      encoder:
        # video streaming bitrate (kbps), higher values - more quality (data)
        bitrate: 2000
        # video buffering size
        vbv_buf_size: 4000
        # ultrafast, veryfast, fast, slow, veryslow
        preset: ultrafast
        # focus on the encoding speed instead of the extent of compression 
        tune: zerolatency
        # you can tune other encoder parameters here
        # just modify the code to read these parameters from this YAML file
        # and make respective changes in the encoder code
        slices: 1
        intra_refresh_enabled: false