For streaming, I have a few pi's (and cameras) running v4l2rtspserver, and it seems to work pretty well. It appears to be using the Broadcom hardware support for H.264 encoding, so it's pretty light on the CPU. I'm currently using Shinobi on a different host to receive and archive the RTSP streams. (Although I'm interested in checking out Frigate, which was mentioned elsewhere in this discussion.)