After a lot of researching we found the solution in the settings of the camera. We use 2 different camera's: Axis and Mobotix. The Axis camera (which is no longer supported), AXIS P3364-VE Network Camera, gave this problem with the Baseline profile and had only a Main profile as other option. We switched to the Axis camera (which is still supported), AXIS P3375-LVE Network Camera, which had the option for a High profile and this in combination with the 42e01f profile setting in Janus did the job!

The mobotix, MOBOTIX c26 Indoor 360°, on the other hand has to use the Baseline profile to work in combination with the 42e01f profile setting in Janus.