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Ours has a 1s lag for some reason.
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The reason is usually pretty simple. Not everyone has seen the I Love Lucy where they work on the chocolate candy production line, but that is how it happens. If stuff comes in faster than it goes out, you have to deal with it. If you aware of it, you skip some images and try to process the latest one available. If you are not aware of it, you process the old stuff and you get lag.
If you have no idea how long it takes to process an image, I'd encourage you to measure it and then ask the camera for about that many frames. That eliminates the problem since there is little need to skip and you can leave enough headroom to catch up if you do fall behind. You an also combine the two, skip and avoid asking for more images than you need in a given time period.
Greg McKaskle