[Greg McKaskle]

Lag is often caused by processing slower than you produce. The framerate of the camera will tell you roughly how long you have to process the image. Can you time how long the processing takes?

And if the generation is at 33ms and the processing takes 36, that may not sound like much, but after just a few seconds you are getting pretty far behind.

Generally, you either want to speed up the processing by leaving out a step, processing a smaller image, or using a different technique. Or you leave that alone and change the rate of the camera to 24 or 20 or something slower than the processing at least. Another approach is to identify the minimum frames you need to succeed and hold yourself to that.

Greg McKaskle