[Joe Ross]

You didn't mention what programming language you use or what resolution you had issues with in the past.

For C++ and Java, the WPILib CameraServer class has been completely rewritten to significantly optimize it. We get lower latency and much lower CPU usage compared to last year. It also sends the data as a standard mjpeg stream, so you can open it in a web browser. This is helpful because it can help determine if it's your dashboard, or something else that is causing the latency. You should give it a try this year before trying to implement your own.

In general, you want to use the smallest resolution that gets you the results you need. For a driver camera, we've been able to get away with 160x120 in the past. That requires pushing 16x less pixels then 640x480.