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You don't have a lot of chance to reduce time to get the frame from a cam but you can use some dead time within the read() (or >>operator) process. The method combines VideoCapture::grab() and VideoCapture::retrieve() in one call. This chain have to wait for a new frame from the cam, if the next frame isn't ready you have dead time.
You could have some improvement if you can call grab() > process prev frame > call retrieve()
. Another option is to use a grab thread and processor thread... there are many example on this forum.
last but not least option is application optimization :)