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Not that I have many experience on mobile platforms, but the general way to improve speed during processing is to use as less wrapper functions as possible. However, CvVideoCamera does more then just wrap AVFoundation, it also makes sure that correct variables are created, assigned and maybe other functions are called.

So if you decided to go into the code and call AVFoundation directly, make sure that you do everything that is done inside CvVideoCamera manually yourself in your code.