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remove everything that isn't capture. see if the problem is actually capture, or all the other stuff you need to calculate for every frame.
then check if another program (VLC? ffmpeg? gstreamer?) can display camera video at your requested parameters.
try different "backends". opencv supports ffmpeg, gstreamer, v4l2, ... some of those have ways to affect the color space and encoding of the picture or even request MJPEG or H.264.
