As an update, I was able to get the latency down to about 50-60ms by making the following changes to /etc/modalai/voxl-camera-server.conf. Are there any other optimizations I can make?
{
"type": "imx412",
"name": "hires_down",
"enabled": true,
"camera_id": 2,
"fps": 10,
"en_preview": true,
"preview_width": 4056,
"preview_height": 3040,
"en_raw_preview": false,
"en_small_video": false,
"small_video_width": 1024,
"small_video_height": 768,
"small_venc_mode": "h264",
"small_venc_br_ctrl": "cqp",
"small_venc_Qfixed": 30,
"small_venc_Qmin": 15,
"small_venc_Qmax": 40,
"small_venc_nPframes": 9,
"small_venc_mbps": 2,
"small_venc_osd": false,
"en_large_video": false,
"large_video_width": 4056,
"large_video_height": 3040,
"large_venc_mode": "h264",
"large_venc_br_ctrl": "cqp",
"large_venc_Qfixed": 40,
"large_venc_Qmin": 15,
"large_venc_Qmax": 50,
"large_venc_nPframes": 29,
"large_venc_mbps": 40,
"large_venc_osd": false,
"en_snapshot": false,
"en_snapshot_width": 4056,
"en_snapshot_height": 3040,
"exif_focal_length": 3.0999999046325684,
"exif_focal_length_in_35mm_format": 17,
"exif_fnumber": 1.2400000095367432,
"snapshot_jpeg_quality": 75,
"ae_mode": "lme_msv",
"gain_min": 54,
"gain_max": 8000,
"ae_desired_msv": 60,
"exposure_min_us": 20,
"exposure_max_us": 33000,
"exposure_soft_min_us": 5000,
"ae_filter_alpha": 0.600000023841858,
"ae_ignore_fraction": 0.20000000298023224,
"ae_slope": 0.05000000074505806,
"ae_exposure_period": 1,
"ae_gain_period": 1
}