FYI - for updates on streaming latency/performance improvements in jetson-inference, please see this topic regarding the integration of NVMM memory:
There was extra CPU overhead in the jetson-inference GStreamer code from doing a memcpy() in the appsink element. I have recently integrated NVMM memory so it can go straight to GPU now. So far this is integrated/working with RTP/RTSP/video files captured through videoSource interface. I am working on adding the support for MIPI CSI and V4L2 cameras.