Hi,
In OpenCV, main format is BGR which is not supported by most hardware engines in Jetson, and have to utilize significant CPU usage. It limits performance. we would suggest run a gstreamer pipeline and map NVMM buffer to cv::gpu::gpuMat. Pleaae refer to the sample:
Nano not using GPU with gstreamer/python. Slow FPS, dropped frames - #8 by DaneLLL