Streaming video from IM477 sensor on Nano is slow?

Since you convert the buffers to BGR format through software converter. This takes significant CPU loading. Hardware engines on Jetson platforms do not support BGR format. You may check this commit:

So for better performance, we would suggest run pure gstreamer pipeline. Please refer to
Jetson 4k Encoding -> Decoding Pipeline and latency - #11 by DaneLLL

Jetson Nano FAQ
Q: Is there any example of running RTSP streaming?