The image of AR0233 have lag

Hi,
Since hardware engines in Jetson series do not support BGR, so you would need to use software converter to convert to the format. Please check discussion in
[Gstreamer] nvvidconv, BGR as INPUT

For better solution in using OpenCV, please execute sudo nvpmodel -m 0 and sudo jetson_clocks. The commands can enable CPU cores at maximum clocks so that software converter runs at max throughput.

For using jetson_multimedia_api + OpenCV, you may refer to this patch:
NVBuffer (FD) to opencv Mat - #6 by DaneLLL