Played a bit with my Rigol scope, trying to see what I can cut down to be able to process a frame and send the details out within the 33 ms or how long a frame should take at 30 fps.
I got my scope, solder some test point pins, connect my probes to VSYNC and MODE LED (is ON when image is captured/processed) and keep cleaning up and change the code till got bellow the 33 ms.
The above image shows VSYNC on CH2 and MODE LED on CH1. Can see MODE LED is 30 Hz (30 fps) using only 30 ms from the 33 ms available (see details bellow).
As seen in the above video, COG is moving very smooth.