Recent versions of DepthAI Pipeline Builder Gen2 have video delays.
On the Ubuntu 18.04 system, I tested using mobilenet-ssd for object detection.
These are some of the versions I've tried.
Using the above version, I move the OAK-D and the display will be delayed by a few seconds.
The delay in this old version is not so obvious.
Using this version, I move the OAK-D and display it in almost real time.