QGC Connectivity and Camera Latency issue

I am on a quest to build a diy rover and I have hit a couple of road blocks and was hoping someone can give me some tips on how to get to be finish line - This is what I have been able to accomplish so far

Load BlueOS 1.1, QGC and ArduSub 4.1 - I sort of get some connectivity on BlusOS 1.1 software unit I try to use the wizard

Major Problems
QGC will not connect at all ( keep getting waiting for video to load )
lastly my camera loads with no latency perfectly on the amcap.exe all on my computer but when I plug it into raspberry pi 4 there is huge latency issues no matter what setting I chance on the RSTP .

Any help will be highly appreciated .