Perspective correction in a video stream. Python \ OpenCV \C \C++

Need to get perspective alignment in the video stream from raspberry pi camera v3 on raspberry pi 4 or 5 or jetson nano

Something like this
https://medium.com/analytics-vidhya/opencv-perspective-transformation-9edffefb2143

https://www.educba.com/opencv-perspectivetransform/

At the input, we have a stream from a 4k camera, at the output, we need to get 1920 x 1080 at 20 fps and the delay of the first frame should not exceed 200 ms.

There is an example in python3 / opencv that works on RPI5, but slowly, it needs to be optimized or transferred to jetson nano
Or write in C/C++ or Rust

https://github.com/JetsonHacksNano/CSI-Camera example of working with the camera on jetson nano
https://github.com/butnaruteodor/IPMandCamCalib Example of transformation in C
https://github.com/JamesLiao714/IPM-master

example of fast camera operation in rust
https://github.com/Orion-Robotics/ez-aquarii/blob/master/controller/src/modules/camera/mod.rs#L167
https://github.com/bluskript/raspicam-rs/?tab=readme-ov-file

Can we make gstreamer work on jetson nano? it is optimized for the accelerator
on RPI5 it works, but slowly gst-launch-1.0 libcamerasrc camera-name=/base/axi/pcie@120000/rp1/i2c@80000/imx219@10 ! video/x-raw, format=RGBx, width=1920, height=1080, framerate=20/1 ! frei0r-filter-perspective top-left-x=0 top-left-Y=0 top-right-x=0.1 top-right-Y=0.1 bottom-left-x=0.2 bottom-left-Y=1 bottom-right-x=0.8 bottom-right-Y=1 ! videoconvert ! xvimagesink