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So what I understand is that you have a somewhat open loop system where you cannot know where the system is between commanding a movement before it returns. If this is the case you should probably set a flag and only process camera data from the periods when you know where the servo positions are. There are many different techniques to do this.

You could have a flag to start and stop the camera timer.
Or you could start and stop the image processing based on a similar flag.

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