CV capabilities of Parrot Mambo

Hello

I would like to make a computer vision application that will be using parrot mambo s downfacing camera.

I have few question regarding this subject

1-Is it possible to use embedded coder to deploy algoritms that uses Opencv liraries?(code will be written either in C++ or Python. Accessing library via matlab is also acceptable)

2-Why the downfacing camera is limited to 160x120 pixels? Is it possible to increase this resolutiion?

3-What is the maximum frame rate for down facing camera? Why CV example included in support package fixes refresh rate to 5Hz? Is it possible to change this rate?

4-How can i see the run time of my CV algoritm when running in the drone?

Tyhank you