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Are those 10ms with a realistic app/usage scenario ? I wouldn't think users would complain about 10ms, isn't that below the threshold of perception ?

A stutter 2/3 of a frame long means there's a 2/3 chance that you'll draw a frame that doesn't match the current finger position, followed by a frame that catches up more than it should have had to.

The ~40ms input lag shown by most desktop IPS LCD monitors is noticeable even though it falls below the reaction time. On a touch display, it should be even easier to notice input lag, because you can see your finger moving and the screen around it not keeping up. 10ms sensor lag may be below the threshold of perception for circumstances like this, but probably not by much. If you add even a few milliseconds of processing lag after your app receives the touch event, you'll be behind by a frame.

I work with digital audio/MIDI and a latency of 15-20 ms between pressing a key and hearing the sound is easily audible making it near impossible to play expressive music. 10ms can be felt and is 'annoying', under that is acceptable. I usually keep latency down to 5ms, at most 7ms, only letting it increase, e.g. during mixing when responsiveness is not utterly essential.

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