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You can use a Blackmagic device : the Intensity, UltraStudio and Decklink families are a good choice, and are natively supported by Millumin. The latency is between 60ms and 120ms depending on the device.
The AJA Io XT is a good choice, allowing you to "daisy-chain" multiple devices on the same Thunderbolt port.
AJA also have driver-free capture cards such as the U-TAP.
The Epiphan DVI2USB is also natively supported, and can capture via USB 3.0.
Other USB devices such as the Magewell USB Capture HDMI or the Inogeni 4K are compatible as well.
For more complex setup, a chassis can embed one or more PCIe cards. See this example.
Lastly, NDI® protocol is a good solution to grab video over IP.
The Newtek Spark allows you to do this over Wifi.
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