Sensitive, real-time optical magnetometry with nitrogen-vacancy centers in diamond relies on accurate imaging of small ($ll 10^{-2}$) fractional fluorescence changes across the diamond sample. We discuss the limitations on magnetic-field sensitivity resulting from the limited number of photoelectrons that a camera can record in a given time. Several types of camera sensors are analyzed and the smallest measurable magnetic-field change is estimated for each type. We show that most common sensors are of a limited use in such applications, while certain highly specific cameras allow to achieve nanotesla-level sensitivity in $1$~s of a combined exposure. Finally, we demonstrate the results obtained with a lock-in camera that pave the way for real-time, wide-field magnetometry at the nanotesla level and with micrometer resolution.
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