I spent some time figuring out how to deal with the picamera in pygame and I ended up with a small footprint video controller for the GoPiGo. I'm currently using it through VNC with a 30FPS framerate and an acceptable latency. I also tried X forwarding but that wrecks the framerate.
All dependencies should be pre-installed on your Raspberry, its is only 100 lines of code. I would be very happy to hear feedback and suggestions on how to improve it.
Hope you like it!
PygameVideoController.py (3.2 KB)