[MaxMax161]

I may be mistaken here (I messed with vision but have had to backburner it to solve other problems) but I believe the bulk of the image processing is in two functions the convex hull operation, and the edge detection.

To my understanding the edge detection is what finds the numbers that the distance, X,Y coordinates, ect functions use, and they're little more then some quick math. So you can't pull out edge detection.

The other thing to look at pulling out would be the convex hull operation. I believe edge detection works better with it, however it might work without it. So you might be able to pull out that.

I think all the other functions are just quick math, you could pull them out but I don't think it would solve your problem, at least not much.

The other possibility is to do the vision processing on the driver station and send data back to the robot via either TCP or UDP.


I hope this helps, good luck getting everything working!