[mikets]

Nevermind, after playing with some camera parameters (e.g. crank the brightness all the way down etc.), I got the code to run with a more reasonable performance. Here is the current debug output. BTW, it seems even though our code explicitly set the resolution to 320x240, it seems I have to go to the camera settings to force it to 320x240 or I will get a jpg dump that seems to be 640x480.

Vision.ProcessImage_Info: AcquireImageTime = 43
Vision.ProcessImage_Info: ColorThresholdTime = 7
Vision.ProcessImage_Info: BigObjFilterTime = 39
Vision.ProcessImage_Info: ConvexHullTime = 19
Vision.ProcessImage_Info: ParticleFilterTime = 56
Vision.ProcessImage_Info: GetReportTime = 4
Vision.ProcessImage_Info: NumParticles = 3
Vision.ProcessImage_Info: 0: (189,188) [162,167/57,42]: AR= 1.36,Q=100.00,Per=2.96
Vision.ProcessImage_Info: 1: (251,120) [228,100/50,41]: AR= 1.22,Q=99.95,Per=2.38
Vision.ProcessImage_Info: 2: (193,45) [169,29/50,35]: AR= 1.43,Q=100.00,Per=2.00
Vision.ProcessImage_Info: Total Elapsed Time = 168