[dvanvoorst]

I didn't have time to look through your code, but I'm guessing you're not starting a seperate thread for the image processing. I believe our image processing took about a half second to process an image - which is a very long time if the rest of the robot is waiting for that to get done. So if you start a seperate thread to get the image and process it - the rest of the robot code can continue on until the image processing is done.
Another option, since you probably don't have much time to resolve this, is to only grab one image, process it and do what you need to do. Don't continuiously grab and process images.
Hope that helps a bit.

Dale Van Voorst