[jmartin]

I've also been wondering about performance on the beaglebone vs raspberry pi. I've already have a beaglebone, but haven't had time to get it set up.

And I have been able to process 160x120 at 30fps. The processing is just an rgb->hsv conversion, performing a threshold on each channel, and then centroiding the resulting binary image, but it seems to work pretty well. Haven't been able to test on an actual competition ball yet though.

The fact that we only ever have to track one ball at a time makes the processing much easier, since we don't have to do any blob separation (though we might want to depending on how good the threshold works)

My hope is to be able to do assisted catching, though another concern with that is the very limited field of view that the camera module has.