[Uberbots]

try setting the res to 160 by 120, and do processing at 15fps.

You can also do a bit of code modifying to only threshold one color, which would significantly increase speed.

what i would think about doing is thresholding one color, then doing the particle analysis, and then doing a linear search through all the returned particles;

if the color patch is big enough, search for the color from the original image that you would expect to be below the color patch (red on green, or green/red) using a 3 point match or more if necessary.

im pretty sure that would at least double the speed.


since thresholding seems to be the slowest operation, perhaps modifying the thresholding algorithm to optimize it for the cRIO's processor might yield some benefit (though it probably already is... and that would be sad)