[Greg McKaskle]

The major things that affect frame rate are the image size. The images coming from the camera are already compressed JPGs. Large size takes the cRIO 100ms to decode to pixels, medium takes 22ms, and small takes about 8ms. The other impact size has is on the number of pixels to process. To do a color threshold on the large pixmap means processing 307,200 pixels, medium is 1/4th of that, and small is 1/16th that many pixels. These effects added together clearly make image size the primary factor on the frame rate.

The next issue is how the processing is done. There are a number of ways to detect the red/green combo. After looking at a number of them, NI and WPI decided on what is in the example. Other approaches will work, and in fact you may find something even better, but many of the other approaches are slower.

The next issue is the debugging displays. The displays on the PC sent from the cRIO have a pretty big cost. When you need them for debugging, they are certainly worth it, but especially when you are looking at timings, you will want to close subVIs, close probes, and don't leave the HSL debug buttons on in the Find VI either.

As for ripping out the displays, it shouldn't be necessary to rip them out completely. Placing them in a case and only display them when you want them. That way when you want them, you just push a button. Again, that is what the LV examples do.

The last piece I'll comment on for the debugging is the dashboard. The dashboard image display has a button to turn it on and off. In addition, if the dashboard isn't running, is turned off, or is blocked, the loop on the cRIO that is sending the images will block on a TCP call and will not cause any CPU usage. In other words, no need to rip it out either, you can simply turn it off when not needed.

If you'd like to make more precise measurements of where the image processing time is being spent, especially with LV, I'll be glad to help.

Greg McKaskle