[Greg McKaskle]

Actually, there should be a white paper on the FIRST site that discusses tuning and troubleshooting. To speed things up, fewer pixels is indeed a common approach, but keep in mind that as pixels get larger, they represent more stuff in the real world. They average lots of detail and capture it in a single pixel. That averaging tends to round off corners and generally make everything look fuzzier. This will naturally make it more difficult for the ellipse code to be accurate.

Another way to speed up the vision code is to raise the edge threshold. This defines the difference between light and dark that defines an edge. Set too low, and all sorts of small things in the image will need to be mathematically fit, then filtered for ellipses.

Anyway, it would also be helpful to know what speed it is running at. Slow is not very accurate for debugging. And the first thing you may want to do is make it accurate, then try to speed it up. Do you want fast and buggy, or slow and accurate?

Greg McKaskle