[Ziaholic]

We haven't gone into the timing of the overall image path. Call me lazy, but since they provided that timer for the FindCircles.VI, that's the only time that we've analyzed.

I'd have to poke around the GetImage.VI before I could offer detailed advice. Are you using the color image very much? The default code pulls out the greyscale soon after it enters that VI and that reduces the amount of data that has to get moved around or computed on.

A full color, full rez image is 640x480 (rez) x 32 (bit color) x 3 colors = 3.7 MB
Medium Rez = 920KB, and Low Rez is 230 KB. It takes time to move/copy/compute that much data.

Optimizing that VI will take some smarts ... and there will be a lower limit to the time it takes based on the size & depth of the image.

... and since this is an ethernet enabled web-cam, I believe that the "hidden" interface to the cRIO is simple HTML. This initial acquisition of the raw image could end up being the controlling bottleneck and we're powerless to tweak that.

I'll have some time on our proto-bot this weekend and will come back with some numbers over the next couple days.