[nathanww]

The cRio's going to slow down when it's doing ellipse detection. Period. It is inherently a very processor-intensive operation, and the cRIO's CPU isn't that fast.

That said, if you're worried about it hurting performance of your main loop, can you have it only process images when specified conditions are true? We were able to improve the responsiveness of our drivetrain and arm a lot just by only turning on the tracking system when it was specifically needed(of course, if you're doing any sort of predictive tracking, this won't work)