30fps Vision Tracking on the RoboRIO without Coprocessor

[Andrew Schreiber]

Originally Posted by Jared Russell

This is definitely true. The resolution you need is a function of range, target geometry, angle of incidence, camera field of view, the frequency and type of non-target objects that pass the threshold, and required precision. 640x480 has been overkill for all vision challenges to date.

640x480x30 fps is a convenient benchmark, though, as it is achievable with largely unoptimized code by many forms of coprocessors.

Originally Posted by Jaci

Honestly I used 640x480 as a kind of 'boast' as to how much potential this can hold (that, and it's also the default resolution of a Kinect camera @ 30fps). You can actually downscale this image entirely using the VFP, by using vld1.64 to load into the D registers, and a variation of vst to shift back out to memory, interleaved, discarding the extras, or saving them for later use as you proposed in your last paragraph. This is 'effectively' zero cost to the entire algorithm, as it does it 128 bits at a time.

Understood, just wanted to make sure other folks reading the thread didn't get the idea that 640x480 was required.