Vision Processing Loop Slowing Down Project

[Jackie Farkas]

I'm the head programmer of Team 219 programming in Labview. I have implemented the 2014 target detection code into the robot project and it works flawlessly. However, now the vision processing vi control loop delays all robot functions including drive. I have tested to make sure that it is indeed the vision processing that is causing the delay. Anyone else having this problem? How shall I go about fixing this so that I can keep target detection implemented while not sacrificing normal operation speed?

[Tom Line]

Decide when, precisely, you'll need image acquisition turned on. In likelihood, it is only at the beginning of the match for a second or so.

Next, is there a wait statement in your vision loop? If not, by design, it will run as fast as it physically can.

The reality is that real time target acquisition running 100% of the time is not something that can efficiently be done on the cRIO. But you don't need it all the time.

[Greg McKaskle]

Just to build on what Tom said. If you change your camera framerate in Begin, the vision loop will automatically sleep waiting for the next image to arrive. First, I'd measure how long the loop takes for the given resolution. Then invert and set your camera rate.

You will also find that smaller and more coarse images will process faster. What resolution are you using?

Greg McKaskle