vision causes mega-lag in main loop

[rath358]

We are experiencing some issues with our code. When vision is enabled, the entire system slows up, including all of our code. It happens in teleop and auton, and the problem still exists in the default code.

We put a function in to measure the time between repetitions of the main loop. When vision is off (but camera plugged in), the time is around 40 ms. We still get live image feed. Once we turn vision on, the lag jumps to between 200 and 400 ms.

We have tried disabling all the globals in the main loop (except enable vision), deleting the tracking chart, and running it in every mode, and on different computers. We are running LabView. We have installed the recent LabView updates, and the cRio update.

Any ideas?