Vision.java 文件源码

public void startThread() {

        if (thread == null) {
            // Create a new thread that will constantly evaluate new camera frames
            thread = new Thread(() -> {

                Mat image = new Mat(CAMERA_HEIGHT, CAMERA_WIDTH, 6);

                while (!Thread.interrupted()) {

                    // Check whether it's time to evaluate a new rame
                    currentFrameTime = sink.grabFrameNoTimeout(image);
                    if (currentFrameTime == 0 || currentFrameTime == prevFrameTime) {
                        continue;
                    }
                    prevFrameTime = currentFrameTime;

                    // Process image using generated pipeline
                    pipeline.process(image);

                    // Get pipeline objects
                    ArrayList<MatOfPoint> mops = pipeline.filterContoursOutput();

                    // Evaluate objects
                    for (MatOfPoint mop : mops) {
                        Rect bRect = Imgproc.boundingRect(mop);
                        Imgproc.rectangle(image, bRect.tl(), bRect.br(), new Scalar(255, 0, 255));
                        // TODO: Evaluate objects
                    }

                    // Send the evaluated image to the output stream
                    output.putFrame(image);

                }
            });

            thread.start();
        }
    }