Chief Delphi - Image processing lag

We just added image processing from the AxisCamera, and our robot began lagging quite a bit. Our CPU use goes to 100 percent on the robot once we try to analyze the image. Is there any way to fix this? This is our code:

Code:

public ParticleAnalysisReport[] getRectangleParticles() throws AxisCameraException, NIVisionException

    {

        ParticleAnalysisReport[] toReturn = new ParticleAnalysisReport[0];



        trial++;

        int current = 0;

        

        try 

        {

            //gets and stores the current camera image

            img = AxisCamera.getInstance().getImage();



            //Created a binary image where pixels meeting threshold

            BinaryImage binary = img.thresholdHSL(0, 1, 0, 1, 0, 1);

            img.thresholdHSL(0, 1, 0, 1, 0, 1);

            //Array of all detected rectangles, right?

            ParticleAnalysisReport[] particles = binary.getOrderedParticleAnalysisReports();



            //Makes checks to see if the rectangle meets size and ratio requirements

            for (int i = 0; i < particles.length; i++)

            {

                ParticleAnalysisReport test = particles[i];

                if (test.particleToImagePercent > .1 && test.particleToImagePercent < .4)

                {

                    double ratio = test.boundingRectWidth/test.boundingRectHeight;

                    if (ratio > ((4/3) - .2) && ratio < ((4/3) + .2))

                    {

                        toReturn = new ParticleAnalysisReport[toReturn.length + 1];

                        System.out.println("Trial: " + trial + "Current: " + current + "Raw: " + particles.length);

                        toReturn[current] = test;

                        current++;

                    }

                }

            }



            //release memory allocated to the images

            //img.free();

            binary.free();

        }

        

        catch (NIVisionException ex)

        {

            ex.printStackTrace();

        }



        //return the rectangles that meet the requirements

        System.out.println("Trial: " + trial);

        return toReturn;

    }