[Yppiz]

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:

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;
    }