java camera

package frc.robot.subsystems;

import frc.robot.RobotContainer;
import frc.robot.Vision.BoardCheck;
import frc.robot.Vision.CubeCheck;

import org.opencv.core.Mat;

import edu.wpi.cscore.CvSink;
import edu.wpi.cscore.UsbCamera;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.wpilibj.Timer;

import java.util.*;

public class JavaCamera
{
    public int nowTask = 0;
    public int nowResult = -1;
    public int nowIteration = 0;
    public Map<String, Map<String, List<String>>> boardResult;

    private UsbCamera camera;
    private CvSink cvSink;

    public JavaCamera()
    {
        camera = CameraServer.getInstance().startAutomaticCapture();
        camera.setResolution(640, 480);
        camera.setFPS(30);
        cvSink = CameraServer.getInstance().getVideo();
    }

    public void Start()
    {
        new Thread(() -> {
            RobotContainer.train.serverIsRunningSB.setDouble(1);
            while (!Thread.interrupted())
            {
                float loopBegin = (float)Timer.getFPGATimestamp() * 1000;
                RobotContainer.train.nowTaskServerSB.setDouble(nowTask);

                Mat source = new Mat();
                if (cvSink.grabFrame(source) == 0)
                {
                    continue;
                }
                if (source.cols() < 640 || source.rows() < 480)
                {
                    continue;
                }

                if (nowTask == 1)
                {
                    boardResult = BoardCheck.Check(source);
                }

                if (nowTask == 2)
                {
                    nowResult = CubeCheck.Check(source, false);
                }

                if (nowTask == 3)
                {
                    nowResult = CubeCheck.Check(source, true);
                }

                if (nowTask == 4)
                {
                    nowResult = CubeCheck.CheckYellow(source);
                }

                RobotContainer.train.resultFromClientSB.setDouble(nowResult);
                RobotContainer.train.iterationsServerSB.setDouble(nowIteration++);

                source.release();
            }
        }).start();

    }
}