stated camera process and vision process

-added camera thread call in main
-initial work on camera process class
-initial work on vision process class

Main/src/main/java/Handlers/Vision/VisionProcess.java

@@ -1,4 +1,32 @@
 package Handlers.Vision;
 
+import org.jetbrains.annotations.NotNull;
+import org.opencv.core.*;
+import org.opencv.imgproc.*;
+
+import java.util.ArrayList;
+import java.util.List;
+
 public class VisionProcess {
+    private Mat Kernel = Imgproc.getStructuringElement(Imgproc.MORPH_RECT, new Size(5, 5));
+
+    public Mat HSVThreshold(@NotNull List<Integer> hue, @NotNull List<Integer> saturation , @NotNull List<Integer> value, Mat image, boolean IsErode, boolean IsDilate){
+        Mat hsv = new Mat();
+        Imgproc.cvtColor(image,hsv,Imgproc.COLOR_BGR2HSV,3);
+        new Scalar(hue.get(0),saturation.get(0),value.get(0));
+        Mat threshold = new Mat();
+        Core.inRange(threshold,new Scalar(hue.get(0),saturation.get(0),value.get(0)),new Scalar(hue.get(1),saturation.get(1),value.get(1)),threshold);
+        if (IsErode){
+            Imgproc.erode(threshold,threshold, Kernel);
+        }
+        if (IsDilate){
+            Imgproc.dilate(threshold,threshold, Kernel);
+        }
+        return threshold;
+    }
+    public List<MatOfPoint> FindContours(Mat BinaryImage){
+        List<MatOfPoint> Contours = new ArrayList<>();
+        Imgproc.findContours(BinaryImage,Contours,new Mat(),Imgproc.RETR_EXTERNAL,Imgproc.CHAIN_APPROX_TC89_L1);
+        return Contours;
+    }
 }