[JAVA] Desktop: OpenCV Find Chessboard Corners von WebCam

Goal

OpenCV_FindChessboardCornersByWebCam.java

import javax.swing.JFrame;
import org.opencv.calib3d.Calib3d;
import org.opencv.core.Core;
import org.opencv.core.Mat;
import org.opencv.core.MatOfPoint2f;
import org.opencv.core.Size;
import org.opencv.core.TermCriteria;
import org.opencv.imgproc.Imgproc;
import org.opencv.videoio.VideoCapture;

public class OpenCV_FindChessboardCornersByWebCam {
    static{ System.loadLibrary(Core.NATIVE_LIBRARY_NAME); }
    public static void main(String arg[]) throws Exception{
        // It is better to group all frames together so cut and paste to
        // create more frames is easier
        JFrame frame1 = new JFrame("Live-Version des Boards");
        frame1.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
        frame1.setSize(640,480);
        frame1.setBounds(0, 0, frame1.getWidth(), frame1.getHeight());
        Panel panel1 = new Panel();
        frame1.setContentPane(panel1);
        frame1.setVisible(true);

        //-- 2. Read the video stream
        VideoCapture capture = new VideoCapture();
        capture.open(0);
        Mat webcam_image=new Mat();

        capture.read(webcam_image);
        frame1.setSize(webcam_image.width()+40,webcam_image.height()+60);

        if( capture.isOpened())
        {
            while( true )
            {
                Thread.sleep(200);


                capture.read(webcam_image);
                if( !webcam_image.empty() ){

                    Mat destination=webcam_image.clone();
                    Imgproc.cvtColor(destination, destination, Imgproc.COLOR_BGR2GRAY);
                    Size boarderSize=new Size(9,6);
                    MatOfPoint2f imageCorners=new MatOfPoint2f();
                    boolean found=Calib3d.findChessboardCorners(destination, boarderSize, imageCorners,Calib3d.CALIB_CB_ADAPTIVE_THRESH+Calib3d.CALIB_CB_NORMALIZE_IMAGE+Calib3d.CALIB_CB_FAST_CHECK);
                    if (found){
                        Imgproc.cornerSubPix(destination, imageCorners, new Size(11,11), new Size(-1,-1),new TermCriteria(TermCriteria.EPS|TermCriteria.MAX_ITER,30,0.1));
                        Calib3d.drawChessboardCorners(webcam_image, boarderSize, imageCorners, found);
                    }
                    panel1.setimagewithMat(webcam_image);
                    frame1.repaint();
                }
                else
                {
                    System.out.println("Kein zusätzlicher Termin!");
                    break;
                }
            }
        }
        return;
    }

}

Result