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Stream video from Raspberry Pi to Java-Application via TCP

During the development of my mobile robot, I was confronted with the problem of how to transmit the video stream of the robots webcam to my central Java-Application. The structure looks like this:

architecture of discussed topic

The webcam is connected via USB to a Raspberry Pi 3. A Java-Application, which must perform the image processing with OpenCV, is running on an external computer. The Raspberry Pi and the computer are on the same local network. The aim is to display the video frames of the webcam in the Java-Application with as little delay as possible. Let me show you how I implemented this function.

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