错误通过套接字通信发送Mat数据

Question

我的目的是将Android的显示图像的Mat数据从Android发送到PC。 Android和PC都安装了Opencv。我想直接发送不交换其他数据的Mat数据。但是，我无法正确发送Mat数据。 PC无法获取数据（即发送过程中的错误），发送速度非常慢（我使用TCP测试工具在PC上显示收到的数据），有时冻结显示数据。 / p>

你能让我知道解决方案吗？

我的代码

package opencv.ros.com.camera_opencv;

import android.app.Activity;
import android.os.Bundle;
import android.view.MotionEvent;
import android.view.WindowManager;

import org.opencv.android.BaseLoaderCallback;
import org.opencv.android.CameraBridgeViewBase;
import org.opencv.android.LoaderCallbackInterface;
import org.opencv.android.OpenCVLoader;
import org.opencv.core.Core;
import org.opencv.core.CvType;
import org.opencv.core.Mat;
import org.opencv.core.Scalar;

import java.io.BufferedOutputStream;
import java.io.InputStream;
import java.io.OutputStream;
import java.io.UnsupportedEncodingException;
import java.net.Socket;


public class MainActivity extends Activity implements CameraBridgeViewBase.CvCameraViewListener {
    private CameraBridgeViewBase mCameraView;
    private Mat mOutputFrame;
    private static final int PORT = 9250;
    private static final String IP_ADDR = "111.111.111.11"; 
    private volatile int Flag = 0;
    private Socket socket;    
    private InputStream in;   
    private OutputStream out; 
    private StringBuffer Sendmessage;

    private BaseLoaderCallback mLoaderCallback = new BaseLoaderCallback(this) {
        @Override
        public void onManagerConnected(int status) {
            switch (status) {
                case LoaderCallbackInterface.SUCCESS:
                    mCameraView.enableView();
                    try {
                    } catch (UnsupportedEncodingException e) {
                        e.printStackTrace();
                    }
                    break;
                default:
                    super.onManagerConnected(status);
                    break;
            }
        }
    };


    @Override
    protected void onCreate(Bundle savedInstanceState) {

        super.onCreate(savedInstanceState);
        setContentView(R.layout.activity_main);
        getWindow().addFlags(WindowManager.LayoutParams.FLAG_FULLSCREEN);
        mCameraView = (CameraBridgeViewBase) findViewById(R.id.camera_view);
        mCameraView.setCvCameraViewListener(this);

    }

    @Override
    public void onPause() {
        if (mCameraView != null) {
            mCameraView.disableView();
        }
        super.onPause();
    }

    @Override
    protected void onResume() {
        super.onResume();
        OpenCVLoader.initAsync(OpenCVLoader.OPENCV_VERSION_2_4_4, this, mLoaderCallback);
    }

    @Override
    public boolean onTouchEvent(MotionEvent event) {
        if (event.getAction() == MotionEvent.ACTION_DOWN) {
            Flag = 1;
            System.out.println(Flag);


        }
        return true;
    }


    @Override
    public void onDestroy() {
        super.onDestroy();
        if (mCameraView != null) {
            mCameraView.disableView();
        }
    }

    @Override
    public void onCameraViewStarted(int width, int height) {
        // Mat(int rows, int cols, int type)
        mOutputFrame = new Mat(width, height, CvType.CV_8UC3);
    }

    @Override
    public void onCameraViewStopped() {
        mOutputFrame.release();
    }

    @Override
    public Mat onCameraFrame(Mat inputFrame) throws UnsupportedEncodingException {

            Core.absdiff(inputFrame, new Scalar(0, 0, 0), mOutputFrame);
            if (Flag == 1) {
                Flag = 0;
                String a =  mOutputFrame.dump();
               String b= a.replaceAll(";",","); 
                byte[] ds = a.getBytes("UTF8");

                byte[]  bytedata ="0".getBytes("UTF8");

                Sendmessage=new StringBuffer();

                Sendmessage.append("{"+"\""+"op"+"\""+":"+ "\""+"publish"+"\""+","+"\""+"msg"+"\""+":"+"{"+"\""+"header"+"\""+":"+"{"+"\""+"seq"+"\""+":"+0+","+"\""+"stamp"+"\""+":"+"{"+"\""+"secs"+"\""+":"+0+","+"\""+"nsecs"+"\""+":"+0+"}"+","+"\""+"frame_id"+"\""+":"+"\""+"ss"+"\""+"}"+","+"\""+"height"+"\""+":");

                Sendmessage.append(mOutputFrame.height());
                Sendmessage.append(","+"\""+"width"+"\""+":");
                Sendmessage.append(mOutputFrame.width());
                Sendmessage.append(","+"\""+"encoding"+"\""+":"+"\""+"bgr8"+"\""+","+"\""+"is_bigendian"+"\""+":"+0+","+"\""+"step"+"\""+":");
                Sendmessage.append(mOutputFrame.width()*3);
                Sendmessage.append(","+"\""+"data"+"\""+":");


                Sendmessage.append(b);
                Sendmessage.append("}"+","+"\""+"topic"+"\""+":"+"\""+"/camera/image"+"\""+"}");

                String c1 = new String(Sendmessage);
                System.out.println(c1);
                try {
                    bytedata=c1.getBytes("UTF8");
                    sendData(bytedata);
                } catch (UnsupportedEncodingException e) {
                    e.printStackTrace();
                }
        }
       return  mOutputFrame;
    }

    private void sendData(final byte[] data) {
        Thread thread = new Thread(new Runnable() {
            public void run() {
        Socket socket;
        BufferedOutputStream out;
        try {
            socket = new Socket(IP_ADDR, PORT);
            out = new BufferedOutputStream(socket.getOutputStream());
            out.write(data);
            if (out != null) out.close();
            if (socket != null) socket.close();
        } catch (Exception ex) {
            ex.printStackTrace();
        }
            }
        });
        thread.start();
    }

    @Override
    public void onStart() {
        super.onStart();

    }

    @Override
    public void onStop() {
        super.onStop();

    }
}