Puffer Versuch

Speicher läuft voll
16.12.2024 03:30

.idea/misc.xml

@@ -8,7 +8,7 @@
       </list>
     </option>
   </component>
-  <component name="ProjectRootManager" version="2" languageLevel="JDK_23" default="true" project-jdk-name="openjdk-23" project-jdk-type="JavaSDK">
+  <component name="ProjectRootManager" version="2" languageLevel="JDK_X" default="true" project-jdk-name="openjdk-23" project-jdk-type="JavaSDK">
     <output url="file://$PROJECT_DIR$/out" />
   </component>
 </project>

.idea/workspace.xml

@@ -4,13 +4,13 @@
     <option name="autoReloadType" value="SELECTIVE" />
   </component>
   <component name="ChangeListManager">
-    <list default="true" id="4d75e996-cee4-4ec6-b802-5b56d0c0eac4" name="Changes" comment="Version 04.12 &quot;vollständiges Programm mit Fehlern&quot;">
+    <list default="true" id="4d75e996-cee4-4ec6-b802-5b56d0c0eac4" name="Changes" comment="Version 20.11">
+      <change afterPath="$PROJECT_DIR$/src/main/java/CamPuffer.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/.idea/misc.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/misc.xml" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/src/main/java/GameLogic.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/GameLogic.java" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/src/main/java/GameLoop.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/GameLoop.java" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/src/main/java/GraphicsProgram.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/GraphicsProgram.java" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/src/main/java/Player.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/Player.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/main/java/Tracker.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/ImgAnalyzer.java" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/src/main/java/Tracker.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/Tracker.java" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -36,45 +36,37 @@
     <option name="hideEmptyMiddlePackages" value="true" />
     <option name="showLibraryContents" value="true" />
   </component>
-  <component name="PropertiesComponent"><![CDATA[{
+  <component name="PropertiesComponent">{
-  "keyToString": {
+  &quot;keyToString&quot;: {
-    "Application.GTCar.executor": "Run",
+    &quot;Application.GraphicsProgram.executor&quot;: &quot;Run&quot;,
-    "Application.GraphicsProgram.executor": "Run",
+    &quot;Application.Main.executor&quot;: &quot;Run&quot;,
-    "Application.Main.executor": "Run",
+    &quot;Application.Tracker.executor&quot;: &quot;Run&quot;,
-    "Application.Tracker.executor": "Run",
+    &quot;Downloaded.Files.Path.Enabled&quot;: &quot;false&quot;,
-    "Downloaded.Files.Path.Enabled": "false",
+    &quot;Repository.Attach.Annotations&quot;: &quot;false&quot;,
-    "Repository.Attach.Annotations": "false",
+    &quot;Repository.Attach.JavaDocs&quot;: &quot;false&quot;,
-    "Repository.Attach.JavaDocs": "false",
+    &quot;Repository.Attach.Sources&quot;: &quot;false&quot;,
-    "Repository.Attach.Sources": "false",
+    &quot;RunOnceActivity.OpenProjectViewOnStart&quot;: &quot;true&quot;,
-    "RunOnceActivity.OpenProjectViewOnStart": "true",
+    &quot;RunOnceActivity.ShowReadmeOnStart&quot;: &quot;true&quot;,
-    "RunOnceActivity.ShowReadmeOnStart": "true",
+    &quot;com.codeium.enabled&quot;: &quot;true&quot;,
-    "com.codeium.enabled": "true",
+    &quot;git-widget-placeholder&quot;: &quot;master&quot;,
-    "git-widget-placeholder": "master",
+    &quot;kotlin-language-version-configured&quot;: &quot;true&quot;,
-    "kotlin-language-version-configured": "true",
+    &quot;last_opened_file_path&quot;: &quot;C:/Users/paul3/OneDrive/Dokumente/Studium BME/Semester 3/Interaktion/opencv/build/java/opencv-4100.jar&quot;,
-    "last_opened_file_path": "C:/Users/david/Documents/Uni/GTCar/opencv/build/java/opencv-4100.jar",
+    &quot;node.js.detected.package.eslint&quot;: &quot;true&quot;,
-    "node.js.detected.package.eslint": "true",
+    &quot;node.js.detected.package.tslint&quot;: &quot;true&quot;,
-    "node.js.detected.package.tslint": "true",
+    &quot;node.js.selected.package.eslint&quot;: &quot;(autodetect)&quot;,
-    "node.js.selected.package.eslint": "(autodetect)",
+    &quot;node.js.selected.package.tslint&quot;: &quot;(autodetect)&quot;,
-    "node.js.selected.package.tslint": "(autodetect)",
+    &quot;nodejs_package_manager_path&quot;: &quot;npm&quot;,
-    "nodejs_package_manager_path": "npm",
+    &quot;project.structure.last.edited&quot;: &quot;Libraries&quot;,
-    "project.structure.last.edited": "Libraries",
+    &quot;project.structure.proportion&quot;: &quot;0.15&quot;,
-    "project.structure.proportion": "0.15",
+    &quot;project.structure.side.proportion&quot;: &quot;0.24022989&quot;,
-    "project.structure.side.proportion": "0.24022989",
+    &quot;vue.rearranger.settings.migration&quot;: &quot;true&quot;
-    "vue.rearranger.settings.migration": "true"
   }
-}]]></component>
+}</component>
   <component name="RunManager" selected="Application.Main">
-    <configuration name="GTCar" type="Application" factoryName="Application">
+    <configuration name="ImgAnalyzer" type="Application" factoryName="Application" temporary="true" nameIsGenerated="true">
-      <option name="MAIN_CLASS_NAME" value="Tracker" />
+      <option name="MAIN_CLASS_NAME" value="ImgAnalyzer" />
-      <module name="GTCar_V2_maven" />
-      <option name="VM_PARAMETERS" value="-Djava.library.path=C:\Users\david\Documents\Uni\GTCar\opencv\build\java\x64" />
-      <method v="2">
-        <option name="Make" enabled="true" />
-      </method>
-    </configuration>
-    <configuration name="GraphicsProgram" type="Application" factoryName="Application" temporary="true" nameIsGenerated="true">
-      <option name="MAIN_CLASS_NAME" value="GraphicsProgram" />
       <module name="GTCar_V2_maven" />
+      <option name="PROGRAM_PARAMETERS" value="-Djava.library.path=&quot;C:\Users\paul3\OneDrive\Dokumente\Studium BME\Semester 3\Interaktion\opencv\build\java\x64&quot;" />
       <method v="2">
         <option name="Make" enabled="true" />
       </method>
@@ -82,23 +74,30 @@
     <configuration name="Main" type="Application" factoryName="Application" temporary="true" nameIsGenerated="true">
       <option name="MAIN_CLASS_NAME" value="Main" />
       <module name="GTCar_V2_maven" />
-      <option name="VM_PARAMETERS" value="-Djava.library.path=C:\Users\david\Documents\Uni\GTCar\opencv\build\java\x64" />
+      <option name="PROGRAM_PARAMETERS" value="-Djava.library.path=&quot;C:\Users\paul3\OneDrive\Dokumente\Studium BME\Semester 3\Interaktion\opencv\build\java\x64&quot;" />
       <method v="2">
         <option name="Make" enabled="true" />
       </method>
     </configuration>
     <list>
-      <item itemvalue="Application.GTCar" />
-      <item itemvalue="Application.GraphicsProgram" />
       <item itemvalue="Application.Main" />
+      <item itemvalue="Application.ImgAnalyzer" />
     </list>
     <recent_temporary>
       <list>
         <item itemvalue="Application.Main" />
-        <item itemvalue="Application.GraphicsProgram" />
+        <item itemvalue="Application.ImgAnalyzer" />
       </list>
     </recent_temporary>
   </component>
+  <component name="SharedIndexes">
+    <attachedChunks>
+      <set>
+        <option value="bundled-jdk-9f38398b9061-39b83d9b5494-intellij.indexing.shared.core-IU-241.15989.150" />
+        <option value="bundled-js-predefined-1d06a55b98c1-91d5c284f522-JavaScript-IU-241.15989.150" />
+      </set>
+    </attachedChunks>
+  </component>
   <component name="SpellCheckerSettings" RuntimeDictionaries="0" Folders="0" CustomDictionaries="0" DefaultDictionary="application-level" UseSingleDictionary="true" transferred="true" />
   <component name="TaskManager">
     <task active="true" id="Default" summary="Default task">
@@ -108,9 +107,8 @@
       <option name="presentableId" value="Default" />
       <updated>1732108904989</updated>
       <workItem from="1732108906083" duration="758000" />
-      <workItem from="1732113837570" duration="20534000" />
+      <workItem from="1732113837570" duration="5187000" />
-      <workItem from="1733327375447" duration="951000" />
+      <workItem from="1734302243298" duration="10745000" />
-      <workItem from="1734091457440" duration="10746000" />
     </task>
     <task id="LOCAL-00001" summary="First Commit Test">
       <option name="closed" value="true" />
@@ -128,31 +126,7 @@
       <option name="project" value="LOCAL" />
       <updated>1732118799936</updated>
     </task>
-    <task id="LOCAL-00003" summary="Version 23.11 (Grafics update)">
+    <option name="localTasksCounter" value="3" />
-      <option name="closed" value="true" />
-      <created>1732368525825</created>
-      <option name="number" value="00003" />
-      <option name="presentableId" value="LOCAL-00003" />
-      <option name="project" value="LOCAL" />
-      <updated>1732368525826</updated>
-    </task>
-    <task id="LOCAL-00004" summary="Version 27.11">
-      <option name="closed" value="true" />
-      <created>1732703104268</created>
-      <option name="number" value="00004" />
-      <option name="presentableId" value="LOCAL-00004" />
-      <option name="project" value="LOCAL" />
-      <updated>1732703104268</updated>
-    </task>
-    <task id="LOCAL-00005" summary="Version 27.11 (&quot;fertiger&quot; Tracker)">
-      <option name="closed" value="true" />
-      <created>1732706211714</created>
-      <option name="number" value="00005" />
-      <option name="presentableId" value="LOCAL-00005" />
-      <option name="project" value="LOCAL" />
-      <updated>1732706211714</updated>
-    </task>
-    <option name="localTasksCounter" value="6" />
     <servers />
   </component>
   <component name="TypeScriptGeneratedFilesManager">
@@ -172,9 +146,6 @@
   <component name="VcsManagerConfiguration">
     <MESSAGE value="First Commit Test" />
     <MESSAGE value="Version 20.11" />
-    <MESSAGE value="Version 23.11 (Grafics update)" />
+    <option name="LAST_COMMIT_MESSAGE" value="Version 20.11" />
-    <MESSAGE value="Version 27.11" />
-    <MESSAGE value="Version 27.11 (&quot;fertiger&quot; Tracker)" />
-    <option name="LAST_COMMIT_MESSAGE" value="Version 27.11 (&quot;fertiger&quot; Tracker)" />
   </component>
 </project>

src/main/java/CamPuffer.java

@@ -0,0 +1,134 @@
+import org.opencv.core.*;
+import org.opencv.videoio.VideoCapture;
+import org.opencv.imgproc.Imgproc;
+import org.opencv.highgui.HighGui;
+import org.opencv.videoio.Videoio;
+
+import java.util.LinkedList;
+
+public class CamPuffer implements Runnable {
+
+    static {
+        try {
+            System.load("C:\\Users\\paul3\\OneDrive\\Dokumente\\Studium BME\\Semester 3\\Interaktion\\GTCar V3\\opencv\\build\\java\\x64\\opencv_java4100.dll");
+            System.out.println("OpenCV manuell geladen!");
+        } catch (UnsatisfiedLinkError e) {
+            System.err.println("Fehler beim Laden der OpenCV-Bibliothek: " + e.getMessage());
+        }
+    }
+
+    private final int CAM; // Kamera-ID (0 für Webcam, 1 für andere Cams)
+    private final int EXP; // Belichtungszeit
+    private final int FPS;
+    private final int THV;
+
+    private volatile boolean running = true;
+    private final Object lock = new Object(); // Lock für Thread-Sicherheit
+    private Mat currentMat = new Mat();
+
+    private final Rect roi = new Rect(200, 150, 240, 180); // Region of Interest
+
+    private boolean hasStartedCapturing = false;
+
+    private final LinkedList<Mat> frameBuffer = new LinkedList<>();
+    private final int MAX_BUFFER_SIZE = 10;  // Maximale Anzahl an Bildern im Puffer
+
+    public CamPuffer(int CAM, int EXP, int FPS, int THV) {
+        this.CAM = CAM;
+        this.EXP = EXP;
+        this.FPS = FPS;
+        this.THV = THV;
+    }
+
+    @Override
+    public void run() {
+        VideoCapture capture = setUp();
+
+        if (!capture.isOpened()) {
+            System.out.println("Fehler: Die Webcam konnte nicht geöffnet werden.");
+            return;
+        }
+
+        Mat frame = new Mat();
+        hasStartedCapturing = true;
+
+        long lastGcTime = System.currentTimeMillis();
+
+        try {
+            while (running) {
+                long startTime = System.currentTimeMillis();
+                capture.read(frame); // Bild einlesen
+
+                if (frame.empty()) {
+                    System.out.println("Fehler: Kein Bild von der Kamera erhalten.");
+                    break;
+                }
+
+                // Bildverarbeitung hier
+
+                // Debug-Ausgabe
+                long elapsedTime = System.currentTimeMillis() - startTime;
+                System.out.println("Verarbeitungszeit für das Bild: " + elapsedTime + " ms");
+
+                // Speicherbereinigung alle 1000 ms (1 Sekunde)
+                if (System.currentTimeMillis() - lastGcTime > 1000) {
+                    System.gc();  // Triggern des Garbage Collectors
+                    lastGcTime = System.currentTimeMillis();
+                    System.out.println("Garbage Collection durchgeführt.");
+                }
+            }
+        } finally {
+            // Matrizen explizit freigeben
+            frame.release();  // Falls `frame` in der Schleife freigegeben wurde, hier nochmal
+            capture.release(); // Kamera-Ressourcen freigeben
+        }
+    }
+
+
+
+
+
+    public boolean isHasStartedCapturing() {
+        return hasStartedCapturing;
+    }
+
+    private void updateCurrentMat(Mat img) {
+        synchronized (lock) {
+            // Puffergröße überwachen
+            if (frameBuffer.size() >= MAX_BUFFER_SIZE) {
+                Mat oldFrame = frameBuffer.poll(); // Entfernt das älteste Bild im Puffer
+                if (oldFrame != null) {
+                    oldFrame.release();  // Verhindert das Anhäufen von nicht freigegebenen Mat-Objekten
+                }
+            }
+
+            // Neues Bild in den Puffer hinzufügen
+            frameBuffer.add(img.clone());
+        }
+    }
+
+    public Mat getCurrentMat() {
+        synchronized (lock) {
+            return currentMat.clone(); // Rückgabe einer Kopie, um Speicherprobleme zu vermeiden
+        }
+    }
+
+    public void stop() {
+        running = false;
+    }
+
+    private VideoCapture setUp() {
+        System.out.println("Laden von OpenCV");
+        System.loadLibrary(Core.NATIVE_LIBRARY_NAME);
+        VideoCapture capture = new VideoCapture(CAM);
+
+        if (!capture.isOpened()) {
+            System.out.println("Fehler: Die Webcam konnte nicht geöffnet werden.");
+        }
+
+        capture.set(Videoio.CAP_PROP_EXPOSURE, EXP);
+        capture.set(Videoio.CAP_PROP_FPS, FPS);
+        System.out.println("Kamera geöffnet und eingerichtet");
+        return capture;
+    }
+}

src/main/java/GameLoop.java

@@ -1,12 +1,9 @@
 import processing.core.PApplet;
 import java.awt.Point;
-import java.util.ArrayList;
-import java.util.List;
 
 public class GameLoop {
-    int activePlayer = 0;
 
-    Tracker tracker;
+    ImgAnalyzer tracker;
 
     GraphicsProgram graphics;
 
@@ -19,7 +16,7 @@ public class GameLoop {
         player1 = new Player(0, "192.168.1.1", 9000);
         player2 = new Player(1, "192.168.1.2", 9000);
 
-        tracker = new Tracker();
+        tracker = new ImgAnalyzer();
         // Starte Tracker in einem separaten Thread
         Thread trackerThread = new Thread(tracker::run);
         trackerThread.start();
@@ -50,10 +47,10 @@ public class GameLoop {
             Point p2 = tracker.getP2();
             //System.out.println("Player 2 is at " + p2.x + " and " + p2.y);
 
-            player1.setKoords(p1.x, p1.y);
+            player1.setKoords((int)p1.x, (int)p1.y);
-            player2.setKoords(p2.x, p2.y);
+            player2.setKoords((int)p2.x, (int)p2.y);
 
-            if(gl.doCheckExtern(player2.getTrail(), p1)){ //Check Position von P1 mit Spur von P2
+            /*if(gl.doCheckExtern(player2.getTrail(), p1)){ //Check Position von P1 mit Spur von P2
                 System.out.println("Spieler 1 hat verloren");
                 break;
             }
@@ -61,9 +58,9 @@ public class GameLoop {
             if(gl.doCheckExtern(player1.getTrail(), p2)){ //Check Position von P2 mit Spur von P1
                 System.out.println("Spieler 2 hat verloren");
                 break;
-            }
+            } */
 
-            draw();
+            //draw();
         }
     }
 

src/main/java/GraphicsProgram.java

@@ -24,7 +24,7 @@ public class GraphicsProgram extends PApplet {
     }
 
     public void settings() {
-        fullScreen();
+        //fullScreen();
     }
 
     public void setup(){
@@ -51,10 +51,8 @@ public class GraphicsProgram extends PApplet {
 
         while(!trail.isEmpty()) {
             int[] koordinaten = trail.poll();
-            int x = koordinaten[0];
+            int x = 1;
-            int y = koordinaten[1];
+            int y = 1;
-
-            System.out.println();
 
             if(playerID == 0){
                 image(imgBlue, x, y, particleSize, particleSize);

src/main/java/ImgAnalyzer.java

@@ -0,0 +1,114 @@
+import org.opencv.core.*;
+import org.opencv.videoio.VideoCapture;
+import org.opencv.highgui.HighGui;
+import org.opencv.imgproc.Imgproc;
+import org.opencv.imgproc.Moments;
+import org.opencv.videoio.Videoio;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.awt.Point;
+
+public class ImgAnalyzer {
+
+    private final int CAM = 0;                  // Kamera-ID (0 für Webcam, 1 für andere Cams)
+    private final int EXP = -9;                 // Belichtungszeit (idealerweise: 0)
+    private final int FPS = 20;                 // FPS
+    private final int THV = 252;                // Threshold
+
+    private Point currentPositionP1 = new Point(0, 0);
+    private Point currentPositionP2 = new Point(0, 0);
+
+    private CamPuffer camPuffer;
+
+    public ImgAnalyzer() {
+        camPuffer = new CamPuffer(CAM, EXP, FPS, THV);
+        Thread pufferThread = new Thread(camPuffer);
+        pufferThread.start();
+    }
+
+    public static void main(String[] args) {
+        ImgAnalyzer tracker = new ImgAnalyzer();
+        tracker.run();
+    }
+
+    public void run() {
+        boolean hasStartedCapturing = false;
+        while (!hasStartedCapturing) {
+            if (camPuffer.getCurrentMat() != null) {
+                break;
+            }
+        }
+
+        Mat currentImg = null;
+
+
+        Mat grayFrame = new Mat();
+        Mat thresholdFrame = new Mat();
+
+        while (true) {
+            try {
+                currentImg = camPuffer.getCurrentMat();
+
+                //HighGui.imshow("Threshold Image", currentImg);
+
+                // ROI anwenden
+                //Mat roiFrame = new Mat(downsizedFrame, roi);
+
+                // In Graustufen konvertieren
+                Imgproc.cvtColor(currentImg, grayFrame, Imgproc.COLOR_BGR2GRAY);
+
+                // Threshold anwenden
+                Imgproc.threshold(grayFrame, thresholdFrame, THV, 255, Imgproc.THRESH_BINARY);
+
+            } catch (Exception e) {
+
+            }
+
+            if (currentImg != null) {
+                List<Point> positions = trackPositions(thresholdFrame);
+
+                if (positions.size() >= 2) {
+                    currentPositionP1 = positions.get(0);
+                    currentPositionP2 = positions.get(1);
+                    //System.out.println("currentPositionP1: " + currentPositionP1 + " currentPositionP2: " + currentPositionP2);
+                }
+
+            }
+        }
+    }
+
+    private List<Point> trackPositions(Mat thresholdFrame) {
+        List<MatOfPoint> contours = new ArrayList<>();
+        Mat hierarchy = new Mat();
+
+        // Finde Konturen
+        Imgproc.findContours(thresholdFrame, contours, hierarchy, Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_SIMPLE);
+
+        // Sortiere Konturen nach Fläche (absteigend)
+        contours.sort((c1, c2) -> Double.compare(Imgproc.contourArea(c2), Imgproc.contourArea(c1)));
+
+        // Speichere die Positionen der zwei größten Konturen
+        List<Point> positions = new ArrayList<>();
+
+        for (int i = 0; i < Math.min(contours.size(), 2); i++) {
+            Moments moments = Imgproc.moments(contours.get(i));
+            if (moments.get_m00() != 0) {
+                int cx = (int) (moments.get_m10() / moments.get_m00());
+                int cy = (int) (moments.get_m01() / moments.get_m00());
+                positions.add(new Point(cx, cy));
+            }
+        }
+        //Check
+        return positions;
+    }
+
+    public synchronized Point getP1() {
+        return currentPositionP1;
+    }
+
+    public Point getP2() {
+        return currentPositionP2;
+    }
+
+}

src/main/java/Tracker.java

@@ -1,156 +0,0 @@
-import org.opencv.core.*;
-import org.opencv.videoio.VideoCapture;
-import org.opencv.highgui.HighGui;
-import org.opencv.imgproc.Imgproc;
-import org.opencv.imgproc.Moments;
-import org.opencv.videoio.Videoio;
-
-import java.util.ArrayList;
-import java.util.List;
-import java.awt.Point;
-
-public class Tracker implements Runnable {
-
-    private final int CAM = 1;                  // Kamera-ID (0 für Webcam, 1 für andere Cams)
-    private final int EXP = 0;                  // Belichtungszeit (idealerweise: 0)
-    private final int FPS = 60;                 // FPS
-    private final int THV = 250;                // Threshold
-
-    private volatile boolean running = true;   // Steuerung des Tracker-Threads
-
-    private volatile Point currentPositionP1 = new Point(0, 0);
-    private volatile Point currentPositionP2 = new Point(0, 0);
-
-    public Tracker() {
-    }
-
-    public static void main(String[] args) {
-        Tracker tracker = new Tracker();
-        Thread trackerThread = new Thread(tracker);
-        trackerThread.start();
-
-        // Beispiel: Positionen regelmäßig abfragen
-        /*
-        while (true) {
-            Point p1 = tracker.getP1();
-            Point p2 = tracker.getP2();
-            //System.out.println("P2 - X: " + p2.x + " Y: " + p2.y);
-
-            try {
-                Thread.sleep(1000); // Warte 1 Sekunde
-            } catch (InterruptedException e) {
-                e.printStackTrace();
-            }
-        }
-         */
-    }
-
-    @Override
-    public void run() {
-        VideoCapture capture = setUp();
-
-        if (!capture.isOpened()) {
-            System.out.println("Fehler: Die Webcam konnte nicht geöffnet werden.");
-            return;
-        }
-
-        Mat frame = new Mat();
-        Mat grayFrame = new Mat();
-        Mat thresholdFrame = new Mat();
-
-        while (running) {
-            if (capture.read(frame)) {
-
-                // Konvertiere in Graustufen und wende Threshold an
-                Imgproc.cvtColor(frame, grayFrame, Imgproc.COLOR_BGR2GRAY);
-                Imgproc.threshold(grayFrame, thresholdFrame, THV, 255, Imgproc.THRESH_BINARY);
-
-                // Tracke die Positionen der beiden größten Objekte
-                List<Point> positions = trackPositions(thresholdFrame);
-                //Check
-
-                if (positions.size() >= 2) {
-                    setCurrentPositionP1(positions.get(0));
-                    //System.out.println(currentPositionP1);
-                    //Check. currentPosition wird aktualisiert
-                    setCurrentPositionP2(positions.get(1));
-                    //Check
-
-                    //System.out.println("P1 - X: " + currentPositionP1.x + " Y: " + currentPositionP1.y +
-                    //        " P2 - X: " + currentPositionP2.x + " Y: " + currentPositionP2.y);
-                }
-
-                HighGui.imshow("GTCar", frame);
-
-                if (HighGui.waitKey(1) == 27) { // ESC-Taste zum Beenden
-                    stop();
-                }
-            } else {
-                System.out.println("Fehler: Das Kamerabild konnte nicht gelesen werden.");
-                break;
-            }
-        }
-        capture.release();
-    }
-
-    private List<Point> trackPositions(Mat thresholdFrame) {
-        List<MatOfPoint> contours = new ArrayList<>();
-        Mat hierarchy = new Mat();
-
-        // Finde Konturen
-        Imgproc.findContours(thresholdFrame, contours, hierarchy, Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_SIMPLE);
-
-        // Sortiere Konturen nach Fläche (absteigend)
-        contours.sort((c1, c2) -> Double.compare(Imgproc.contourArea(c2), Imgproc.contourArea(c1)));
-
-        // Speichere die Positionen der zwei größten Konturen
-        List<Point> positions = new ArrayList<>();
-
-        for (int i = 0; i < Math.min(contours.size(), 2); i++) {
-            Moments moments = Imgproc.moments(contours.get(i));
-            if (moments.get_m00() != 0) {
-                int cx = (int) (moments.get_m10() / moments.get_m00());
-                int cy = (int) (moments.get_m01() / moments.get_m00());
-                positions.add(new Point(cx, cy));
-            }
-        }
-        //Check
-        return positions;
-    }
-
-    public synchronized Point getP1() {
-        //ab hier ist Punkt[0,0]
-        return currentPositionP1;
-    }
-
-    public synchronized Point getP2() {
-        return currentPositionP2;
-    }
-
-    private synchronized void setCurrentPositionP1(Point p1) {
-        //p1 ist richtig
-        currentPositionP1 = p1;
-    }
-
-    private synchronized void setCurrentPositionP2(Point p2) {
-        currentPositionP2 = p2;
-    }
-
-    private VideoCapture setUp() {
-        System.loadLibrary(Core.NATIVE_LIBRARY_NAME);
-        VideoCapture capture = new VideoCapture(CAM);
-
-        if (!capture.isOpened()) {
-            System.out.println("Fehler: Die Webcam konnte nicht geöffnet werden.");
-        }
-
-        capture.set(Videoio.CAP_PROP_EXPOSURE, EXP);
-        capture.set(Videoio.CAP_PROP_FPS, FPS);
-
-        return capture;
-    }
-
-    public void stop() {
-        running = false;
-    }
-}