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Interaktion_GTCaar
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Puffer Versuch 

Speicher läuft voll
16.12.2024 03:30
master
Paul Stamminger 1 week ago
parent
b05c2a8319
commit
4e6a0ed98a
7 changed files with 306 additions and 248 deletions
Split View Show Diff Stats
  1. 1
    1
      .idea/misc.xml
  2. 47
    76
      .idea/workspace.xml
  3. 134
    0
      src/main/java/CamPuffer.java
  4. 7
    10
      src/main/java/GameLoop.java
  5. 3
    5
      src/main/java/GraphicsProgram.java
  6. 114
    0
      src/main/java/ImgAnalyzer.java
  7. 0
    156
      src/main/java/Tracker.java

+ 1
- 1
.idea/misc.xml View File

@@ -8,7 +8,7 @@
</list>
</option>
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<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>

+ 47
- 76
.idea/workspace.xml View File

@@ -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/Tracker.java" afterDir="false" />
<change beforePath="$PROJECT_DIR$/src/main/java/Tracker.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/ImgAnalyzer.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[{
"keyToString": {
"Application.GTCar.executor": "Run",
"Application.GraphicsProgram.executor": "Run",
"Application.Main.executor": "Run",
"Application.Tracker.executor": "Run",
"Downloaded.Files.Path.Enabled": "false",
"Repository.Attach.Annotations": "false",
"Repository.Attach.JavaDocs": "false",
"Repository.Attach.Sources": "false",
"RunOnceActivity.OpenProjectViewOnStart": "true",
"RunOnceActivity.ShowReadmeOnStart": "true",
"com.codeium.enabled": "true",
"git-widget-placeholder": "master",
"kotlin-language-version-configured": "true",
"last_opened_file_path": "C:/Users/david/Documents/Uni/GTCar/opencv/build/java/opencv-4100.jar",
"node.js.detected.package.eslint": "true",
"node.js.detected.package.tslint": "true",
"node.js.selected.package.eslint": "(autodetect)",
"node.js.selected.package.tslint": "(autodetect)",
"nodejs_package_manager_path": "npm",
"project.structure.last.edited": "Libraries",
"project.structure.proportion": "0.15",
"project.structure.side.proportion": "0.24022989",
"vue.rearranger.settings.migration": "true"
<component name="PropertiesComponent">{
&quot;keyToString&quot;: {
&quot;Application.GraphicsProgram.executor&quot;: &quot;Run&quot;,
&quot;Application.Main.executor&quot;: &quot;Run&quot;,
&quot;Application.Tracker.executor&quot;: &quot;Run&quot;,
&quot;Downloaded.Files.Path.Enabled&quot;: &quot;false&quot;,
&quot;Repository.Attach.Annotations&quot;: &quot;false&quot;,
&quot;Repository.Attach.JavaDocs&quot;: &quot;false&quot;,
&quot;Repository.Attach.Sources&quot;: &quot;false&quot;,
&quot;RunOnceActivity.OpenProjectViewOnStart&quot;: &quot;true&quot;,
&quot;RunOnceActivity.ShowReadmeOnStart&quot;: &quot;true&quot;,
&quot;com.codeium.enabled&quot;: &quot;true&quot;,
&quot;git-widget-placeholder&quot;: &quot;master&quot;,
&quot;kotlin-language-version-configured&quot;: &quot;true&quot;,
&quot;last_opened_file_path&quot;: &quot;C:/Users/paul3/OneDrive/Dokumente/Studium BME/Semester 3/Interaktion/opencv/build/java/opencv-4100.jar&quot;,
&quot;node.js.detected.package.eslint&quot;: &quot;true&quot;,
&quot;node.js.detected.package.tslint&quot;: &quot;true&quot;,
&quot;node.js.selected.package.eslint&quot;: &quot;(autodetect)&quot;,
&quot;node.js.selected.package.tslint&quot;: &quot;(autodetect)&quot;,
&quot;nodejs_package_manager_path&quot;: &quot;npm&quot;,
&quot;project.structure.last.edited&quot;: &quot;Libraries&quot;,
&quot;project.structure.proportion&quot;: &quot;0.15&quot;,
&quot;project.structure.side.proportion&quot;: &quot;0.24022989&quot;,
&quot;vue.rearranger.settings.migration&quot;: &quot;true&quot;
}
}]]></component>
}</component>
<component name="RunManager" selected="Application.Main">
<configuration name="GTCar" type="Application" factoryName="Application">
<option name="MAIN_CLASS_NAME" value="Tracker" />
<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" />
<configuration name="ImgAnalyzer" type="Application" factoryName="Application" temporary="true" nameIsGenerated="true">
<option name="MAIN_CLASS_NAME" value="ImgAnalyzer" />
<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="1733327375447" duration="951000" />
<workItem from="1734091457440" duration="10746000" />
<workItem from="1732113837570" duration="5187000" />
<workItem from="1734302243298" duration="10745000" />
</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="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" />
<option name="localTasksCounter" value="3" />
<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)" />
<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)" />
<option name="LAST_COMMIT_MESSAGE" value="Version 20.11" />
</component>
</project>

+ 134
- 0
src/main/java/CamPuffer.java View File

@@ -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;
}
}

+ 7
- 10
src/main/java/GameLoop.java View File

@@ -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);
player2.setKoords(p2.x, p2.y);
player1.setKoords((int)p1.x, (int)p1.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();
}
}


+ 3
- 5
src/main/java/GraphicsProgram.java View File

@@ -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 y = koordinaten[1];

System.out.println();
int x = 1;
int y = 1;

if(playerID == 0){
image(imgBlue, x, y, particleSize, particleSize);

+ 114
- 0
src/main/java/ImgAnalyzer.java View File

@@ -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;
}

}

+ 0
- 156
src/main/java/Tracker.java View File

@@ -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;
}
}

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