From c2b5dc7e96b2d70a91769c585352df51680bd883 Mon Sep 17 00:00:00 2001
From: david <moeckelda95243@th-nuernberg.de>
Date: Wed, 27 Nov 2024 12:16:48 +0100
Subject: [PATCH] Version 27.11 ("fertiger" Tracker)

---
 .idea/workspace.xml        | 32 ++++++++++++++++++++++------
 src/main/java/Tracker.java | 43 ++++++++++++++++++++++++++++++++++++--
 2 files changed, 67 insertions(+), 8 deletions(-)

diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index 4f6884d..1926fe1 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -4,9 +4,8 @@
     <option name="autoReloadType" value="SELECTIVE" />
   </component>
   <component name="ChangeListManager">
-    <list default="true" id="4d75e996-cee4-4ec6-b802-5b56d0c0eac4" name="Changes" comment="Version 23.11 (Grafics update)">
+    <list default="true" id="4d75e996-cee4-4ec6-b802-5b56d0c0eac4" name="Changes" comment="Version 27.11">
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" 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/Tracker.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/Tracker.java" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
@@ -35,7 +34,9 @@
   </component>
   <component name="PropertiesComponent"><![CDATA[{
   "keyToString": {
+    "Application.GTCar.executor": "Run",
     "Application.GraphicsProgram.executor": "Run",
+    "Application.Tracker.executor": "Run",
     "Downloaded.Files.Path.Enabled": "false",
     "Repository.Attach.Annotations": "false",
     "Repository.Attach.JavaDocs": "false",
@@ -45,7 +46,7 @@
     "com.codeium.enabled": "true",
     "git-widget-placeholder": "master",
     "kotlin-language-version-configured": "true",
-    "last_opened_file_path": "C:/Users/david/Documents/Uni/GTCar/processing-4.3/core/library/core.jar",
+    "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)",
@@ -57,6 +58,16 @@
     "vue.rearranger.settings.migration": "true"
   }
 }]]></component>
+  <component name="RunManager">
+    <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>
+  </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">
@@ -66,7 +77,7 @@
       <option name="presentableId" value="Default" />
       <updated>1732108904989</updated>
       <workItem from="1732108906083" duration="758000" />
-      <workItem from="1732113837570" duration="8726000" />
+      <workItem from="1732113837570" duration="11452000" />
     </task>
     <task id="LOCAL-00001" summary="First Commit Test">
       <option name="closed" value="true" />
@@ -92,7 +103,15 @@
       <option name="project" value="LOCAL" />
       <updated>1732368525826</updated>
     </task>
-    <option name="localTasksCounter" value="4" />
+    <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>
+    <option name="localTasksCounter" value="5" />
     <servers />
   </component>
   <component name="TypeScriptGeneratedFilesManager">
@@ -113,6 +132,7 @@
     <MESSAGE value="First Commit Test" />
     <MESSAGE value="Version 20.11" />
     <MESSAGE value="Version 23.11 (Grafics update)" />
-    <option name="LAST_COMMIT_MESSAGE" value="Version 23.11 (Grafics update)" />
+    <MESSAGE value="Version 27.11" />
+    <option name="LAST_COMMIT_MESSAGE" value="Version 27.11" />
   </component>
 </project>
\ No newline at end of file
diff --git a/src/main/java/Tracker.java b/src/main/java/Tracker.java
index a320f5d..d2f1ab5 100644
--- a/src/main/java/Tracker.java
+++ b/src/main/java/Tracker.java
@@ -18,6 +18,7 @@ public class Tracker {
     private final int EXP = -7;                 // Belichtungszeit (idealerweise: 0)
     private final int FPS = 60;                 // FPS
 
+    private Point currentPosition;
     public Tracker(){
 
     }
@@ -34,16 +35,54 @@ public class Tracker {
             System.out.println("Fehler: Die Webcam konnte nicht geöffnet werden.");
             return;
         }
+
+        Mat frame = new Mat();
+
+        while (true){
+            if (capture.read(frame)){
+                HighGui.imshow("GTCar", frame);
+
+                currentPosition = trackPosition(frame);
+
+                if (HighGui.waitKey(1) == 27) {
+                    break;
+                }
+            }else{
+                System.out.println("Fehler: Das Kamerabild konnte nicht gelesen werden.");
+                break;
+            }
+        }
+
+
     }
 
     public int getX(){
-        return x;
+        return (int) currentPosition.x;
     }
 
     public int getY(){
-        return y;
+        return (int) currentPosition.y;
     }
 
+    public Point getPosition(){
+        return currentPosition;
+    }
+
+
+    private Point trackPosition(Mat thresholdFrame) {
+        // Berechne die Momente des binären Bildes
+        Moments moments = Imgproc.moments(thresholdFrame);
+
+        // Prüfen, ob m00 (Fläche) nicht null ist, um Division durch Null zu vermeiden
+        if (moments.get_m00() != 0) {
+            int cx = (int) (moments.get_m10() / moments.get_m00());
+            int cy = (int) (moments.get_m01() / moments.get_m00());
+            return new Point(cx, cy);
+        } else {
+
+            return null;
+        }
+    }
     private VideoCapture setUp() {
         System.loadLibrary(Core.NATIVE_LIBRARY_NAME);
         VideoCapture capture = new VideoCapture(CAM);