From c5e0dec777a1c98ed4abd1d0b2f80a5ec25da60f Mon Sep 17 00:00:00 2001
From: david <moeckelda95243@th-nuernberg.de>
Date: Wed, 27 Nov 2024 17:05:33 +0100
Subject: [PATCH] Version 27.11 ("neuer" Tracker)

---
 .idea/workspace.xml        |  17 ++++--
 src/main/java/Tracker.java | 118 ++++++++++++++++++++++++-------------
 2 files changed, 90 insertions(+), 45 deletions(-)

diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index 1926fe1..fa69fca 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -4,7 +4,7 @@
     <option name="autoReloadType" value="SELECTIVE" />
   </component>
   <component name="ChangeListManager">
-    <list default="true" id="4d75e996-cee4-4ec6-b802-5b56d0c0eac4" name="Changes" comment="Version 27.11">
+    <list default="true" id="4d75e996-cee4-4ec6-b802-5b56d0c0eac4" name="Changes" comment="Version 27.11 (&quot;fertiger&quot; Tracker)">
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/src/main/java/Tracker.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/Tracker.java" afterDir="false" />
     </list>
@@ -77,7 +77,7 @@
       <option name="presentableId" value="Default" />
       <updated>1732108904989</updated>
       <workItem from="1732108906083" duration="758000" />
-      <workItem from="1732113837570" duration="11452000" />
+      <workItem from="1732113837570" duration="20534000" />
     </task>
     <task id="LOCAL-00001" summary="First Commit Test">
       <option name="closed" value="true" />
@@ -111,7 +111,15 @@
       <option name="project" value="LOCAL" />
       <updated>1732703104268</updated>
     </task>
-    <option name="localTasksCounter" value="5" />
+    <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">
@@ -133,6 +141,7 @@
     <MESSAGE value="Version 20.11" />
     <MESSAGE value="Version 23.11 (Grafics update)" />
     <MESSAGE value="Version 27.11" />
-    <option name="LAST_COMMIT_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>
\ No newline at end of file
diff --git a/src/main/java/Tracker.java b/src/main/java/Tracker.java
index d2f1ab5..a7c45b1 100644
--- a/src/main/java/Tracker.java
+++ b/src/main/java/Tracker.java
@@ -1,34 +1,36 @@
-import org.opencv.core.Core;
-import org.opencv.core.Mat;
-import org.opencv.core.Point;
-import org.opencv.core.Size;
+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 processing.core.PApplet;
 
+
+import java.util.ArrayList;
 import java.util.LinkedList;
+import java.util.List;
 import java.util.Queue;
+import java.util.Comparator;
+
 
 public class Tracker {
 
-    private final int CAM = 0;                  // Kamera-ID (0 für Webcam, 1 für andere Cams)
-    private final int EXP = -7;                 // Belichtungszeit (idealerweise: 0)
-    private final int FPS = 60;                 // FPS
+    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;
 
-    private Point currentPosition;
-    public Tracker(){
+    private Point currentPositionP1 = new Point(0, 0);
+    private Point currentPositionP2 = new Point(0, 0);
 
-    }
+    public Tracker() {}
 
-    public static void main(String[] args){
+    public static void main(String[] args) {
         Tracker tracker = new Tracker();
         tracker.run();
     }
 
-    private void run(){
+    private void run() {
         VideoCapture capture = setUp();
 
         if (!capture.isOpened()) {
@@ -37,52 +39,86 @@ public class Tracker {
         }
 
         Mat frame = new Mat();
+        Mat grayFrame = new Mat();
+        Mat thresholdFrame = new Mat();
 
-        while (true){
-            if (capture.read(frame)){
+        while (true) {
+            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);
+
+                if (positions.size() >= 2) {
+                    currentPositionP1 = positions.get(0);
+                    currentPositionP2 = positions.get(1);
+
+                    System.out.println("P1 - X: " + currentPositionP1.x + " Y: " + currentPositionP1.y + " P2 - X: " + currentPositionP2.x + " Y: " + currentPositionP2.y);
+
+                }
+                drawMarkers(frame);
                 HighGui.imshow("GTCar", frame);
 
-                currentPosition = trackPosition(frame);
-
                 if (HighGui.waitKey(1) == 27) {
                     break;
                 }
-            }else{
+            } else {
                 System.out.println("Fehler: Das Kamerabild konnte nicht gelesen werden.");
                 break;
             }
         }
-
-
     }
 
-    public int getX(){
-        return (int) currentPosition.x;
+    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));
+            }
+        }
+
+        return positions;
     }
 
-    public int getY(){
-        return (int) currentPosition.y;
-    }
+    private void drawMarkers(Mat frame) {
+        // Größe der Quadrate
+        int size = 10;
 
-    public Point getPosition(){
-        return currentPosition;
-    }
+        // Blaues Quadrat an currentPositionP1
+        if (currentPositionP1 != null) {
+            Point topLeftP1 = new Point(currentPositionP1.x - size, currentPositionP1.y - size);
+            Point bottomRightP1 = new Point(currentPositionP1.x + size, currentPositionP1.y + size);
+            Imgproc.rectangle(frame, topLeftP1, bottomRightP1, new Scalar(255, 0, 0), -1); // Blau, gefüllt
+        }
 
-
-    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;
+        // Rotes Quadrat an currentPositionP2
+        if (currentPositionP2 != null) {
+            Point topLeftP2 = new Point(currentPositionP2.x - size, currentPositionP2.y - size);
+            Point bottomRightP2 = new Point(currentPositionP2.x + size, currentPositionP2.y + size);
+            Imgproc.rectangle(frame, topLeftP2, bottomRightP2, new Scalar(0, 0, 255), -1); // Rot, gefüllt
         }
     }
+
+
     private VideoCapture setUp() {
         System.loadLibrary(Core.NATIVE_LIBRARY_NAME);
         VideoCapture capture = new VideoCapture(CAM);