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Version 27.11 ("neuer" Tracker)

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This commit is contained in:
David Moeckel 2024-11-27 17:05:33 +01:00
parent c2b5dc7e96
commit c5e0dec777
2 changed files with 90 additions and 45 deletions
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17
.idea/workspace.xml generated
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@ -4,7 +4,7 @@
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<change beforePath="$PROJECT_DIR$/src/main/java/Tracker.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/Tracker.java" afterDir="false" />
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@ -77,7 +77,7 @@
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@ -111,7 +111,15 @@
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@ -133,6 +141,7 @@
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106
src/main/java/Tracker.java
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@ -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 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();
public int getY(){
return (int) currentPosition.y;
}
// Finde Konturen
Imgproc.findContours(thresholdFrame, contours, hierarchy, Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_SIMPLE);
public Point getPosition(){
return currentPosition;
}
// Sortiere Konturen nach Fläche (absteigend)
contours.sort((c1, c2) -> Double.compare(Imgproc.contourArea(c2), Imgproc.contourArea(c1)));
private Point trackPosition(Mat thresholdFrame) {
// Berechne die Momente des binären Bildes
Moments moments = Imgproc.moments(thresholdFrame);
// Speichere die Positionen der zwei größten Konturen
List<Point> positions = new ArrayList<>();
// Prüfen, ob m00 (Fläche) nicht null ist, um Division durch Null zu vermeiden
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());
return new Point(cx, cy);
} else {
positions.add(new Point(cx, cy));
}
}
return null;
return positions;
}
private void drawMarkers(Mat frame) {
// Größe der Quadrate
int size = 10;
// 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
}
// 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);