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Transformation und Collision

.idea/workspace.xml

@@ -4,7 +4,13 @@
     <option name="autoReloadType" value="SELECTIVE" />
   </component>
   <component name="ChangeListManager">
-    <list default="true" id="4d75e996-cee4-4ec6-b802-5b56d0c0eac4" name="Changes" comment="First Commit Test" />
+    <list default="true" id="4d75e996-cee4-4ec6-b802-5b56d0c0eac4" name="Changes" comment="Funktionierender Puffer&#10;Bild wird nicht korrekt gespeichert&#10;16.12.2024 16:48">
+      <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/main/java/CamPuffer.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/CamPuffer.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/ImgAnalyzer.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" />
     <option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
@@ -20,32 +26,78 @@
   <component name="Git.Settings">
     <option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$" />
   </component>
-  <component name="ProjectColorInfo"><![CDATA[{
+  <component name="ProjectColorInfo">{
-  "associatedIndex": 8
+  &quot;associatedIndex&quot;: 8
-}]]></component>
+}</component>
   <component name="ProjectId" id="2p7Eq8ZJM8BEjLybOnAdhzZ82uv" />
   <component name="ProjectLevelVcsManager" settingsEditedManually="true" />
   <component name="ProjectViewState">
     <option name="hideEmptyMiddlePackages" value="true" />
     <option name="showLibraryContents" value="true" />
   </component>
-  <component name="PropertiesComponent"><![CDATA[{
+  <component name="PropertiesComponent">{
-  "keyToString": {
+  &quot;keyToString&quot;: {
-    "RunOnceActivity.ShowReadmeOnStart": "true",
+    &quot;Application.GTCar.executor&quot;: &quot;Run&quot;,
-    "com.codeium.enabled": "true",
+    &quot;Application.GraphicsProgram.executor&quot;: &quot;Run&quot;,
-    "git-widget-placeholder": "master",
+    &quot;Application.Main.executor&quot;: &quot;Run&quot;,
-    "kotlin-language-version-configured": "true",
+    &quot;Application.Tracker.executor&quot;: &quot;Run&quot;,
-    "node.js.detected.package.eslint": "true",
+    &quot;Downloaded.Files.Path.Enabled&quot;: &quot;false&quot;,
-    "node.js.detected.package.tslint": "true",
+    &quot;Repository.Attach.Annotations&quot;: &quot;false&quot;,
-    "node.js.selected.package.eslint": "(autodetect)",
+    &quot;Repository.Attach.JavaDocs&quot;: &quot;false&quot;,
-    "node.js.selected.package.tslint": "(autodetect)",
+    &quot;Repository.Attach.Sources&quot;: &quot;false&quot;,
-    "nodejs_package_manager_path": "npm",
+    &quot;RunOnceActivity.OpenProjectViewOnStart&quot;: &quot;true&quot;,
-    "project.structure.last.edited": "Project",
+    &quot;RunOnceActivity.ShowReadmeOnStart&quot;: &quot;true&quot;,
-    "project.structure.proportion": "0.15",
+    &quot;com.codeium.enabled&quot;: &quot;true&quot;,
-    "project.structure.side.proportion": "0.0",
+    &quot;git-widget-placeholder&quot;: &quot;master&quot;,
-    "vue.rearranger.settings.migration": "true"
+    &quot;kotlin-language-version-configured&quot;: &quot;true&quot;,
+    &quot;last_opened_file_path&quot;: &quot;C:/Users/david/Documents/Uni/GTCar/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" />
+      <module name="GTCar_V2_maven" />
+      <method v="2">
+        <option name="Make" enabled="true" />
+      </method>
+    </configuration>
+    <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=&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" />
+    </list>
+    <recent_temporary>
+      <list>
+        <item itemvalue="Application.Main" />
+        <item itemvalue="Application.GraphicsProgram" />
+      </list>
+    </recent_temporary>
+  </component>
   <component name="SharedIndexes">
     <attachedChunks>
       <set>
@@ -63,6 +115,10 @@
       <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="1734364915397" duration="9202000" />
     </task>
     <task id="LOCAL-00001" summary="First Commit Test">
       <option name="closed" value="true" />
@@ -72,7 +128,55 @@
       <option name="project" value="LOCAL" />
       <updated>1732109548353</updated>
     </task>
-    <option name="localTasksCounter" value="2" />
+    <task id="LOCAL-00002" summary="Version 20.11">
+      <option name="closed" value="true" />
+      <created>1732118799936</created>
+      <option name="number" value="00002" />
+      <option name="presentableId" value="LOCAL-00002" />
+      <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>
+    <task id="LOCAL-00006" summary="Funktionierender Puffer&#10;16.12.2024 15.06&#10;Siuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuu">
+      <option name="closed" value="true" />
+      <created>1734358037207</created>
+      <option name="number" value="00006" />
+      <option name="presentableId" value="LOCAL-00006" />
+      <option name="project" value="LOCAL" />
+      <updated>1734358037207</updated>
+    </task>
+    <task id="LOCAL-00007" summary="Funktionierender Puffer&#10;Bild wird nicht korrekt gespeichert&#10;16.12.2024 16:48">
+      <option name="closed" value="true" />
+      <created>1734364131101</created>
+      <option name="number" value="00007" />
+      <option name="presentableId" value="LOCAL-00007" />
+      <option name="project" value="LOCAL" />
+      <updated>1734364131101</updated>
+    </task>
+    <option name="localTasksCounter" value="8" />
     <servers />
   </component>
   <component name="TypeScriptGeneratedFilesManager">
@@ -91,6 +195,12 @@
   </component>
   <component name="VcsManagerConfiguration">
     <MESSAGE value="First Commit Test" />
-    <option name="LAST_COMMIT_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)" />
+    <MESSAGE value="Funktionierender Puffer&#10;16.12.2024 15.06&#10;Siuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuuu" />
+    <MESSAGE value="Funktionierender Puffer&#10;Bild wird nicht korrekt gespeichert&#10;16.12.2024 16:48" />
+    <option name="LAST_COMMIT_MESSAGE" value="Funktionierender Puffer&#10;Bild wird nicht korrekt gespeichert&#10;16.12.2024 16:48" />
   </component>
 </project>

pom.xml

@@ -14,13 +14,4 @@
         <project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
     </properties>
 
-    <dependencies>
-        <dependency>
-            <groupId>nu.pattern</groupId>
-            <artifactId>opencv</artifactId>
-            <version>2.4.9-4</version>
-        </dependency>
-    </dependencies>
-
-
 </project>

src/main/java/ArduinoCommunication.java

@@ -0,0 +1,34 @@
+import com.illposed.osc.OSCMessage;
+import com.illposed.osc.transport.OSCPortOut;
+
+import java.net.InetAddress;
+import java.util.Arrays;
+
+public class ArduinoCommunication {
+    private InetAddress address;
+    private int port;
+    private OSCPortOut oscPortOut;
+
+    public ArduinoCommunication(String ipAdress, int portNr) {
+        try{
+            address = InetAddress.getByName(ipAdress);
+            port = portNr;
+            oscPortOut = new OSCPortOut(address, port);
+        }
+        catch (Exception e){
+            e.printStackTrace();
+        }
+    }
+
+    public void sendMessage(int a, double x, double y){
+        String oscAddress = "/arduino/command"; // OSC-Adresse für die Nachricht
+        OSCMessage message = new OSCMessage(oscAddress, Arrays.asList(a, x, y));
+        try {
+            oscPortOut.send(message);
+        }
+        catch (Exception e){
+            e.printStackTrace();
+        }
+        System.out.println("OSC Nachricht gesendet: " + message);
+    }
+}

src/main/java/ArduinoCommunicator.java

@@ -1,2 +0,0 @@
-public class ArduinoCommunicator {
-}

src/main/java/CamPuffer.java

@@ -0,0 +1,129 @@
+import org.opencv.core.*;
+import org.opencv.imgcodecs.Imgcodecs;
+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\\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();
+        capture.read(frame);
+
+        hasStartedCapturing = true;
+
+        long lastGcTime = System.currentTimeMillis();
+
+        try {
+            while (running) {
+                //long startTime = System.currentTimeMillis();
+                capture.read(frame); // Bild einlesen
+                currentMat = frame;
+
+                if (frame.empty()) {
+                    System.out.println("Fehler: Kein Bild von der Kamera erhalten.");
+                    break;
+                }
+
+                updateCurrentMat(frame);
+
+                // 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();
+            capture.release();
+        }
+    }
+
+    public void updateCurrentMat(Mat img) {
+        Mat frameCopy = img.clone();
+        synchronized (frameBuffer) {
+            if (frameBuffer.size() >= MAX_BUFFER_SIZE) {
+                frameBuffer.poll().release(); // Ältesten Frame entfernen
+            }
+            frameBuffer.add(frameCopy); // Neuen Frame hinzufügen
+            currentMat = frameCopy;
+        }
+    }
+
+    public Mat getCurrentMat() {
+        synchronized (frameBuffer) {
+            if (!frameBuffer.isEmpty()) {
+                Mat resizedFrame = new Mat();
+                Imgproc.resize(frameBuffer.pollLast().clone(), resizedFrame, new Size(1792, 1024));
+                return resizedFrame; // Rückgabe des neuesten Frames
+            }
+        }
+        return new Mat(); // Rückgabe eines leeren Frames, falls der Puffer leer ist
+    }
+
+
+    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_BUFFERSIZE, 3);
+        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/GameLogic.java

@@ -1,2 +1,60 @@
-public class GameLogic {
+import processing.core.PApplet;
+import java.awt.*;
+import java.util.LinkedList;
+import java.util.Queue;
+
+public class GameLogic extends PApplet {
+
+    public static void main(String[] args) {
+        PApplet.main("GameLogic");
+    }
+
+    private static final int MAX_TRAIL_SIZE = 100; // Maximale Größe des Trails
+    private Queue<int[]> trail = new LinkedList<>();
+    private Point testPoint = new Point(200, 200);
+
+    public void settings() {
+        size(800, 600);
+    }
+
+    public void setup() {
+        fillTrail(); // Beispielpfad erstellen
+        noLoop(); // Zeichnen nur bei Bedarf
+    }
+
+    private void fillTrail() {
+        // Beispielhafte Füllung der Spur (maximale Größe beachten)
+        for (int i = 0; i < MAX_TRAIL_SIZE; i++) {
+            trail.add(new int[]{50 + i * 5, 300}); // Punkte entlang der x-Achse
+        }
+    }
+
+    // Methode zum Hinzufügen eines neuen Punkts, begrenzt auf MAX_TRAIL_SIZE
+    public void addToTrail(int x, int y) {
+        if (trail.size() >= MAX_TRAIL_SIZE) {
+            trail.poll(); // Entferne das älteste Element, wenn die maximale Größe erreicht ist
+        }
+        trail.add(new int[]{x, y});
+    }
+
+    public boolean doCheckExtern(Queue<int[]> trail, Point point) {
+        return doCheck(trail, point);
+    }
+
+    public boolean doCheck(Queue<int[]> trail, Point point) {
+        int particleSize = 10;
+
+        // Zeichne den Pfad auf das Canvas nur, wenn nötig
+        background(255); // Weißer Hintergrund
+        for (int[] coordinates : trail) {
+            int x = coordinates[0];
+            int y = coordinates[1];
+            fill(0); // Schwarz
+            rect(x, y, particleSize, particleSize);
+        }
+
+        // Überprüfe die Pixelwerte am Testpunkt
+        int c = get(point.x, point.y); // Farbwert abrufen
+        return (c == color(0)); // Schwarz bedeutet Kollision
+    }
 }

src/main/java/GameLoop.java

@@ -0,0 +1,100 @@
+import processing.core.PApplet;
+import java.awt.Point;
+import java.util.ArrayList;
+import java.util.List;
+
+public class GameLoop {
+    int activePlayer = 0;
+
+    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 = 245;                // Threshold
+
+    ImgAnalyzer tracker;
+    CamPuffer camPuffer;
+
+    GraphicsProgram graphics;
+
+    GameLogic gl;
+
+    Player player1;
+    Player player2;
+
+    public GameLoop(){
+        player1 = new Player(0, "192.168.1.1", 9000);
+        player2 = new Player(1, "192.168.1.2", 9000);
+
+        camPuffer = new CamPuffer(CAM, EXP, FPS, THV);
+        Thread pufferThread = new Thread(camPuffer);
+        pufferThread.start();
+
+        tracker = new ImgAnalyzer(camPuffer, THV);
+        Thread trackerThread = new Thread(tracker::run);
+        trackerThread.start();
+
+        /*graphics = new GraphicsProgram(player1, player2);
+        String[] args = {"GraphicsProgram"};
+        PApplet.runSketch(args, graphics);
+
+
+        gl = new GameLogic();
+        String[] args_ = {"GameLogic"};
+        PApplet.runSketch(args_, gl); */
+
+        run();
+    }
+
+    private void run(){
+        while(true){
+            //communicate();
+
+            Point p1 = tracker.getP1();
+            //System.out.println("Player 1 is at " + p1.x + " and " + p1.y);
+            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);
+
+            if(gl.doCheckExtern(player2.getTrail(), p1)){ //Check Position von P1 mit Spur von P2
+                System.out.println("Spieler 1 hat verloren");
+                break;
+            }
+
+            if(gl.doCheckExtern(player1.getTrail(), p2)){ //Check Position von P2 mit Spur von P1
+                System.out.println("Spieler 2 hat verloren");
+                break;
+            } */
+
+            //draw();
+
+            try{
+                wait(50);
+            }
+            catch (Exception e){
+            }
+        }
+    }
+
+    private void communicate() {
+        //offen für Auto Kommunikation
+    }
+
+    /*private List<Point> track(){
+        Point p1 = tracker.getP1();
+        Point p2 = tracker.getP2();
+        System.out.println(p1.x);
+
+        player1.setKoords(p1.x, p1.y);
+        player2.setKoords(p2.x, p2.y);
+
+        List<Point> output = new ArrayList<>();
+        output.add(0, p1);
+        output.add(1, p2);
+        return output;
+    }*/
+
+    private void draw(){
+    }
+}

src/main/java/GraphicsProgram.java

@@ -1,2 +1,92 @@
-public class GraphicsProgram {
+import processing.core.PApplet;
+import processing.core.PImage;
+
+import java.util.LinkedList;
+
+public class GraphicsProgram extends PApplet {
+
+    private LinkedList<int[]> player1Trail = new LinkedList<>(); // Liste für Spieler 1
+    private LinkedList<int[]> player2Trail = new LinkedList<>(); // Liste für Spieler 2
+
+    private final int TRAIL_LENGTH = 15;
+    private int trailCounter = 17;
+
+    private int distanceTh = 100;
+
+
+    PImage img1;
+    PImage img2;
+    PImage backgroundImage;
+
+    public static void main(String[] args) {
+        PApplet.main("GraphicsProgram");
+    }
+
+    public void settings() {
+        fullScreen();
+    }
+
+    public void setup() {
+        backgroundImage = loadImage("Background.png");
+        backgroundImage.resize(1792, 1024);
+
+        img1 = loadImage("TrailBlue.png");
+        img2 = loadImage("TrailRed.png");
+    }
+
+    public void draw() {
+        image(backgroundImage, 0, 0); // Hintergrund zeichnen
+
+        strokeWeight(20); // Linienstärke festlegen
+
+        // Linien für Spieler 1 zeichnen
+        stroke(0, 0, 255); // Blau
+        drawTrail(player1Trail);
+
+        // Linien für Spieler 2 zeichnen
+        stroke(255, 0, 0); // Rot
+        drawTrail(player2Trail);
+    }
+
+    // Methode, um Linien für eine gegebene Trail-Liste zu zeichnen
+    private void drawTrail(LinkedList<int[]> trail) {
+        if (trail.size() < 2) return; // Mindestens 2 Punkte nötig, um Linien zu zeichnen
+
+        for (int i = 0; i < trail.size() - 1; i++) {
+            int[] current = trail.get(i);
+            int[] next = trail.get(i + 1);
+
+            // Null-Check für die Punkte
+            if (current != null && next != null) {
+                if(current[0]-next[0]> -distanceTh && current[0]-next[0]< distanceTh && current[1]-next[1]> -distanceTh && current[1]-next[1]< distanceTh) {
+                    line(current[0], current[1], next[0], next[1]);
+                }
+            }
+        }
+    }
+
+
+    // Methode zum Aktualisieren der Trails für beide Spieler
+    public void updateTrail(int x1, int y1, int x2, int y2) {
+        if (x1 >= 0 && y1 >= 0) {
+            addToTrail(player1Trail, x1, y1);
+        }
+        if (x2 >= 0 && y2 >= 0) {
+            addToTrail(player2Trail, x2, y2);
+        }
+    }
+
+    // Methode zum Hinzufügen eines Punktes zur Trail-Liste und Begrenzung auf 20 Einträge
+    private void addToTrail(LinkedList<int[]> trail, int x, int y) {
+        if(trailCounter % 21 == 0) {
+            if (x >= 0 && y >= 0) {
+                trail.add(new int[]{x, y});
+                if (trail.size() > TRAIL_LENGTH) {
+                    trail.removeFirst();
+                }
+            }
+        }
+        trailCounter++;
+    }
+
 }

src/main/java/ImgAnalyzer.java

@@ -0,0 +1,157 @@
+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.*;
+import java.awt.Point;
+
+public class ImgAnalyzer {
+
+    private final int THV;                // Threshold
+
+    private Point currentPositionP1 = new Point(0, 0);
+    private Point currentPositionP2 = new Point(0, 0);
+    Queue<int[]> trails = new LinkedList<>();
+    private final int TRAIL_LENGTH = 20;
+
+    private final CamPuffer camPuffer;
+    private GraphicsProgram playerGraphics;
+
+    public ImgAnalyzer(CamPuffer cP, int threshold) {
+        THV = threshold;
+        camPuffer = cP;
+        System.loadLibrary(Core.NATIVE_LIBRARY_NAME);
+
+        playerGraphics = new GraphicsProgram();
+        String[] args ={"GraphicsProgram"};
+        PApplet.runSketch(args, playerGraphics);
+    }
+
+    public static void main(String[] args) {
+        System.loadLibrary(Core.NATIVE_LIBRARY_NAME);
+    }
+
+    public void run() {
+        while (camPuffer.getCurrentMat().elemSize() == 0) {
+            System.out.println("Warten auf das erste Bild...");
+            try {
+                Thread.sleep(3000); // Kurze Pause, um CPU-Belastung zu vermeiden
+            } catch (InterruptedException e) {
+                Thread.currentThread().interrupt();
+                return;
+            }
+        }
+
+        Mat currentImg = new Mat();
+        Mat grayFrame = new Mat();
+        Mat thresholdFrame = new Mat();
+
+        while (true) {
+            try {
+                currentImg = camPuffer.getCurrentMat();
+
+                if(currentImg.elemSize() != 0) {
+
+                    // In Graustufen konvertieren
+                    Imgproc.cvtColor(currentImg, grayFrame, Imgproc.COLOR_BGR2GRAY);
+
+                    // Threshold anwenden
+                    Imgproc.threshold(grayFrame, thresholdFrame, THV, 255, Imgproc.THRESH_BINARY);
+
+                    //Ausgabe des Bildes zum Prüfen
+                    HighGui.imshow("ThunfischHighGui", thresholdFrame);
+                    HighGui.waitKey(1);
+                    //Ende Bildausgabe */
+                }
+
+            } 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);
+                }
+
+                trails.add(new int[]{currentPositionP1.x, currentPositionP1.y, currentPositionP2.x, currentPositionP2.y});
+                if(trails.size() > TRAIL_LENGTH){
+                    trails.poll();
+                }
+                playerGraphics.updateTrail(currentPositionP1.x, currentPositionP1.y, currentPositionP2.x, currentPositionP2.y);
+                //playerGraphics.draw();
+            }
+
+            /*org.opencv.core.Point pp1 = new org.opencv.core.Point(currentPositionP1.x, currentPositionP1.y);
+            Imgproc.circle(currentImg, pp1, 10, new Scalar(255,0,0), -1);
+
+            org.opencv.core.Point pp2 = new org.opencv.core.Point(currentPositionP2.x, currentPositionP2.y);
+            Imgproc.circle(currentImg, pp2, 10, new Scalar(0,0,255), -1);
+
+            if(currentImg.elemSize() != 0) {
+
+                HighGui.imshow("el thunfisch", currentImg);
+
+            } */
+        }
+    }
+
+    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);
+
+        // Liste für die Positionen und zugehörige Pixelanzahl
+        List<Point> positions = new ArrayList<>();
+        List<Double> whitePixelCounts = new ArrayList<>();
+
+        for (MatOfPoint contour : contours) {
+            Moments moments = Imgproc.moments(contour);
+            if (moments.get_m00() != 0) {
+                // Berechne den Mittelpunkt der Kontur
+                int cx = (int) (moments.get_m10() / moments.get_m00());
+                int cy = (int) (moments.get_m01() / moments.get_m00());
+
+                // Berechne die Anzahl der weißen Pixel in der Kontur
+                Mat mask = Mat.zeros(thresholdFrame.size(), CvType.CV_8UC1);
+                Imgproc.drawContours(mask, List.of(contour), 0, new Scalar(255), -1); // Fülle die Kontur mit Weiß
+                double whitePixels = Core.sumElems(mask).val[0] / 255.0; // Summe der Pixelwerte durch 255 (1 Pixel = 255)
+
+                // Speichere Position und Pixelanzahl
+                positions.add(new Point(cx, cy));
+                whitePixelCounts.add(whitePixels);
+            }
+        }
+
+        // Sortiere die Positionen basierend auf der Anzahl weißer Pixel (absteigend)
+        List<Point> sortedPositions = new ArrayList<>();
+        while (!whitePixelCounts.isEmpty()) {
+            int maxIndex = whitePixelCounts.indexOf(Collections.max(whitePixelCounts));
+            sortedPositions.add(positions.get(maxIndex));
+            positions.remove(maxIndex);
+            whitePixelCounts.remove(maxIndex);
+        }
+
+        // Gib die Positionen der zwei größten Konturen zurück
+        return sortedPositions.subList(0, Math.min(sortedPositions.size(), 2));
+    }
+
+
+    public synchronized Point getP1() {
+        return currentPositionP1;
+    }
+
+    public Point getP2() {
+        return currentPositionP2;
+    }
+
+}

src/main/java/Main.java

@@ -1,2 +1,5 @@
 public class Main {
+    public static void main(String[] args){
+        GameLoop gl = new GameLoop();
+    }
 }

src/main/java/Player.java

@@ -1,2 +1,66 @@
+import java.util.Arrays;
+import java.util.LinkedList;
+import java.util.Queue;
+
 public class Player {
+    // Attribute für die x- und y-Koordinaten
+    private final int ID;
+    private int x;
+    private int y;
+
+    private String name = "Thunfisch";
+    Queue<int[]> trail = new LinkedList<>();
+
+    ArduinoCommunication arduinoCommunicator;
+
+
+
+    private final int TRAIL_LENGTH = 30;
+
+    // Konstruktor
+    public Player(int id, String finalIpAddress, int finalPortNr) {
+        this.ID = id;
+        arduinoCommunicator = new ArduinoCommunication(finalIpAddress, finalPortNr);
+        trail.add(new int[]{0,0});
+    }
+
+    public int getX(){
+        return x;
+    }
+
+    public int getY(){
+        return y;
+    }
+
+
+    //fügt 2 Koordinaten zum Trail hinzu nd verhindert, dass dieser zulang wird
+    public void setKoords(int x, int y){
+        addToTrail(x,y);
+        this.x = x;
+        this.y = y;
+    }
+
+     private void addToTrail(int x, int y) {
+        trail.add(new int[]{x, y});
+        if (trail.size() > TRAIL_LENGTH) {
+            trail.poll();  // Entfernt das älteste Element
+        }
+    }
+
+
+    public Queue<int[]> getTrail(){
+        return trail;
+    }
+
+    public void sendToCar(int light, double steer, double speed){
+        arduinoCommunicator.sendMessage(light, steer, speed);
+    }
+
+
+    //gibt aktuelle Position aus
+    public void printPosition() {
+        System.out.println(trail);
+    }
 }
+
+

src/main/java/Tracker.java

@@ -1,2 +0,0 @@
-public class Tracker {
-}