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Author SHA1 Message Date
stammingerpa92423
f8977976b2 Mit Cosmetics 2024-12-18 00:37:36 +01:00
11 changed files with 267 additions and 223 deletions
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2
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@ -8,7 +8,7 @@
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145
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@ -4,11 +4,14 @@
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@ -33,53 +36,47 @@
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<key name="MoveFile.RECENT_KEYS">
<recent name="C:\Users\paul3\OneDrive\Dokumente\Studium BME\Semester 2\Praktikum Programmieren 2 A\Interaktion_GTCaar" />
</key>
</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>
@ -87,23 +84,30 @@
<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" />
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<recent_temporary>
<list>
<item itemvalue="Application.Main" />
<item itemvalue="Application.GraphicsProgram" />
<item itemvalue="Application.ImgAnalyzer" />
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@ -113,9 +117,9 @@
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@ -133,39 +137,7 @@
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@ -183,13 +155,8 @@
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8
src/main/java/CamPuffer.java
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@ -11,7 +11,7 @@ public class CamPuffer implements Runnable {
static {
try {
System.load("C:\\Users\\david\\Documents\\Uni\\GTCar\\opencv\\build\\java\\x64\\opencv_java4100.dll");
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());
@ -74,7 +74,7 @@ public class CamPuffer implements Runnable {
if (System.currentTimeMillis() - lastGcTime > 1000) {
System.gc(); // Triggern des Garbage Collectors
lastGcTime = System.currentTimeMillis();
System.out.println("Garbage Collection durchgeführt.");
//System.out.println("Garbage Collection durchgeführt.");
}
}
} finally {
@ -98,9 +98,7 @@ public class CamPuffer implements Runnable {
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 frameBuffer.pollLast().clone(); // Rückgabe des neuesten Frames
}
}
return new Mat(); // Rückgabe eines leeren Frames, falls der Puffer leer ist

83
src/main/java/GameLoop.java
View File

@ -1,15 +1,21 @@
import org.opencv.highgui.HighGui;
import processing.core.PApplet;
import java.awt.Point;
import java.awt.*;
import java.util.ArrayList;
import java.util.List;
import static java.lang.Thread.sleep;
public class GameLoop {
int activePlayer = 0;
private final int CAM = 1; // Kamera-ID (0 für Webcam, 1 für andere Cams)
private final int EXP = -9; // Belichtungszeit (idealerweise: 0)
private final int CAM = 0; // Kamera-ID (0 für Webcam, 1 für andere Cams)
private final int EXP = -8; // Belichtungszeit (idealerweise: 0)
private final int FPS = 20; // FPS
private final int THV = 245; // Threshold
private final int THV = 240;
private final int TRAIL_LENGTH = 50;
ImgAnalyzer tracker;
CamPuffer camPuffer;
@ -22,22 +28,23 @@ public class GameLoop {
Player player2;
public GameLoop(){
player1 = new Player(0, "192.168.1.1", 9000);
player2 = new Player(1, "192.168.1.2", 9000);
player1 = new Player(0, TRAIL_LENGTH);
player2 = new Player(1, TRAIL_LENGTH);
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);
graphics = new GraphicsProgram();
String[] args = {"GraphicsProgram"};
PApplet.runSketch(args, graphics);
tracker = new ImgAnalyzer(camPuffer, THV, graphics);
Thread trackerThread = new Thread(tracker::run);
trackerThread.start();
/*
gl = new GameLogic();
String[] args_ = {"GameLogic"};
PApplet.runSketch(args_, gl); */
@ -46,55 +53,23 @@ public class GameLoop {
}
private void run(){
while(camPuffer.getCurrentMat().elemSize() == 0){
System.out.println("Camera booting up");
try {
sleep(1000);
} catch (InterruptedException e) {
e.printStackTrace();
}
}
graphics.nextGameState();
//Hier kommt Morphing rein
graphics.nextGameState();
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(){
}
}

156
src/main/java/GraphicsProgram.java
View File

@ -2,16 +2,28 @@ import processing.core.PApplet;
import processing.core.PImage;
import java.util.LinkedList;
import java.util.Queue;
import java.util.List;
public class GraphicsProgram extends PApplet {
private Queue<int[]> playerTrails = new LinkedList<>();
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 = 150;
private int trailCounter = 17;
private int distanceTh = 100;
private int gameState = 0; //0 für Welcome, 1 für Morphing, 2 für Game, 3 für Gameover
private float startingTime = System.currentTimeMillis();
PImage img1;
PImage img2;
PImage backgroundImage;
LinkedList<PImage> cameraLoadingImages = new LinkedList<>();
public static void main(String[] args) {
PApplet.main("GraphicsProgram");
}
@ -26,38 +38,124 @@ public class GraphicsProgram extends PApplet {
img1 = loadImage("TrailBlue.png");
img2 = loadImage("TrailRed.png");
cameraLoadingImages.add(loadImage("Welcome0.png"));
cameraLoadingImages.add(loadImage("Welcome1.png"));
cameraLoadingImages.add(loadImage("Welcome2.png"));
cameraLoadingImages.add(loadImage("Welcome3.png"));
}
public void draw() {
image(backgroundImage, 0, 0); // Hintergrund zeichnen
int particleSizeP1 = 30;
int particleSizeP2 = 30;
// Kopie von trailPlayer1 erstellen und durch die Kopie iterieren
for (int[] koordinates : new LinkedList<>(playerTrails)) {
int x1 = koordinates[0];
int y1 = koordinates[1];
int x2 = koordinates[2];
int y2 = koordinates[3];
fill(0, 0, 255);
rect(x1, y1, particleSizeP1, particleSizeP1);
//image(img1, x1, y1, particleSizeP1, particleSizeP1);
fill(255, 0, 0);
rect(x2, y2, particleSizeP2, particleSizeP2);
//image(img2, x2, y2, particleSizeP2, particleSizeP2);
if (gameState == 0) {
drawWelcome();
}
if (gameState == 1) {
setUpMorphing();
}
if (gameState == 2) {
gameScreen();
}
if (gameState == 3) {
gameOverScreen();
}
}
public void updateTrail(Queue<int[]> trails){
this.playerTrails = trails;
public void drawWelcome() {
int waitingTime = (int) (System.currentTimeMillis() / 1000);
switch (waitingTime % 4) {
case 0:
image(cameraLoadingImages.get(0), 0, 0);
break;
case 1:
image(cameraLoadingImages.get(1), 0, 0);
break;
case 2:
image(cameraLoadingImages.get(2), 0, 0);
break;
case 3:
image(cameraLoadingImages.get(3), 0, 0);
}
}
private void setUpMorphing() {
}
private void gameScreen() {
image(backgroundImage, 0, 0); // Hintergrund zeichnen
strokeWeight(20); // Linienstärke festlegen
// Linien für Spieler 1 zeichnen
stroke(0, 0, 255); // Blau
drawTrail(player1Trail, 1);
// Linien für Spieler 2 zeichnen
stroke(255, 0, 0); // Rot
drawTrail(player2Trail, 2);
}
private void gameOverScreen() {
}
public void nextGameState() {
gameState++;
}
// Methode, um Linien für eine gegebene Trail-Liste zu zeichnen
private void drawTrail(LinkedList<int[]> trail, int player) {
if (trail.size() < 4) return; // Mindestens 2 Punkte nötig, um Linien zu zeichnen
for (int i = 0; i < trail.size() - 1; i++) {
if (player == 1){
stroke(170-(255/trail.size() * i),0,255/2 + (255/trail.size() * i)/2);
} else if (player == 2){
stroke(255, 170-(255/trail.size() * i), 0);
}
int[] current = new int[2];
try {
current = trail.get(i);
} catch (NullPointerException e) {
System.out.println("Index 1 out of bounds");
continue;
}
int[] next = new int[2];
try {
next = trail.get(i + 1);
} catch (NullPointerException e) {
System.out.println("Index 2 out of bounds");
continue;
}
// 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 % 7 == 0) {
if (x >= 0 && y >= 0) {
trail.add(new int[]{x, y});
if (trail.size() > TRAIL_LENGTH) {
trail.removeFirst();
}
}
}
trailCounter++;
}
}

67
src/main/java/ImgAnalyzer.java
View File

@ -6,11 +6,8 @@ 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.*;
import java.awt.Point;
import java.util.Queue;
public class ImgAnalyzer {
@ -19,19 +16,17 @@ public class ImgAnalyzer {
private Point currentPositionP1 = new Point(0, 0);
private Point currentPositionP2 = new Point(0, 0);
Queue<int[]> trails = new LinkedList<>();
private final int TRAIL_LENGTH = 200;
private final int TRAIL_LENGTH = 90;
private final CamPuffer camPuffer;
private GraphicsProgram playerGraphics;
public ImgAnalyzer(CamPuffer cP, int threshold) {
public ImgAnalyzer(CamPuffer cP, int threshold, GraphicsProgram graphicsProgram) {
THV = threshold;
camPuffer = cP;
System.loadLibrary(Core.NATIVE_LIBRARY_NAME);
playerGraphics = new GraphicsProgram();
String[] args ={"GraphicsProgram"};
PApplet.runSketch(args, playerGraphics);
playerGraphics = graphicsProgram;
}
public static void main(String[] args) {
@ -39,6 +34,7 @@ public class ImgAnalyzer {
}
public void run() {
/*
while (camPuffer.getCurrentMat().elemSize() == 0) {
System.out.println("Warten auf das erste Bild...");
try {
@ -48,6 +44,7 @@ public class ImgAnalyzer {
return;
}
}
*/
Mat currentImg = new Mat();
Mat grayFrame = new Mat();
@ -88,11 +85,21 @@ public class ImgAnalyzer {
if(trails.size() > TRAIL_LENGTH){
trails.poll();
}
System.out.println(trails.size());
playerGraphics.updateTrail(trails);
playerGraphics.draw();
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);
} */
}
}
@ -103,24 +110,42 @@ public class ImgAnalyzer {
// 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
// Liste für die Positionen und zugehörige Pixelanzahl
List<Point> positions = new ArrayList<>();
List<Double> whitePixelCounts = new ArrayList<>();
for (int i = 0; i < Math.min(contours.size(), 2); i++) {
Moments moments = Imgproc.moments(contours.get(i));
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);
}
}
//Check
return positions;
// 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;
}

27
src/main/java/Player.java
View File

@ -7,20 +7,13 @@ public class Player {
private final int ID;
private int x;
private int y;
private String name = "Thunfisch";
private final int TRAIL_LENGTH;
Queue<int[]> trail = new LinkedList<>();
ArduinoCommunication arduinoCommunicator;
private final int TRAIL_LENGTH = 30;
// Konstruktor
public Player(int id, String finalIpAddress, int finalPortNr) {
public Player(int id, int trailLength) {
this.ID = id;
arduinoCommunicator = new ArduinoCommunication(finalIpAddress, finalPortNr);
this.TRAIL_LENGTH = trailLength;
trail.add(new int[]{0,0});
}
@ -32,8 +25,7 @@ public class Player {
return y;
}
//fügt 2 Koordinaten zum Trail hinzu nd verhindert, dass dieser zulang wird
//fügt 2 Koordinaten zum Trail hinzu und verhindert, dass dieser zu lang wird
public void setKoords(int x, int y){
addToTrail(x,y);
this.x = x;
@ -47,20 +39,9 @@ public class Player {
}
}
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);
}
}