Change SBC to Jetson Orin

src/main/java/Camera/GrabbingTask.java

@@ -9,6 +9,7 @@ import lombok.Getter;
 import lombok.Setter;
 import org.bytedeco.javacv.Frame;
 import org.bytedeco.javacv.FrameGrabber;
+import org.bytedeco.opencv.opencv_core.Mat;
 import org.tinylog.Logger;
 
 public class GrabbingTask implements Runnable {
@@ -23,6 +24,8 @@ public class GrabbingTask implements Runnable {
     @Setter private Consumer<Frame> onLQFrameUpdate;
     @Setter private Consumer<String> onHQBase64Update;
     @Setter private Consumer<String> onLQBase64Update;
+    @Setter private Consumer<Frame> onYoloUpdate;
+    @Setter private Consumer<String> onYoloBase64Update;
 
     // status of capture fps
     @Getter private int CaptureFPS = 0;
@@ -33,6 +36,8 @@ public class GrabbingTask implements Runnable {
     // for FPS calculation
     private int intendedFps = 10;
 
+    private final YoloDetector yolo;
+
     @SuppressWarnings("SameParameterValue")
     private void updateMessage(String message) {
         if (onMessageUpdate != null) {
@@ -40,9 +45,17 @@ public class GrabbingTask implements Runnable {
         }
     }
 
+    private void updateYoloBase64(String base64) {
+        if (onYoloBase64Update != null) {
+            onYoloBase64Update.accept(base64);
+        }
+    }
 
-
-
+    private void updateYoloFrame(Frame frame) {
+        if (onYoloUpdate != null) {
+            onYoloUpdate.accept(frame);
+        }
+    }
 
     private void updateHQBase64(String base64) {
         if (onHQBase64Update != null) {
@@ -77,6 +90,7 @@ public class GrabbingTask implements Runnable {
         this.isGrabbing = isGrabbing;
         this.grabber = grabber;
         if (fps>0) intendedFps = fps;
+        yolo = new YoloDetector();
     }
 
 
@@ -94,6 +108,23 @@ public class GrabbingTask implements Runnable {
         } else updateMessage("processFrame have null frame");
     }
 
+    //TODO masih trouble di sini
+    private void DetectYolo(Frame frame){
+        if (frame!=null){
+            try{
+                Mat processed = yolo.Detect(frame);
+                Frame yoloFrame = SomeCodes.CoreMatConverter.convert(processed);
+                updateYoloFrame(yoloFrame);
+                updateYoloBase64(SomeCodes.FrameToBase64(yoloFrame));
+            } catch (Exception e){
+                System.out.println("error processing YOLO, Message : "+e.getMessage());
+                updateYoloFrame(null);
+                updateYoloBase64("");
+            }
+        }
+
+    }
+
     private void flush_grabber(){
         try {
             if (grabber!=null) grabber.flush();
@@ -117,9 +148,13 @@ public class GrabbingTask implements Runnable {
                 Thread.yield();
                 Frame frame = grabber.grab();
                 if (framecount<Integer.MAX_VALUE) framecount++; else framecount = 0;
-                if (framecount % skippedframes == 0) processFrame(frame);
+                if (framecount % skippedframes == 0) {
+                    processFrame(frame);
+                    DetectYolo(frame);
+                }
             } catch (Exception e){
                 Logger.error("Error grabbing frame: "+e.getMessage());
+
             }
 
             long elapsed = System.currentTimeMillis() - starttick;