Invertable hue (#428)

* Add UI-side changes for invertable hue slider

* Add hue inverted range

* Add new slider backgrounds to threshold tab

* Run spotless

* Updated libpicam.so to artifact built from commit c458bab87740 in that repo on gerth2's pi.

* undo the java-side hack since isVCSMSupported is fixed

* Hook up hue inversion frontend to backend and UI tweaks

* Remove unused .flipped class

* Fix hueInverted name in Vue.js store

Co-authored-by: Declan Freeman-Gleason <declanfreemangleason@gmail.com>
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
Co-authored-by: Chris Gerth <chrisgerth010592@gmail.com>

photon-core/src/main/java/org/photonvision/raspi/PicamJNI.java

@@ -86,7 +86,7 @@ public class PicamJNI {
 
     public static boolean isSupported() {
         return libraryLoaded
-                && !isVCSMSupported()
+                && isVCSMSupported()
                 && getSensorModel() != SensorModel.Disconnected
                 && Platform.isRaspberryPi()
                 && (Platform.currentPiVersion == PiVersion.PI_3
@@ -134,6 +134,8 @@ public class PicamJNI {
     public static native void setThresholds(
             double hL, double sL, double vL, double hU, double sU, double vU);
 
+    public static native void setInvertHue(boolean shouldInvert);
+
     public static native boolean setExposure(int exposure);
 
     public static native boolean setBrightness(int brightness);

photon-core/src/main/java/org/photonvision/vision/pipe/impl/HSVPipe.java

@@ -28,19 +28,56 @@ public class HSVPipe extends CVPipe<Mat, Mat, HSVPipe.HSVParams> {
     @Override
     protected Mat process(Mat in) {
         var outputMat = new Mat();
-        in.copyTo(outputMat);
-        Imgproc.cvtColor(outputMat, outputMat, Imgproc.COLOR_BGR2HSV, 3);
-        Core.inRange(outputMat, params.getHsvLower(), params.getHsvUpper(), outputMat);
+        // We can save a copy here by sending the output of cvtcolor to outputMat directly
+        // rather than copying. Free performance!
+        Imgproc.cvtColor(in, outputMat, Imgproc.COLOR_BGR2HSV, 3);
+
+        if (params.getHueInverted()) {
+            // In Java code we do this by taking an image thresholded
+            // from [0, minHue] and ORing it with [maxHue, 180]
+
+            // we want hue from the end of the slider to max hue
+            Scalar firstLower = params.getHsvLower().clone();
+            Scalar firstUpper = params.getHsvUpper().clone();
+            firstLower.val[0] = params.getHsvUpper().val[0];
+            ;
+            firstUpper.val[0] = 180;
+
+            var lowerThresholdMat = new Mat();
+            Core.inRange(outputMat, firstLower, firstUpper, lowerThresholdMat);
+
+            // We want hue from 0 to the start of the slider
+            var secondLower = params.getHsvLower().clone();
+            var secondUpper = params.getHsvUpper().clone();
+            secondLower.val[0] = 0;
+            secondUpper.val[0] = params.getHsvLower().val[0];
+
+            // Now that the output mat's been used by the first inRange, it's fine to mutate it
+            Core.inRange(outputMat, secondLower, secondUpper, outputMat);
+
+            // Now OR the two images together to make a mat that combines the lower and upper bounds
+            // outputMat holds the second half of the range
+            Core.bitwise_or(lowerThresholdMat, outputMat, outputMat);
+
+            lowerThresholdMat.release();
+        } else {
+            Core.inRange(outputMat, params.getHsvLower(), params.getHsvUpper(), outputMat);
+        }
+
         return outputMat;
     }
 
     public static class HSVParams {
         private final Scalar m_hsvLower;
         private final Scalar m_hsvUpper;
+        private final boolean m_hueInverted;
 
-        public HSVParams(IntegerCouple hue, IntegerCouple saturation, IntegerCouple value) {
+        public HSVParams(
+                IntegerCouple hue, IntegerCouple saturation, IntegerCouple value, boolean hueInverted) {
             m_hsvLower = new Scalar(hue.getFirst(), saturation.getFirst(), value.getFirst());
             m_hsvUpper = new Scalar(hue.getSecond(), saturation.getSecond(), value.getSecond());
+
+            this.m_hueInverted = hueInverted;
         }
 
         public Scalar getHsvLower() {
@@ -50,5 +87,9 @@ public class HSVPipe extends CVPipe<Mat, Mat, HSVPipe.HSVParams> {
         public Scalar getHsvUpper() {
             return m_hsvUpper;
         }
+
+        public boolean getHueInverted() {
+            return m_hueInverted;
+        }
     }
 }

photon-core/src/main/java/org/photonvision/vision/pipeline/AdvancedPipelineSettings.java

@@ -38,6 +38,7 @@ public class AdvancedPipelineSettings extends CVPipelineSettings {
     public IntegerCouple hsvHue = new IntegerCouple(50, 180);
     public IntegerCouple hsvSaturation = new IntegerCouple(50, 255);
     public IntegerCouple hsvValue = new IntegerCouple(50, 255);
+    public boolean hueInverted = false;
 
     public boolean outputShouldDraw = true;
     public boolean outputShowMultipleTargets = false;
@@ -109,6 +110,7 @@ public class AdvancedPipelineSettings extends CVPipelineSettings {
                 && Objects.equals(hsvHue, that.hsvHue)
                 && Objects.equals(hsvSaturation, that.hsvSaturation)
                 && Objects.equals(hsvValue, that.hsvValue)
+                && Objects.equals(hueInverted, that.hueInverted)
                 && Objects.equals(contourArea, that.contourArea)
                 && Objects.equals(contourRatio, that.contourRatio)
                 && Objects.equals(contourFullness, that.contourFullness)
@@ -132,6 +134,7 @@ public class AdvancedPipelineSettings extends CVPipelineSettings {
                 hsvHue,
                 hsvSaturation,
                 hsvValue,
+                hueInverted,
                 outputShouldDraw,
                 outputShowMultipleTargets,
                 contourArea,

photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java

@@ -85,12 +85,14 @@ public class ColoredShapePipeline
                     settings.hsvHue.getSecond() / 180d,
                     settings.hsvSaturation.getSecond() / 255d,
                     settings.hsvValue.getSecond() / 255d);
+            PicamJNI.setInvertHue(settings.hueInverted);
 
             PicamJNI.setRotation(settings.inputImageRotationMode.value);
             PicamJNI.setShouldCopyColor(settings.inputShouldShow);
         } else {
             var hsvParams =
-                    new HSVPipe.HSVParams(settings.hsvHue, settings.hsvSaturation, settings.hsvValue);
+                    new HSVPipe.HSVParams(
+                            settings.hsvHue, settings.hsvSaturation, settings.hsvValue, settings.hueInverted);
             hsvPipe.setParams(hsvParams);
         }
 
@@ -99,10 +101,6 @@ public class ColoredShapePipeline
         // TODO: add kernel size to pipeline settings
         erodeDilatePipe.setParams(erodeDilateParams);
 
-        HSVPipe.HSVParams hsvParams =
-                new HSVPipe.HSVParams(settings.hsvHue, settings.hsvSaturation, settings.hsvValue);
-        hsvPipe.setParams(hsvParams);
-
         SpeckleRejectPipe.SpeckleRejectParams speckleRejectParams =
                 new SpeckleRejectPipe.SpeckleRejectParams(settings.contourSpecklePercentage);
         speckleRejectPipe.setParams(speckleRejectParams);

photon-core/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java

@@ -77,12 +77,14 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
                     settings.hsvHue.getSecond() / 180d,
                     settings.hsvSaturation.getSecond() / 255d,
                     settings.hsvValue.getSecond() / 255d);
+            PicamJNI.setInvertHue(settings.hueInverted);
 
             PicamJNI.setRotation(settings.inputImageRotationMode.value);
             PicamJNI.setShouldCopyColor(settings.inputShouldShow);
         } else {
             var hsvParams =
-                    new HSVPipe.HSVParams(settings.hsvHue, settings.hsvSaturation, settings.hsvValue);
+                    new HSVPipe.HSVParams(
+                            settings.hsvHue, settings.hsvSaturation, settings.hsvValue, settings.hueInverted);
             hsvPipe.setParams(hsvParams);
         }