Add saturation slider

Resolves PhotonVision#2311

Signed-off-by: Jade Turner <spacey-sooty@proton.me>

Author: spacey-sooty

photon-client/src/components/dashboard/tabs/InputTab.vue

@@ -158,6 +158,16 @@ const interactiveCols = computed(() =>
         (args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraWhiteBalanceTemp: args }, false)
       "
     />
+    <pv-slider
+      v-model="useCameraSettingsStore().currentPipelineSettings.cameraSaturation"
+      label="Saturation Temperature"
+      :min="useCameraSettingsStore().minSaturation"
+      :max="useCameraSettingsStore().maxSaturation"
+      :slider-cols="interactiveCols"
+      @update:modelValue="
+        (args) => useCameraSettingsStore().changeCurrentPipelineSetting({ cameraSaturation: args }, false)
+      "
+    />
     <pv-switch
       v-model="useCameraSettingsStore().currentPipelineSettings.blockForFrames"
       :disabled="!useCameraSettingsStore().currentCameraSettings.matchedCameraInfo.PVUsbCameraInfo"

photon-client/src/stores/settings/CameraSettingsStore.ts

@@ -85,6 +85,12 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
     maxExposureRaw(): number {
       return this.currentCameraSettings.maxExposureRaw;
     },
+    minSaturation(): number {
+      return this.currentCameraSettings.minSaturation;
+    },
+    maxSaturation(): number {
+      return this.currentCameraSettings.maxSaturation;
+    },
     minWhiteBalanceTemp(): number {
       return this.currentCameraSettings.minWhiteBalanceTemp;
     },
@@ -137,6 +143,8 @@ export const useCameraSettingsStore = defineStore("cameraSettings", {
           isCSICamera: d.isCSICamera,
           minExposureRaw: d.minExposureRaw,
           maxExposureRaw: d.maxExposureRaw,
+          minSaturation: d.minSaturation,
+          maxSaturation: d.maxSaturation,
           pipelineNicknames: d.pipelineNicknames,
           currentPipelineIndex: d.currentPipelineIndex,
           pipelineSettings: d.currentPipelineSettings,

photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java

@@ -118,6 +118,9 @@ public static class FileSourceSettables extends VisionSourceSettables {
         @Override
         public void setExposureRaw(double exposureRaw) {}
 
+        @Override
+        public void setSaturation(double saturation) {}
+
         public void setAutoExposure(boolean cameraAutoExposure) {}
 
         @Override

photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java

@@ -47,9 +47,14 @@ public class GenericUSBCameraSettables extends VisionSourceSettables {
     protected VideoProperty autoExposureProp = null;
     protected VideoProperty wbTempProp = null;
 
+    protected VideoProperty saturationProp = null;
+
     protected double minExposure = 1;
     protected double maxExposure = 80000;
 
+    protected double minSaturation = 1;
+    protected double maxSaturation = 80000; // TODO is this sane?
+
     protected double minWhiteBalanceTemp = 1;
     protected double maxWhiteBalanceTemp = 4000;
     protected int lastWhiteBalanceTemp = 4000;
@@ -107,6 +112,19 @@ protected void setUpExposureProperties() {
         }
     }
 
+    protected void setUpSaturationProperty() {
+        var satProp = findProperty("V4L2_CID_SATURATION", "saturation");
+
+        if (satProp.isEmpty()) {
+            logger.warn("Could not find saturation property");
+            return;
+        } else {
+            saturationProp = satProp.get();
+            this.minSaturation = saturationProp.getMin();
+            this.maxSaturation = saturationProp.getMax();
+        }
+    }
+
     public void setAllCamDefaults() {
         // Common settings for all cameras to attempt to get their image
         // as close as possible to what we want for image processing
@@ -201,6 +219,28 @@ public double getMaxExposureRaw() {
         return maxExposure;
     }
 
+    @Override
+    public void setSaturation(double saturation) {
+        if (saturation >= 0.0) {
+            try {
+                int propVal = (int) MathUtil.clamp(saturation, minSaturation, maxSaturation);
+
+                logger.debug(
+                        "Setting property "
+                                + saturationProp.getName()
+                                + " to "
+                                + propVal
+                                + " (user requested "
+                                + saturation
+                                + ")");
+
+                saturationProp.set(propVal);
+            } catch (VideoException e) {
+                logger.error("Failed to set camera saturation!", e);
+            }
+        }
+    }
+
     @Override
     public void setExposureRaw(double exposureRaw) {
         if (exposureRaw >= 0.0) {
@@ -386,6 +426,7 @@ public void onCameraConnected() {
         // modes
         setUpExposureProperties();
         setUpWhiteBalanceProperties();
+        setUpSaturationProperty();
         cacheVideoModes();
 
         setAllCamDefaults();

photon-core/src/main/java/org/photonvision/vision/camera/csi/LibcameraGpuSettables.java

@@ -131,6 +131,11 @@ public void setAutoExposure(boolean cameraAutoExposure) {
         }
     }
 
+    @Override
+    public void setSaturation(double saturation) {
+        // TODO need to implement this on JNI side as well
+    }
+
     @Override
     public void setExposureRaw(double exposureRaw) {
         logger.debug("Setting exposure to " + exposureRaw);

photon-core/src/main/java/org/photonvision/vision/processes/VisionSourceSettables.java

@@ -54,6 +54,8 @@ public void onCameraConnected() {
         cameraPropertiesCached = true;
     }
 
+    public abstract void setSaturation(double saturation);
+
     public abstract void setExposureRaw(double exposureRaw);
 
     public abstract double getMinExposureRaw();