Mirror the target control of ObjectNavFragment if front facing camera is used

android/robot/src/main/java/org/openbot/objectNav/ObjectNavFragment.java

@@ -58,6 +58,7 @@ public class ObjectNavFragment extends CameraFragment {
 
   private Detector detector;
 
+  private boolean mirrorControl;
   private Matrix frameToCropTransform;
   private Bitmap croppedBitmap;
   private int sensorOrientation;
@@ -146,6 +147,8 @@ public void onNothingSelected(AdapterView<?> parent) {}
 
     binding.cameraToggle.setOnClickListener(v -> toggleCamera());
 
+    binding.mirrorControl.setOnClickListener(v -> mirrorControl());
+
     List<String> models =
         getModelNames(f -> f.type.equals(Model.TYPE.DETECTOR) && f.pathType != Model.PATH_TYPE.URL);
     initModelSpinner(binding.modelSpinner, models, preferencesManager.getObjectNavModel());
@@ -228,6 +231,10 @@ public void onNothingSelected(AdapterView<?> parent) {}
         });
   }
 
+  private void mirrorControl() {
+    mirrorControl = !mirrorControl;
+  }
+
   private void updateCropImageInfo() {
     //    Timber.i("%s x %s",getPreviewSize().getWidth(), getPreviewSize().getHeight());
     //    Timber.i("%s x %s",getMaxAnalyseImageSize().getWidth(),
@@ -477,7 +484,12 @@ protected void processFrame(Bitmap bitmap, ImageProxy image) {
               }
 
               tracker.trackResults(mappedRecognitions, frameNum);
-              handleDriveCommand(tracker.updateTarget());
+              Control target = tracker.updateTarget();
+              if (mirrorControl) {
+                handleDriveCommand(target.mirror());
+              } else {
+                handleDriveCommand(target);
+              }
               binding.trackingOverlay.postInvalidate();
             }
 

android/robot/src/main/java/org/openbot/vehicle/Control.java

@@ -16,4 +16,8 @@ public float getLeft() {
   public float getRight() {
     return right;
   }
+
+  public Control mirror() {
+    return new Control(this.right, this.left);
+  }
 }

android/robot/src/main/res/drawable/ic_mirror_control.xml

@@ -0,0 +1,19 @@
+<vector xmlns:android="http://schemas.android.com/apk/res/android"
+    android:width="24dp"
+    android:height="24dp"
+    android:viewportWidth="24"
+    android:viewportHeight="24"
+    android:tint="@color/openBotBlue">
+  <group
+      android:scaleX="-1"
+      android:translateX="12"
+      android:translateY="12">
+    <group
+        android:translateX="-12"
+        android:translateY="-12">
+      <path
+          android:pathData="M15 21h2v-2h-2v2zM19 9h2L21 7h-2v2zM3 5v14c0 1.1 0.9 2 2 2h4v-2L5 19L5 5h4L9 3L5 3c-1.1 0 -2 0.9 -2 2zM19 3v2h2c0 -1.1 -0.9 -2 -2 -2zM11 23h2L13 1h-2v22zM19 17h2v-2h-2v2zM15 5h2L17 3h-2v2zM19 13h2v-2h-2v2zM19 21c1.1 0 2 -0.9 2 -2h-2v2z"
+          android:fillColor="#FF000000" />
+    </group>
+  </group>
+</vector>

android/robot/src/main/res/drawable/ic_mirror_control_off.xml

@@ -0,0 +1,10 @@
+<vector xmlns:android="http://schemas.android.com/apk/res/android"
+    android:width="24dp"
+    android:height="24dp"
+    android:viewportWidth="24"
+    android:viewportHeight="24"
+    android:tint="?attr/colorControlNormal">
+  <path
+      android:pathData="M15,21h2v-2h-2v2zM19,9h2L21,7h-2v2zM3,5v14c0,1.1 0.9,2 2,2h4v-2L5,19L5,5h4L9,3L5,3c-1.1,0 -2,0.9 -2,2zM19,3v2h2c0,-1.1 -0.9,-2 -2,-2zM11,23h2L13,1h-2v22zM19,17h2v-2h-2v2zM15,5h2L17,3h-2v2zM19,13h2v-2h-2v2zM19,21c1.1,0 2,-0.9 2,-2h-2v2z"
+      android:fillColor="#FF000000"/>
+</vector>

android/robot/src/main/res/drawable/mirror_control.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android" xmlns:app="http://schemas.android.com/apk/res-auto">
+    <item android:drawable="@drawable/ic_mirror_control_off" android:state_checked="false" />
+    <item android:drawable="@drawable/ic_mirror_control" android:state_checked="true" />
+    <item android:drawable="@drawable/ic_mirror_control_off" />
+</selector>

android/robot/src/main/res/layout/fragment_object_nav.xml

@@ -65,7 +65,7 @@
             android:id="@+id/usbToggle"
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
-            android:layout_marginEnd="16dp"
+            android:layout_marginEnd="8dp"
             android:button="@drawable/usb_toggle"
             app:layout_constraintBottom_toBottomOf="@+id/camera_toggle"
             app:layout_constraintEnd_toStartOf="@+id/camera_toggle"
@@ -75,7 +75,7 @@
             android:id="@+id/bleToggle"
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
-            android:layout_marginEnd="16dp"
+            android:layout_marginEnd="8dp"
             android:button="@drawable/ble_toggle"
             app:layout_constraintBottom_toBottomOf="@+id/camera_toggle"
             app:layout_constraintEnd_toStartOf="@+id/camera_toggle"
@@ -85,15 +85,25 @@
             android:id="@+id/camera_toggle"
             android:layout_width="40dp"
             android:layout_height="40dp"
-            android:layout_marginRight="16dp"
+            android:layout_marginEnd="8dp"
             android:background="@android:color/transparent"
             android:scaleType="center"
             android:src="@drawable/ic_cameraswitch"
             android:text="@string/camera_facing_back"
             app:layout_constraintTop_toTopOf="@+id/autoLinearLayout"
-            app:layout_constraintEnd_toEndOf="parent"
+            app:layout_constraintEnd_toStartOf="@+id/mirrorControl"
             app:tint="@color/openBotBlue" />
 
+        <CheckBox
+            android:id="@+id/mirrorControl"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_marginEnd="8dp"
+            android:button="@drawable/mirror_control"
+            android:layout_marginTop="8dp"
+            app:layout_constraintTop_toTopOf="@+id/autoLinearLayout"
+            app:layout_constraintEnd_toEndOf="parent" />
+
         <LinearLayout
             android:id="@+id/linearLayout"
             android:layout_width="match_parent"