Rotate 90 degree

mjunsen123

I would like to setup the camera vertically (400P with 400width and 640height). Is there anyway to achive this, i_sensor_img_orientation seem does not allow 90 degree rotate

jakaskerl

cc @Luxonis-Adam Is it possible to do this (like on depthai with ImageManip node)? Current implementation only uses the CameraImageOrientation.hpp afaik, which doesn't allow for 90deg rotation.

Thanks,
Jaka

Luxonis-Adam

Hi, ROS driver rotation support is based on CameraImageOrientation which indeed does not support 90 deg rotation at this moment. To obtain rotated image I would either try using image rotate node from ROS image_pipeline package or write a custom filter node similar to ones in depthai_filters

mjunsen123

If i rotate the camera, will the intrinsic affected?

Luxonis-Adam

Hi, I am not sure if that image_rotate node provides that, if you write your own implementation you should convert camera info accordingly (switching fx/fy cx/cy should be enough)