rotate intrinsics

[Allius27]

Hi there

Please, help me with correct function for rotating intrinsics
Camera is D415/D435

There is no need to calibrate camera, and for that reason there is no need to take into account the distortion coefficients
Is that code correct?

Code ( with opencv rotate flags )

    rs2_intrinsics intr = depth.get_profile().as<rs2::video_stream_profile>().get_intrinsics();

    int width  = intr.width;
    int height = intr.height;

    float angle;

    switch (getRotateCode()) {
    case ROTATE_90_CLOCKWISE:
            angle = -90;
            std::swap(width, height);
        break;
    case ROTATE_90_COUNTERCLOCKWISE:
            angle = 90;
            std::swap(width, height);
        break;
    case ROTATE_180:
            angle = 180;
        break;
    }

    float radians = angle*M_PI/180;

    ppx = cos(radians) * (intr.ppx - intr.width/2) - sin(radians) * (intr.ppy - intr.height/2) + width/2;
    ppy = sin(radians) * (intr.ppx - intr.width/2) + cos(radians) * (intr.ppy - intr.height/2) + height/2;
    fx  = cos(radians) * (intr.fx - intr.width/2)  - sin(radians) * (intr.fy - intr.height/2)  + width/2;
    fy  = sin(radians) * (intr.fx - intr.width/2)  + cos(radians) * (intr.fy - intr.height/2)  + height/2;

[MartyG-RealSense]

Hi @Allius27 If you are simply rotating the camera then it is not necessary to update the intrinsics. The calibration information and other camera parameters would only need to be updated if the camera was rotated and then the image was counter-rotated so that it was displayed the 'right way up'. This subject is discussed at #6023

Whilst there is an official Intel feature request to add a function to rotate the camera image, there is unfortunately not a time estimate available for the implementation of that feature.

Some RealSense users have used the workaround of rotating the image in OpenCV, like the method described at #6023 (comment)

Another approach to image rotation is described at #4395

[MartyG-RealSense]

Hi @Allius27 Do you require further assistance with this case, please? Thanks!

[MartyG-RealSense]

Case closed due to no further comments received.