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Add software rotation fallback for devices without hardware rotate (e.g. DaBai DCW) #197

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Add software rotation fallback for devices without hardware rotate (e.g. DaBai DCW) #197

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4 changes: 4 additions & 0 deletions orbbec_camera/include/orbbec_camera/ob_camera_node.h
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Original file line number Diff line number Diff line change
Expand Up @@ -475,6 +475,10 @@ class OBCameraNode {
int depth_rotation_ = -1;
int left_ir_rotation_ = -1;
int right_ir_rotation_ = -1;
// Software-rotation fallback values (degrees), set in setupDevices() only when the
// device firmware does not support hardware rotate (e.g. DaBai DCW). -1 = disabled.
int color_rotation_sw_ = -1;
int depth_rotation_sw_ = -1;
int color_exposure_ = -1;
int color_gain_ = -1;
int color_white_balance_ = -1;
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2 changes: 2 additions & 0 deletions orbbec_camera/launch/dabai_dcw.launch.py
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Expand Up @@ -30,6 +30,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_format', default_value='MJPG'),
DeclareLaunchArgument('enable_color', default_value='true'),
DeclareLaunchArgument('flip_color', default_value='false'),
DeclareLaunchArgument('color_rotation', default_value='-1'),
DeclareLaunchArgument('color_qos', default_value='default'),
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
Expand All @@ -44,6 +45,7 @@ def generate_launch_description():
DeclareLaunchArgument('depth_format', default_value='Y11'),
DeclareLaunchArgument('enable_depth', default_value='true'),
DeclareLaunchArgument('flip_depth', default_value='false'),
DeclareLaunchArgument('depth_rotation', default_value='-1'),
DeclareLaunchArgument('min_depth_limit', default_value='0'),
DeclareLaunchArgument('max_depth_limit', default_value='0'),
DeclareLaunchArgument('depth_qos', default_value='default'),
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38 changes: 28 additions & 10 deletions orbbec_camera/src/ob_camera_node.cpp
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Expand Up @@ -347,17 +347,25 @@ void OBCameraNode::setupDevices() {
roi.y1_bottom = depth_ae_roi_bottom_;
device_->setStructuredData(OB_STRUCT_DEPTH_AE_ROI, &roi, sizeof(AE_ROI));
}
if (color_rotation_ != -1 &&
device_->isPropertySupported(OB_PROP_COLOR_ROTATE_INT, OB_PERMISSION_READ_WRITE)) {
device_->setIntProperty(OB_PROP_COLOR_ROTATE_INT, color_rotation_);
RCLCPP_INFO_STREAM(
logger_, "set color rotation to " << device_->getIntProperty(OB_PROP_COLOR_ROTATE_INT));
if (color_rotation_ != -1) {
if (device_->isPropertySupported(OB_PROP_COLOR_ROTATE_INT, OB_PERMISSION_READ_WRITE)) {
device_->setIntProperty(OB_PROP_COLOR_ROTATE_INT, color_rotation_);
RCLCPP_INFO_STREAM(
logger_, "set color rotation to " << device_->getIntProperty(OB_PROP_COLOR_ROTATE_INT));
} else {
// Firmware has no hardware color rotate (e.g. DaBai DCW); fall back to software.
color_rotation_sw_ = color_rotation_;
}
}
if (depth_rotation_ != -1 &&
device_->isPropertySupported(OB_PROP_DEPTH_ROTATE_INT, OB_PERMISSION_READ_WRITE)) {
device_->setIntProperty(OB_PROP_DEPTH_ROTATE_INT, depth_rotation_);
RCLCPP_INFO_STREAM(
logger_, "set depth rotation to " << device_->getIntProperty(OB_PROP_DEPTH_ROTATE_INT));
if (depth_rotation_ != -1) {
if (device_->isPropertySupported(OB_PROP_DEPTH_ROTATE_INT, OB_PERMISSION_READ_WRITE)) {
device_->setIntProperty(OB_PROP_DEPTH_ROTATE_INT, depth_rotation_);
RCLCPP_INFO_STREAM(
logger_, "set depth rotation to " << device_->getIntProperty(OB_PROP_DEPTH_ROTATE_INT));
} else {
// Firmware has no hardware depth rotate (e.g. DaBai DCW); fall back to software.
depth_rotation_sw_ = depth_rotation_;
}
}
if (left_ir_rotation_ != -1 &&
device_->isPropertySupported(OB_PROP_IR_ROTATE_INT, OB_PERMISSION_READ_WRITE)) {
Expand Down Expand Up @@ -2190,6 +2198,16 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
// flip image
cv::flip(image, image, 1);
}
// Software rotation fallback for devices whose firmware does not support hardware
// rotate (e.g. DaBai DCW). color_rotation_sw_/depth_rotation_sw_ are only set in
// setupDevices() when the hardware rotate property was unavailable. Only 180 is done
// in software since it preserves image dimensions (step / camera_info stay valid).
int rotation_deg = (stream_index == COLOR) ? color_rotation_sw_
: (stream_index == DEPTH) ? depth_rotation_sw_
: -1;
if (rotation_deg == 180) {
cv::rotate(image, image, cv::ROTATE_180);
Comment on lines +2208 to +2209

@chatgpt-codex-connector chatgpt-codex-connector Bot Jun 26, 2026

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P2 Badge Keep camera info consistent with software rotation

When the fallback is active, e.g. DaBai DCW with color_rotation/depth_rotation:=180, this rotates the published image after the CameraInfo was already published above, so the message still describes the unrotated pixel coordinates (cx/cy and P). Consumers that rectify, register, or project the rotated image with that CameraInfo will compute rays for the wrong pixels, especially with non-centered principal points. The software path needs to publish matching calibration/frame data along with the rotated image.

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}
sensor_msgs::msg::Image::UniquePtr image_msg(new sensor_msgs::msg::Image());

cv_bridge::CvImage(std_msgs::msg::Header(), encoding_[stream_index], image)
Expand Down