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fix PR comments
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noacoohen committed Nov 19, 2024
1 parent da07459 commit 6354e60
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Showing 2 changed files with 22 additions and 20 deletions.
40 changes: 21 additions & 19 deletions src/proc/rotation-filter.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -100,16 +100,16 @@ namespace librealsense {
case 1: {
rotate_frame< 1 >( static_cast< uint8_t * >( const_cast< void * >( tgt.get_data() ) ),
static_cast< const uint8_t * >( src.get_data() ),
src.get_height(),
src.get_width() );
src.get_width(),
src.get_height() );
break;
}

case 2: {
rotate_frame< 2 >( static_cast< uint8_t * >( const_cast< void * >( tgt.get_data() ) ),
static_cast< const uint8_t * >( src.get_data() ) ,
src.get_height(),
src.get_width() );
src.get_width(),
src.get_height());
break;
}

Expand Down Expand Up @@ -181,39 +181,41 @@ namespace librealsense {
}

template< size_t SIZE >
void rotation_filter::rotate_frame( uint8_t * const out, const uint8_t * source, int height, int width )
void rotation_filter::rotate_frame( uint8_t * const out, const uint8_t * source, int width, int height )
{
if( _value != 90 && _value != -90 && _value != 180 )
{
throw std::invalid_argument( "Invalid rotation angle. Only 90, -90, and 180 degrees are supported." );
}

int width_in = ( _value == 90 || _value == -90 ) ? height : width; //else rotation angle is 180
int height_in = ( _value == 90 || _value == -90 ) ? width : height; //else rotation angle is 180
// Define output dimensions
int width_out = ( _value == 180 ) ? width : height;
int height_out = ( _value == 180 ) ? height : width;

int width_out = ( _value == 90 || _value == -90 ) ? _rotated_width : _rotated_height; //else rotation angle is 180
int height_out = ( _value == 90 || _value == -90 ) ? _rotated_height : _rotated_width; //else rotation angle is 180

for( int i = 0; i < width_in; ++i )
// Perform rotation
for( int i = 0; i < height; ++i )
{
for( int j = 0; j < height_in; ++j )
for( int j = 0; j < width; ++j )
{
size_t src_index = ( i * height_in + j ) * SIZE;
size_t out_index;
// Calculate source index
size_t src_index = ( i * width + j ) * SIZE;

// Determine output index based on rotation angle
size_t out_index;
if( _value == 90 )
{
out_index = ( j * width_out + ( width_out - i - 1 ) ) * SIZE;
out_index = ( j * height + ( height - i - 1 ) ) * SIZE;
}
else if( _value == -90 )
{
out_index = ( ( height_out - j - 1 ) * width_out + i ) * SIZE;
out_index = ( ( width - j - 1 ) * height + i ) * SIZE;
}
else
{ // 180 degrees
out_index = ( ( height_out - i - 1 ) * width_out + ( width_out - j - 1 ) ) * SIZE;
else // 180 degrees
{
out_index = ( ( height - i - 1 ) * width + ( width - j - 1 ) ) * SIZE;
}

// Copy pixel data from source to destination
std::memcpy( &out[out_index], &source[src_index], SIZE );
}
}
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2 changes: 1 addition & 1 deletion src/proc/rotation-filter.h
Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@ namespace librealsense
rs2::frame prepare_target_frame(const rs2::frame& f, const rs2::frame_source& source, rs2_extension tgt_type);

template< size_t SIZE >
void rotate_frame( uint8_t * const out, const uint8_t * source, int height, int width );
void rotate_frame( uint8_t * const out, const uint8_t * source, int width, int height );

rs2::frame process_frame(const rs2::frame_source& source, const rs2::frame& f) override;

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