diff --git a/src/proc/rotation-filter.cpp b/src/proc/rotation-filter.cpp
index ead0e5d068..cb9e1976d2 100644
--- a/src/proc/rotation-filter.cpp
+++ b/src/proc/rotation-filter.cpp
@@ -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;
             }
 
@@ -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 );
             }
         }
diff --git a/src/proc/rotation-filter.h b/src/proc/rotation-filter.h
index 31bf65c99d..f5a542e21d 100644
--- a/src/proc/rotation-filter.h
+++ b/src/proc/rotation-filter.h
@@ -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;