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fix(180-degree rotation): Add cv2.ROTATE_180 to rotation checks in both OpenCV and RealSense camera implementations

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Rayen Ghali 2025-07-29 08:54:43 -03:00 committed by GitHub
parent 5695432142
commit 67196c9d53
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2 changed files with 2 additions and 2 deletions
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src/lerobot/cameras/opencv/camera_opencv.py
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@ -368,7 +368,7 @@ class OpenCVCamera(Camera):
if requested_color_mode == ColorMode.RGB: if requested_color_mode == ColorMode.RGB:
processed_image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB) processed_image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
if self.rotation in [cv2.ROTATE_90_CLOCKWISE, cv2.ROTATE_90_COUNTERCLOCKWISE]: if self.rotation in [cv2.ROTATE_90_CLOCKWISE, cv2.ROTATE_90_COUNTERCLOCKWISE, cv2.ROTATE_180]:
processed_image = cv2.rotate(processed_image, self.rotation) processed_image = cv2.rotate(processed_image, self.rotation)
return processed_image return processed_image

2
src/lerobot/cameras/realsense/camera_realsense.py
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@ -434,7 +434,7 @@ class RealSenseCamera(Camera):
if self.color_mode == ColorMode.BGR: if self.color_mode == ColorMode.BGR:
processed_image = cv2.cvtColor(image, cv2.COLOR_RGB2BGR) processed_image = cv2.cvtColor(image, cv2.COLOR_RGB2BGR)
if self.rotation in [cv2.ROTATE_90_CLOCKWISE, cv2.ROTATE_90_COUNTERCLOCKWISE]: if self.rotation in [cv2.ROTATE_90_CLOCKWISE, cv2.ROTATE_90_COUNTERCLOCKWISE, cv2.ROTATE_180]:
processed_image = cv2.rotate(processed_image, self.rotation) processed_image = cv2.rotate(processed_image, self.rotation)
return processed_image return processed_image