From 67196c9d5344cd932612cef79229f9d04134c91e Mon Sep 17 00:00:00 2001 From: Rayen Ghali Date: Tue, 29 Jul 2025 08:54:43 -0300 Subject: [PATCH] fix(180-degree rotation): Add `cv2.ROTATE_180` to rotation checks in both OpenCV and RealSense camera implementations --- src/lerobot/cameras/opencv/camera_opencv.py | 2 +- src/lerobot/cameras/realsense/camera_realsense.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/lerobot/cameras/opencv/camera_opencv.py b/src/lerobot/cameras/opencv/camera_opencv.py index 7ad9988cc..aad19819a 100644 --- a/src/lerobot/cameras/opencv/camera_opencv.py +++ b/src/lerobot/cameras/opencv/camera_opencv.py @@ -368,7 +368,7 @@ class OpenCVCamera(Camera): if requested_color_mode == ColorMode.RGB: 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) return processed_image diff --git a/src/lerobot/cameras/realsense/camera_realsense.py b/src/lerobot/cameras/realsense/camera_realsense.py index 74b055fa4..918c5592e 100644 --- a/src/lerobot/cameras/realsense/camera_realsense.py +++ b/src/lerobot/cameras/realsense/camera_realsense.py @@ -434,7 +434,7 @@ class RealSenseCamera(Camera): if self.color_mode == ColorMode.BGR: 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) return processed_image