Hires camera rotation

[JustinDev23]

Having issues with Hires camera. Is there a way to rotate the camera similar to the rotate_tracking and rotate_stereo? I also assumed the default seeker_voxlcam would have hires as well but it only has TOF/Stereo/Tracking (ID #7).

[Alex Kushleyev]

Hello @JustinDev23 ,

Rotating Hires camera is not an option in the configuration menu, however you can still do this pretty easily.

When you run voxl-configure-cameras, based on your use case, the script writes an appropriate configuration file to /system/etc/camera/camera_config.xml. In that file, you will see entries for all the cameras expected for the particular use case.

Since you have already enabled the hires camera (IMX214), you already have an entry for it in camera_config.xml, so if you find it, you should see something like this <SensorName>imx214_rot180</SensorName> . What this does it tells the camera framework to load a dynamic library /usr/lib/libmmcamera_imx214_rot180.so - our default is the rotated version. To remove the rotation, you simply change the entry to <SensorName>imx214</SensorName>, which will in turn use /usr/lib/libmmcamera_imx214.so library after you reboot and the image should be right side up.

Please remember that running voxl-configure-cameras again will overwrite the camera_config.xml that you may edit.

Hope this helps!

Alex