Drop rotation option again.

extras/jetson/README.md

@@ -135,7 +135,7 @@ Tested with a _Jetson AGX Orin Developer Kit_ module.
 - Run and test:
 
   ```bash
-  export CAMID="camera01" && export ROTATE="0" && docker compose -f extras/jetson/docker-compose-2d.yml up
+  export CAMID="camera01" && docker compose -f extras/jetson/docker-compose-2d.yml up
 
   docker exec -it jetson-test_node-1 bash
   export ROS_DOMAIN_ID=18

extras/jetson/docker-compose-2d.yml

@@ -33,7 +33,6 @@ services:
             - /dev/shm:/dev/shm
         environment:
             - CAMID
-            - ROTATE
             - DISPLAY
             - QT_X11_NO_MITSHM=1
             - "PYTHONUNBUFFERED=1"

extras/ros/README.md

@@ -15,7 +15,7 @@ Run pose estimator with ros topics as inputs and publish detected poses.
 - Run and test:
 
   ```bash
-  xhost + && export CAMID="camera01" && export ROTATE="0" && docker compose -f extras/ros/docker-compose-2d.yml up
+  xhost + && export CAMID="camera01" && docker compose -f extras/ros/docker-compose-2d.yml up
   xhost + && docker compose -f extras/ros/docker-compose-3d.yml up
 
   docker exec -it ros-test_node-1 bash

extras/ros/docker-compose-2d.yml

@@ -33,7 +33,6 @@ services:
             - /dev/shm:/dev/shm
         environment:
             - CAMID
-            - ROTATE
             - DISPLAY
             - QT_X11_NO_MITSHM=1
             - "PYTHONUNBUFFERED=1"

extras/ros/rpt2d_wrapper_cpp/src/rpt2d_wrapper.cpp

@@ -1,8 +1,6 @@
 #include <atomic>
 #include <chrono>
-#include <cmath>
 #include <iostream>
-#include <memory>
 #include <string>
 #include <vector>
 
@@ -43,7 +41,7 @@ static const std::map<std::string, bool> whole_body = {
 class Rpt2DWrapperNode : public rclcpp::Node
 {
 public:
-    Rpt2DWrapperNode(const std::string &cam_id, const std::string &rotate)
+    Rpt2DWrapperNode(const std::string &cam_id)
         : Node("rpt2d_wrapper_" + cam_id)
     {
         this->is_busy = false;
@@ -52,14 +50,6 @@ public:
         std::string pose_topic = std::string(pose_out_topic)
                                      .replace(pose_out_topic.find("{}"), 2, cam_id);
 
-        // Check rotation
-        if (rotate != "0" && rotate != "90" && rotate != "180" && rotate != "-90")
-        {
-            RCLCPP_ERROR(this->get_logger(), "Invalid rotation value: %s", rotate.c_str());
-            return;
-        }
-        this->rotate_deg = std::stoi(rotate);
-
         // QoS
         rclcpp::QoS qos_profile(1);
         qos_profile.reliable();
@@ -85,7 +75,6 @@ private:
     rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr image_sub_;
     rclcpp::Publisher<rpt_msgs::msg::Poses>::SharedPtr pose_pub_;
     std::atomic<bool> is_busy;
-    int rotate_deg;
 
     // Pose model pointer
     std::unique_ptr<utils_2d_pose::PosePredictor> kpt_model;
@@ -197,24 +186,6 @@ std::vector<std::vector<std::array<float, 3>>> Rpt2DWrapperNode::call_model(cons
     cv::Mat rgb_image = utils_pipeline::bayer2rgb(image);
     std::vector<cv::Mat> images_2d = {rgb_image};
 
-    // Optionally rotate image
-    if (this->rotate_deg == 0)
-    {
-        // pass
-    }
-    else if (this->rotate_deg == 90)
-    {
-        cv::rotate(images_2d[0], images_2d[0], cv::ROTATE_90_CLOCKWISE);
-    }
-    else if (this->rotate_deg == 180)
-    {
-        cv::rotate(images_2d[0], images_2d[0], cv::ROTATE_180);
-    }
-    else if (this->rotate_deg == -90)
-    {
-        cv::rotate(images_2d[0], images_2d[0], cv::ROTATE_90_COUNTERCLOCKWISE);
-    }
-
     // Predict 2D poses
     auto poses_2d_all = kpt_model->predict(images_2d);
     auto poses_2d_upd = utils_pipeline::update_keypoints(
@@ -247,54 +218,6 @@ std::vector<std::vector<std::array<float, 3>>> Rpt2DWrapperNode::call_model(cons
         }
     }
 
-    // Rotate poses back
-    float img_width = image.cols;
-    float img_height = image.rows;
-    if (this->rotate_deg == 0)
-    {
-        // pass
-    }
-    else if (this->rotate_deg == 90)
-    {
-        for (auto &person : valid_poses)
-        {
-            for (auto &kp : person)
-            {
-                float x = kp[0];
-                float y = kp[1];
-                kp[0] = y;
-                kp[1] = img_height - 1 - x;
-            }
-        }
-    }
-    else if (this->rotate_deg == 180)
-    {
-        for (auto &person : valid_poses)
-        {
-            for (auto &kp : person)
-            {
-                float x = kp[0];
-                float y = kp[1];
-                kp[0] = img_width - 1 - x;
-                kp[1] = img_height - 1 - y;
-            }
-        }
-    }
-    else if (this->rotate_deg == -90)
-    {
-        for (auto &person : valid_poses)
-        {
-            for (auto &kp : person)
-            {
-                float x = kp[0];
-                float y = kp[1];
-                kp[0] = img_width - 1 - y;
-                kp[1] = x;
-
-            }
-        }
-    }
-
     return valid_poses;
 }
 
@@ -304,11 +227,9 @@ std::vector<std::vector<std::array<float, 3>>> Rpt2DWrapperNode::call_model(cons
 int main(int argc, char **argv)
 {
     rclcpp::init(argc, argv);
-
     const std::string cam_id = std::getenv("CAMID");
-    const std::string rotate = std::getenv("ROTATE") ? std::getenv("ROTATE") : "0";
 
-    auto node = std::make_shared<Rpt2DWrapperNode>(cam_id, rotate);
+    auto node = std::make_shared<Rpt2DWrapperNode>(cam_id);
     rclcpp::spin(node);
 
     rclcpp::shutdown();