Fix video rotation: compensate for 90deg counter-clockwise camera rot…

SerialPrograms/Source/CommonFramework/VideoPipeline/Backends/CameraWidgetQt6.5.cpp

@@ -225,7 +225,15 @@ CameraVideoDisplay::CameraVideoDisplay(QWidget* parent, CameraVideoSource& sourc
     this->setMinimumSize(80, 45);
     m_view->setFixedSize(this->size());
     m_view->setScene(&m_scene);
-    m_video.setSize(this->size());
+    // After 90° clockwise rotation, width and height are swapped
+    m_video.setSize(QSize(this->height(), this->width()));
+    // Set transform origin to center before rotating
+    m_video.setTransformOriginPoint(this->height() / 2.0, this->width() / 2.0);
+    // Rotate 90 degrees clockwise to compensate for counter-clockwise rotation
+    m_video.setRotation(90.0);
+    // Position at center of scene
+    m_video.setPos(this->width() / 2.0 - this->height() / 2.0, 
+                   this->height() / 2.0 - this->width() / 2.0);
     m_scene.setSceneRect(QRectF(QPointF(0, 0), this->size()));
     m_scene.addItem(&m_video);
     source.set_video_output(m_video);
@@ -242,7 +250,12 @@ void CameraVideoDisplay::resizeEvent(QResizeEvent* event){
     auto scope_check = m_sanitizer.check_scope();
     m_view->setFixedSize(this->size());
     m_scene.setSceneRect(QRectF(QPointF(0, 0), this->size()));
-    m_video.setSize(this->size());
+    // After rotation, dimensions are swapped: set size with swapped width/height
+    m_video.setSize(QSize(this->height(), this->width()));
+    // Update transform origin and position after rotation
+    m_video.setTransformOriginPoint(this->height() / 2.0, this->width() / 2.0);
+    m_video.setPos(this->width() / 2.0 - this->height() / 2.0, 
+                   this->height() / 2.0 - this->width() / 2.0);
 }
 
 

SerialPrograms/Source/CommonFramework/VideoPipeline/Backends/CameraWidgetQt6.cpp

@@ -11,6 +11,8 @@
 #include <iostream>
 #include <QCamera>
 #include <QPainter>
+#include <QImage>
+#include <QTransform>
 #include <QMediaDevices>
 #include <QVideoSink>
 //#include "Common/Cpp/Exceptions.h"
@@ -213,11 +215,34 @@ void CameraVideoDisplay::paintEvent(QPaintEvent* event){
         return;
     }
 
-    QRect rect(0, 0, this->width(), this->height());
-    QVideoFrame::PaintOptions options;
-    QPainter painter(this);
+    // Convert to image to bypass Qt's automatic rotation based on camera metadata
+    // This ensures the display matches the raw frame orientation used for inference
+    QImage image = frame.toImage();
+    if (image.isNull()){
+        // Fallback to frame.paint() if conversion fails
+        QRect rect(0, 0, this->width(), this->height());
+        QVideoFrame::PaintOptions options;
+        QPainter painter(this);
+        frame.paint(&painter, rect, options);
+        m_source.report_rendered_frame(current_time());
+        return;
+    }
 
-    frame.paint(&painter, rect, options);
+    QPainter painter(this);
+
+    // Rotate 90 degrees clockwise to compensate for counter-clockwise rotation
+    painter.save();
+
+    // Transform: move to center, rotate 90° clockwise, move back
+    painter.translate(this->width() / 2.0, this->height() / 2.0);
+    painter.rotate(90.0);
+
+    // Draw image centered, but with dimensions swapped due to rotation
+    // After 90° rotation, image width becomes height and vice versa
+    QRect imageRect(-this->height() / 2.0, -this->width() / 2.0, this->height(), this->width());
+    painter.drawImage(imageRect, image);
+
+    painter.restore();
     m_source.report_rendered_frame(current_time());
 }
 

SerialPrograms/Source/CommonFramework/VideoPipeline/Backends/SnapshotManager.cpp

@@ -4,6 +4,7 @@
  *
  */
 
+#include <QTransform>
 #include "Common/Cpp/Concurrency/ReverseLockGuard.h"
 #include "Common/Cpp/Concurrency/AsyncTask.h"
 #include "CommonFramework/Tools/GlobalThreadPools.h"
@@ -34,6 +35,18 @@ SnapshotManager::SnapshotManager(Logger& logger, QVideoFrameCache& cache)
 
 QImage SnapshotManager::frame_to_image(const QVideoFrame& frame){
     QImage image = frame.toImage();
+
+    // If Qt applied rotation metadata (90° counter-clockwise), the dimensions will be swapped.
+    // We need to rotate the image 90° clockwise to restore the original orientation,
+    // matching what we do in the display layer.
+    // This ensures snapshots used for inference match the raw frame orientation.
+    if (image.height() > image.width()){
+        // Dimensions are swapped, indicating rotation was applied. Rotate 90° clockwise.
+        QTransform transform;
+        transform.rotate(90.0);
+        image = image.transformed(transform);
+    }
+
     QImage::Format format = image.format();
     if (format != QImage::Format_ARGB32 && format != QImage::Format_RGB32){
         image = image.convertToFormat(QImage::Format_ARGB32);