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Description

First of all, congratulation for this amazing product, it works really really well!

In my application, I have a ZED2 camera attached to the gripper of a robot arm. The starting position of the robot has the camera pointing to a table with various objects. I use the camera to detect the object and execute 6-DoF grasps with the arm. Sometimes the grasp pose puts the camera "upside down" for some seconds, during which the object is grasped.

The issue that I am facing now is that, when the robot moves back to the initial configuration, the images from the camera are suddenly upside down. See attached picture. Is there somewhere a setting to avoid this to happen? Thank you in advance for the help.

Steps to Reproduce

1. Capture an image in upright position
2. Move the robot in a configuration where the camera is "upside down"
3. Move the robot back to the starting upright position, the camera is straight again
4. Capture an image again

Expected Result

Both images should be straight

Actual Result

The second image is upside down.

ZED Camera model

ZED2

Environment

Ubuntu 20
I tested this with both the SDK 3.7 and 4.0. I have the impression that with 4.0 this happens less often (i.e. only when the camera is upside-down for long enough). But it still happens.

Anything else?

No response