Frame corruption

[tlpss]

Preliminary Checks

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Description

When I run the ZED2i camera with the 720p profile at 30fps, using Neural depth mode and capture the RGB images, some frames are corrupt.

I am using a Newnex 3m USB cable (https://newnex.com/usb-type-c-cables-legacy.php) , which is locked and connected to a USB3 port on my desktop, so pretty sure the cable is not the issue in my case.

I think it correlates somewhat with CPU load. Even though CPU load is still below 50%.

I find it also strange that the image seems to contain a part of the scene that is not visible in the regular frames, as if the crop in the sensor has changed.

This seems related to stereolabs/zed-ros2-wrapper#287

Expected Result

Consistently getting the same frame:

Actual Result

corrupted frames every now and then.

ZED Camera model

ZED2i

Environment

Ubuntu 22
SDK 5.1.1

Anything else?

No response