@MattK , can you please do a quick check in your /etc/modalai/voxl-camera-server.conf and see if any of your stereo pairs are set to be rotated in software? Specifically, look for:
"en_rotate": true, "en_rotate_second": true,I believe this is your issue.
if the rotate flag is set, this will cause the camera server to send a special command to the cameras to rotate the images (in the camera). code here. The cameras don't actually rotate the image, but the "readout direction" is reversed, so image is sent out instead of starting at top left, bottom right instead.
if you use combo-flip sensormodules and set en_rotate to false in camera server config, this will achieve exactly the same effect as non-flip sensormodules and en_rotate set to true.
Please note that if you rotate the image in the camera this way, you need to re-do the camera intrinsic calibration because the rotation will shift the principal points.
Once you undo the rotation on your front stereo, you should not have to re-do your extrinsics computations (w.r.t body) if you already did it assuming the cameras are right side up (you will simply be making the image consistent with your prior assumption of being right side up).
Alex