Weird point cloud for certain objects.

[gabrielpeixoto-cvai]

Hello,

I started working with the femto bolt camera a few days ago and did some tests with it. I noticed some strange behavior. Some objects seem to have their depth data wrong (I will send some pictures/videos to prove this).
Let me try to explain this simply. Let's imagine that we have a flat surface; if we add an object, for example, a ball, the point cloud of that ball should show the points of the ball higher than the points of the surface, right? However, some objects, like a pen or a piece of broccoli, show some points or all if they are below the surface. Sometimes, it looks like they are rotated 180 degrees.

So I have some questions:

1. Is this a behavior we can fix by changing configurations?
2. Is this something related to the camera's hardware and how it measures depth?

Here is some proof of the behavior:

• Simple ball like toy
  
• Single broccoli piece
  
  
• a lot of broccoli pieces
  
  

I tried with other objects, And I noticed that a black pen has the same behavior, albeit not all points are below the container surface.