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Doing some tests while having the developer option "Don't keep activities" turned on (that simulates what could happen when low on memory). After taking a picture, the camera is started again. Taking a second picture, it now behave like it should. Please note that I'm using the cameraOnly() option.
I think the problem is that ImagePickerActivity, in its onCreate method, is not considering the savedInstanceState Bundle (which is not null if the activity has been destroyed and is being re-created). What I'm not sure is why it's working the second time, and not going on a loop.