OakD SR POE ColorCamera(1) - Could not map AUTO camera socket

toon

I have just received (finally) 2 new OakD SR camera's. After unpacking when I run depthai-python/examples/StereoDepth/depth_preview_sr.py (which worked for my previous OakD SR POE camera's I get the following error: Could not map AUTO camera socket ColorCamera(1) - Could not map AUTO camera socket. Did something change on the mapping of the sensors? I am using depthai version 2.30 bootloader version 0.0.28

OskarSonc

Hey @toon,
The error is because OAK-D-SR has only two color sensors (no center RGB), so AUTO mapping can’t find CAM_A.
Please update to the latest depthai and pull the latest depthai-python examples, then run StereoDepth/depth_preview_sr.py (it maps left/right explicitly).
If using custom code, set sockets explicitly:
left.setCamera("left")
right.setCamera("right")

Thanks
Oskar

toon

Hi Oskar,

I have already used the latest depthai and latest depthai-python. Still the same result, also on the ToF example

thanks, Toon

OskarSonc

Hi @toon

That’s a bit strange — with the latest depthai and examples the SR PoE should work without trying to map AUTO. Let’s first check exactly which sensors the device reports on which sockets. Could you run this quick script and share the output?

import depthai as dai

with dai.Device() as d:
    print("Connected cameras:", d.getConnectedCameras())
    print("Sensor names:", d.getCameraSensorNames())

This will tell us which sensors are exposed on CAM_A/B/C, so we can adjust the examples accordingly.

Also, just to confirm the device is working as expected, please try running the camera_preview.py example from the examples folder — it will cycle through the available sensors and show if they can all stream properly.

Thanks,
Oskar

toon

Hi OskarSonc ,

I get only 2 sensor outputs:

Connected cameras: [<CameraBoardSocket.CAM_A: 0>, <CameraBoardSocket.CAM_B: 1>]

Sensor names: {<CameraBoardSocket.CAM_A: 0>: 'S5K33D', <CameraBoardSocket.CAM_B: 1>: 'OV9282'}

If I run camera_preview.py I get this output:

Device name: OAK-D-SR-POE

Bootloader version: 0.0.28

Usb speed: UNKNOWN

Connected cameras: [{socket: CAM_A, sensorName: S5K33D, width: 640, height: 480, orientation: ROTATE_180_DEG, supportedTypes: [TOF], hasAutofocus: 0, name: tof}, {socket: CAM_B, sensorName: OV9282, width: 1280, height: 800, orientation: ROTATE_180_DEG, supportedTypes: [COLOR], hasAutofocus: 0, name: left}]

{socket: CAM_A, sensorName: S5K33D, width: 640, height: 480, orientation: ROTATE_180_DEG, supportedTypes: [TOF], hasAutofocus: 0, name: tof} CameraBoardSocket.CAM_A CameraBoardSocket.CAM_A

{socket: CAM_B, sensorName: OV9282, width: 1280, height: 800, orientation: ROTATE_180_DEG, supportedTypes: [COLOR], hasAutofocus: 0, name: left} CameraBoardSocket.CAM_B CameraBoardSocket.CAM_B

toon

toon Additionally it seems that the sensor on dai.CameraBoardSocket.CAM_C is just not there, I have 2 fresh devices which have exactly the same behavior.

jakaskerl

toon
Can you give me the output of luxonis/depthai-pythonblob/main/examples/calibration/calibration_dump.py script? I'm interested to know the device revision and MXID if possible.

Please also run this camera_preview example with DEPTHAI_DEBUG=1 env var enabled.

Thanks,
Jaka

toon

jakaskerl and the result of camera_preview.py:

[2025-08-19 13:09:28.748] [depthai] [debug] Python bindings - version: 2.30.0.0 from build: 2025-03-18 11:56:46 +0000

[2025-08-19 13:09:28.748] [depthai] [debug] Library information - version: 2.30.0, commit: e0f6b52d048ef7ceac2ecd44deb2e161dbb97699 from 2025-03-18 12:44:00 +0100, build: 2025-03-18 11:50:18 +0000, libusb enabled: true

[2025-08-19 13:09:28.752] [depthai] [debug] Initialize - finished

[2025-08-19 13:09:28.868] [depthai] [debug] Resources - Archive 'depthai-bootloader-fwp-0.0.28.tar.xz' open: 2ms, archive read: 117ms

[2025-08-19 13:09:29.270] [host] [debug] Device - OpenVINO version: universal

[194430108139705A00] [169.254.1.222] [1755601769.270] [host] [debug] Device - BoardConfig: {"camera":[],"emmc":null,"gpio":[],"imu":null,"logDevicePrints":null,"logPath":null,"logSizeMax":null,"logVerbosity":null,"network":{"mtu":0,"xlinkTcpNoDelay":true},"nonExclusiveMode":false,"pcieInternalClock":null,"sysctl":[],"uart":[],"usb":{"flashBootedPid":63037,"flashBootedVid":999,"manufacturer":"","maxSpeed":4,"pid":63035,"productName":"","vid":999},"usb3PhyInternalClock":null,"uvc":null,"watchdogInitialDelayMs":null,"watchdogTimeoutMs":null}

libnop:

0000: b9 12 b9 07 81 e7 03 81 3b f6 81 e7 03 81 3d f6 04 bd 00 bd 00 b9 02 00 01 ba 00 be be bb 00 bb

0020: 00 be be be be be be be 00 bb 00 be be

[2025-08-19 13:09:29.389] [depthai] [debug] Resources - Archive 'depthai-device-fwp-a62b2ccb0bc493c2fb41694cb81c08887be24c52.tar.xz' open: 2ms, archive read: 638ms

[2025-08-19 13:09:29.428] [depthai] [debug] Searching for booted device: DeviceInfo(name=169.254.1.222, mxid=194430108139705A00, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only

[2025-08-19 13:09:29.615] [depthai] [debug] Connected bootloader version 0.0.28

[194430108139705A00] [169.254.1.222] [1755601770.732] [host] [debug] Booting FW with Bootloader. Version 0.0.28, Time taken: 1116ms

[2025-08-19 13:09:30.732] [depthai] [debug] DeviceBootloader about to be closed...

[2025-08-19 13:09:30.732] [depthai] [debug] XLinkResetRemote of linkId: (0)

[2025-08-19 13:09:31.517] [depthai] [debug] DeviceBootloader closed, 784

[2025-08-19 13:09:31.522] [depthai] [debug] Searching for booted device: DeviceInfo(name=169.254.1.222, mxid=194430108139705A00, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only

[194430108139705A00] [169.254.1.222] [4.945] [system] [info] Memory Usage - DDR: 0.12 / 333.26 MiB, CMX: 2.04 / 2.50 MiB, LeonOS Heap: 25.89 / 81.70 MiB, LeonRT Heap: 2.89 / 39.87 MiB / NOC ddr: 0 MB/s

[194430108139705A00] [169.254.1.222] [4.945] [system] [info] Temperatures - Average: 42.87C, CSS: 44.64C, MSS 42.81C, UPA: 42.35C, DSS: 41.66C

[194430108139705A00] [169.254.1.222] [4.946] [system] [info] Cpu Usage - LeonOS 38.14%, LeonRT: 0.61%

Device name: OAK-D-SR-POE

Bootloader version: 0.0.28

Usb speed: UNKNOWN

Connected cameras: [{socket: CAM_A, sensorName: S5K33D, width: 640, height: 480, orientation: ROTATE_180_DEG, supportedTypes: [TOF], hasAutofocus: 0, hasAutofocusIC: 0, name: tof}, {socket: CAM_B, sensorName: OV9782, width: 1280, height: 800, orientation: ROTATE_180_DEG, supportedTypes: [COLOR], hasAutofocus: 0, hasAutofocusIC: 0, name: left}]

{socket: CAM_A, sensorName: S5K33D, width: 640, height: 480, orientation: ROTATE_180_DEG, supportedTypes: [TOF], hasAutofocus: 0, hasAutofocusIC: 0, name: tof} CameraBoardSocket.CAM_A CameraBoardSocket.CAM_A

{socket: CAM_B, sensorName: OV9782, width: 1280, height: 800, orientation: ROTATE_180_DEG, supportedTypes: [COLOR], hasAutofocus: 0, hasAutofocusIC: 0, name: left} CameraBoardSocket.CAM_B CameraBoardSocket.CAM_B

[194430108139705A00] [169.254.1.222] [1755601776.329] [host] [debug] Schema dump: {"connections":[{"node1Id":2,"node1Output":"preview","node1OutputGroup":"","node2Id":3,"node2Input":"in","node2InputGroup":""},{"node1Id":0,"node1Output":"preview","node1OutputGroup":"","node2Id":1,"node2Input":"in","node2InputGroup":""}],"globalProperties":{"calibData":null,"cameraTuningBlobSize":null,"cameraTuningBlobUri":"","leonCssFrequencyHz":700000000.0,"leonMssFrequencyHz":700000000.0,"pipelineName":null,"pipelineVersion":null,"sippBufferSize":18432,"sippDmaBufferSize":16384,"xlinkChunkSize":-1},"nodes":[[0,{"id":0,"ioInfo":[[["","video"],{"blocking":false,"group":"","id":18,"name":"video","queueSize":8,"type":0,"waitForMessage":false}],[["","still"],{"blocking":false,"group":"","id":16,"name":"still","queueSize":8,"type":0,"waitForMessage":false}],[["","isp"],{"blocking":false,"group":"","id":15,"name":"isp","queueSize":8,"type":0,"waitForMessage":false}],[["","preview"],{"blocking":false,"group":"","id":17,"name":"preview","queueSize":8,"type":0,"waitForMessage":false}],[["","raw"],{"blocking":false,"group":"","id":14,"name":"raw","queueSize":8,"type":0,"waitForMessage":false}],[["","frameEvent"],{"blocking":false,"group":"","id":13,"name":"frameEvent","queueSize":8,"type":0,"waitForMessage":false}],[["","inputConfig"],{"blocking":false,"group":"","id":12,"name":"inputConfig","queueSize":8,"type":3,"waitForMessage":false}],[["","inputControl"],{"blocking":true,"group":"","id":11,"name":"inputControl","queueSize":8,"type":3,"waitForMessage":false}]],"name":"Camera","properties":[185,35,185,32,0,3,0,136,0,0,0,0,0,0,185,3,0,0,0,185,5,0,0,0,0,0,185,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,185,3,0,0,0,185,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0,186,0,0,189,0,255,0,1,0,129,44,1,129,44,1,255,255,255,255,255,255,136,0,0,240,65,0,136,0,0,128,191,136,0,0,128,191,1,185,4,0,0,0,0,255,3,3,4,4,4,255,189,0,0,0,190,32,32,190]}],[1,{"id":1,"ioInfo":[[["","in"],{"blocking":true,"group":"","id":10,"name":"in","queueSize":8,"type":3,"waitForMessage":true}]],"name":"XLinkOut","properties":[185,3,136,0,0,128,191,189,29,116,111,102,32,40,67,97,109,101,114,97,66,111,97,114,100,83,111,99,107,101,116,46,67,65,77,95,65,41,0]}],[2,{"id":2,"ioInfo":[[["","video"],{"blocking":false,"group":"","id":9,"name":"video","queueSize":8,"type":0,"waitForMessage":false}],[["","still"],{"blocking":false,"group":"","id":7,"name":"still","queueSize":8,"type":0,"waitForMessage":false}],[["","isp"],{"blocking":false,"group":"","id":6,"name":"isp","queueSize":8,"type":0,"waitForMessage":false}],[["","preview"],{"blocking":false,"group":"","id":8,"name":"preview","queueSize":8,"type":0,"waitForMessage":false}],[["","raw"],{"blocking":false,"group":"","id":5,"name":"raw","queueSize":8,"type":0,"waitForMessage":false}],[["","frameEvent"],{"blocking":false,"group":"","id":4,"name":"frameEvent","queueSize":8,"type":0,"waitForMessage":false}],[["","inputConfig"],{"blocking":false,"group":"","id":3,"name":"inputConfig","queueSize":8,"type":3,"waitForMessage":false}],[["","inputControl"],{"blocking":true,"group":"","id":2,"name":"inputControl","queueSize":8,"type":3,"waitForMessage":false}]],"name":"Camera","properties":[185,35,185,32,0,3,0,136,0,0,0,0,0,0,185,3,0,0,0,185,5,0,0,0,0,0,185,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,185,3,0,0,0,185,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0,186,0,1,189,0,255,0,1,0,129,44,1,129,44,1,255,255,255,255,255,255,136,0,0,240,65,0,136,0,0,128,191,136,0,0,128,191,1,185,4,0,0,0,0,255,3,3,4,4,4,255,189,0,0,0,190,32,32,190]}],[3,{"id":3,"ioInfo":[[["","in"],{"blocking":true,"group":"","id":1,"name":"in","queueSize":8,"type":3,"waitForMessage":true}]],"name":"XLinkOut","properties":[185,3,136,0,0,128,191,189,30,108,101,102,116,32,40,67,97,109,101,114,97,66,111,97,114,100,83,111,99,107,101,116,46,67,65,77,95,66,41,0]}]]}

[194430108139705A00] [169.254.1.222] [1755601776.329] [host] [debug] Asset map dump: {"map":{}}

[2025-08-19 13:09:36.382] [depthai] [info] Logging disabled

[194430108139705A00] [169.254.1.222] [5.092] [Camera(2)] [info] WarpMeshSource: NONE

[194430108139705A00] [169.254.1.222] [5.092] [Camera(0)] [info] WarpMeshSource: NONE

[194430108139705A00] [169.254.1.222] [1755601776.429] [host] [debug] Device about to be closed...

[194430108139705A00] [169.254.1.222] [5.093] [system] [info] SIPP (Signal Image Processing Pipeline) internal buffer size '18432'B, DMA buffer size: '16384'B

[194430108139705A00] [169.254.1.222] [1755601776.435] [host] [debug] Shutdown OK

[194430108139705A00] [169.254.1.222] [1755601776.436] [host] [debug] Log thread exception caught: Couldn't read data from stream: '__log' (X_LINK_ERROR)

[194430108139705A00] [169.254.1.222] [1755601776.436] [host] [debug] Timesync thread exception caught: Couldn't read data from stream: '__timesync' (X_LINK_ERROR)

[2025-08-19 13:09:36.436] [depthai] [debug] DataOutputQueue (left (CameraBoardSocket.CAM_B)) closed

[2025-08-19 13:09:36.436] [depthai] [debug] XLinkResetRemote of linkId: (1)

[2025-08-19 13:09:36.436] [depthai] [debug] DataOutputQueue (tof (CameraBoardSocket.CAM_A)) closed

[194430108139705A00] [169.254.1.222] [1755601780.233] [host] [debug] Device closed, 3804

Traceback (most recent call last):

File "/home/ubuntu20/depthai-python/examples/Camera/camera_preview.py", line 36, in <module>

device.startPipeline(pipeline)

RuntimeError: Camera(0) - 'video' width or height (1280, 3848) bigger than maximum at current sensor resolution (1280, 2160)

toon

Here is the output of the calibration_dump:

Is EEPROM available: True

User calibration: {

"batchName": "",

"batchTime": 1752281291,

"boardConf": "IR-C80M00-00",

"boardCustom": "",

"boardName": "EL2086",

"boardOptions": 6401,

"boardRev": "R4M3E4",

"cameraData": [

[

0,

{

"cameraType": 0,

"distortionCoeff": [

-8.853866577148438,

27.440521240234375,

-0.00019104113744106144,

0.0006138960015960038,

36.27458572387695,

-8.807063102722168,

26.71940803527832,

38.85667419433594,

0.0,

0.004391027148813009,

0.008405467495322227

],

"extrinsics": {

"rotationMatrix": [

[

0.0,

0.0

],

[

0.0,

0.0

],

[

0.0,

0.0

]

],

"specTranslation": {

"x": -0.0,

"y": -0.0,

"z": -0.0

},

"toCameraSocket": -1,

"translation": {

"x": 0.0,

"y": 0.0,

"z": 0.0

}

},

"height": 480,

"intrinsicMatrix": [

[

470.9429931640625,

0.0,

316.09393310546875

],

[

0.0,

470.8022155761719,

250.19363403320312

],

[

0.0,

1.0

]

],

"lensPosition": 0,

"specHfovDeg": 71.86000061035156,

"width": 640

}

],

[

1,

{

"cameraType": 0,

"distortionCoeff": [

36.701637268066406,

-64.4549560546875,

-0.0007027039537206292,

-0.0012345777358859777,

37.061702728271484,

35.8005485534668,

-61.84288024902344,

35.10894775390625,

0.0,

0.005549462512135506,

-0.004898685961961746

],

"extrinsics": {

"rotationMatrix": [

[

0.9999868869781494,

0.00342035130597651,

0.0038165939040482044

],

[

-0.0035129813477396965,

0.9996928572654724,

0.024533526971936226

],

[

-0.0037315082736313343,

-0.024546612054109573,

0.9996917247772217

]

],

"specTranslation": {

"x": -2.0,

"y": 0.0,

"z": 0.0

},

"toCameraSocket": 2,

"translation": {

"x": -1.9955883026123047,

"y": -0.0011429621372371912,

"z": -0.02686307206749916

}

},

"height": 800,

"intrinsicMatrix": [

[

795.0700073242188,

0.0,

674.865966796875

],

[

0.0,

795.25927734375,

402.3279724121094

],

[

0.0,

1.0

]

],

"lensPosition": 0,

"specHfovDeg": 71.86000061035156,

"width": 1280

}

],

[

2,

{

"cameraType": 0,

"distortionCoeff": [

28.03850555419922,

-37.85908126831055,

-0.0012295644264668226,

0.0012414384400472045,

16.128589630126953,

27.32566261291504,

-35.708038330078125,

14.548364639282227,

0.0,

-0.006976261269301176,

-0.009679817594587803

],

"extrinsics": {

"rotationMatrix": [

[

0.9994919896125793,

-0.002460841089487076,

0.031775496900081635

],

[

0.0034901329781860113,

0.9994695782661438,

-0.032377902418375015

],

[

-0.03167896717786789,

0.03247235342860222,

0.9989704489707947

]

],

"specTranslation": {

"x": -1.7381999492645264,

"y": 0.0,

"z": 0.0

},

"toCameraSocket": 0,

"translation": {

"x": -1.7274526357650757,

"y": -0.0364670604467392,

"z": 0.019266439601778984

}

},

"height": 800,

"intrinsicMatrix": [

[

800.9684448242188,

0.0,

665.7158813476562

],

[

0.0,

800.688232421875,

409.7025451660156

],

[

0.0,

1.0

]

],

"lensPosition": 0,

"specHfovDeg": 71.86000061035156,

"width": 1280

}

]

],

"deviceName": "",

"hardwareConf": "F1-FV00-BC000",

"housingExtrinsics": {

"rotationMatrix": [

[

1.0,

0.0,

0.0

],

[

0.0,

1.0,

0.0

],

[

0.0,

1.0

]

],

"specTranslation": {

"x": 0.0,

"y": 0.0,

"z": 0.0

},

"toCameraSocket": 0,

"translation": {

"x": 0.0,

"y": 0.0,

"z": 0.0

}

},

"imuExtrinsics": {

"rotationMatrix": [

[

0.0,

0.0

],

[

0.0,

0.0

],

[

0.0,

0.0

]

],

"specTranslation": {

"x": 0.0,

"y": 0.0,

"z": 0.0

},

"toCameraSocket": -1,

"translation": {

"x": 0.0,

"y": 0.0,

"z": 0.0

}

},

"miscellaneousData": [],

"productName": "OAK-D-SR-POE",

"stereoEnableDistortionCorrection": true,

"stereoRectificationData": {

"leftCameraSocket": 1,

"rectifiedRotationLeft": [

[

0.9998438954353333,

0.003662159899249673,

0.017286157235503197

],

[

-0.003874199464917183,

0.9999174475669861,

0.012248938903212547

],

[

-0.017239872366189957,

-0.012313996441662312,

0.9997755289077759

]

],

"rectifiedRotationRight": [

[

0.9999092221260071,

0.0005726924864575267,

0.013460008427500725

],

[

-0.0004073304298799485,

0.9999244809150696,

-0.012284967117011547

],

[

-0.01346602663397789,

0.012278369627892971,

0.9998339414596558

]

],

"rightCameraSocket": 2

},

"stereoUseSpecTranslation": false,

"version": 7,

"verticalCameraSocket": -1

}

Factory calibration: {

"batchName": "",

"batchTime": 1752281291,

"boardConf": "IR-C80M00-00",

"boardCustom": "",

"boardName": "EL2086",

"boardOptions": 6401,

"boardRev": "R4M3E4",

"cameraData": [

[

0,

{

"cameraType": 0,

"distortionCoeff": [

-8.853866577148438,

27.440521240234375,

-0.00019104113744106144,

0.0006138960015960038,

36.27458572387695,

-8.807063102722168,

26.71940803527832,

38.85667419433594,

0.0,

0.004391027148813009,

0.008405467495322227

],

"extrinsics": {

"rotationMatrix": [

[

0.0,

0.0

],

[

0.0,

0.0

],

[

0.0,

0.0

]

],

"specTranslation": {

"x": -0.0,

"y": -0.0,

"z": -0.0

},

"toCameraSocket": -1,

"translation": {

"x": 0.0,

"y": 0.0,

"z": 0.0

}

},

"height": 480,

"intrinsicMatrix": [

[

470.9429931640625,

0.0,

316.09393310546875

],

[

0.0,

470.8022155761719,

250.19363403320312

],

[

0.0,

1.0

]

],

"lensPosition": 0,

"specHfovDeg": 71.86000061035156,

"width": 640

}

],

[

1,

{

"cameraType": 0,

"distortionCoeff": [

36.701637268066406,

-64.4549560546875,

-0.0007027039537206292,

-0.0012345777358859777,

37.061702728271484,

35.8005485534668,

-61.84288024902344,

35.10894775390625,

0.0,

0.005549462512135506,

-0.004898685961961746

],

"extrinsics": {

"rotationMatrix": [

[

0.9999868869781494,

0.00342035130597651,

0.0038165939040482044

],

[

-0.0035129813477396965,

0.9996928572654724,

0.024533526971936226

],

[

-0.0037315082736313343,

-0.024546612054109573,

0.9996917247772217

]

],

"specTranslation": {

"x": -2.0,

"y": 0.0,

"z": 0.0

},

"toCameraSocket": 2,

"translation": {

"x": -1.9955883026123047,

"y": -0.0011429621372371912,

"z": -0.02686307206749916

}

},

"height": 800,

"intrinsicMatrix": [

[

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jakaskerl

toon
Any chance you can try on the depthai V3 - python3 depthai-core/examples/python/Camera/camera_multiple_outputs.py 640 480 1 30 CAM_B 300 300 1 30 CAM_C.
I checked the factory logs for the 194430108139705A00 and the tests passed with all three cameras active. So I'm leaning more towards a SW fault.

Thanks,
Jaka

toon

jakaskerl depthai V3 indeed runs as supposed. I also teste the tof_align example, which also seems to run fine. However I can still not explain, why with the exact same bootloader and software config, it has worked with the OakD SR POE which were shipped last year, but not with the ones recently shipped. Has something changed in the hardware resulting that it is not working anymore in V2.30? Do you expect that the old camera's will work with V3?

jakaskerl

toon
Thanks for the info. There were changes in the Revision number that was flashed. This is read during the FW bootup process - looks like there was a regression from depthai==2.28.0.0.dev0+ce17e670cd9db776221d3afdfabc4d48d148834b (the one we use in testing, where cameras work) to depthai==2.30. I'll forward this to the team to check. For the time being, just use V3 or 2.28 (or 2.29 if it works).

Thanks,
Jaka

toon

jakaskerl I am 100% sure it was working with 2.30 with the old camera's before, as can be seen with this post

jakaskerl

toon
Latest v2_develop should work. Reason being - new revision of D-SR-POE (R4) was not added to the FW at the time of 2.30 release.

Thanks,
Jaka