Thank you OskarSonc
Actually, the output seems o.k. (see below), but the SLAM is still failing even after running those prints.
Here's the output of DeviceID example:
Searching for all available devices...
Found device '10.0.0.142', DeviceID: '19443010B19B5D2E00', State: 'BOOTLOADER'
Booting the first available camera (10.0.0.142)...
Available camera sensors: {<CameraBoardSocket.CAM_B: 1>: 'OV9782', <CameraBoardSocket.CAM_A: 0>: 'S5K33D', <CameraBoardSocket.CAM_C: 2>: 'OV9782'}
Product name: OAK-D-SR-POE, board name EL2086
Board revision: R4M3E4
Here's the output of calibration dump:
{
Is EEPROM available: True
User calibration: {
"batchName": "",
"batchTime": 1759798491,
"boardConf": "IR-C80M00-00",
"boardCustom": "",
"boardName": "EL2086",
"boardOptions": 6401,
"boardRev": "R4M3E4",
"cameraData": [
[
0,
{
"cameraType": 0,
"distortionCoeff": [
-8.740734100341797,
24\.91324806213379,
0\.0001931142614921555,
0\.0004091814917046577,
24\.905956268310547,
-8.696517944335938,
24\.28214454650879,
27\.145341873168945,
0\.0,
0\.0,
0\.0,
0\.0,
-0.0049303448759019375,
0\.003941478207707405
],
"extrinsics": {
"rotationMatrix": [
[
0\.0,
0\.0,
0\.0
],
[
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": [
[
472\.02301025390625,
0\.0,
318\.9490966796875
],
[
0\.0,
471\.93316650390625,
246\.0225372314453
],
[
0\.0,
0\.0,
1\.0
]
],
"lensPosition": 0,
"specHfovDeg": 71.86000061035156,
"width": 640
}
],
[
1,
{
"cameraType": 0,
"distortionCoeff": [
32\.67498016357422,
-54.50141525268555,
-1.0734095667430665e-05,
0\.0001936289481818676,
30\.96769905090332,
31\.928985595703125,
-52.18511199951172,
29\.230148315429688,
0\.0,
0\.0,
0\.0,
0\.0,
0\.00010013872815761715,
-0.007896934635937214
],
"extrinsics": {
"rotationMatrix": [
[
0\.9999080896377563,
-0.00020459064398892224,
0\.013555471785366535
],
[
5\.7944162108469754e-05,
0\.9999414682388306,
0\.010817759670317173
],
[
-0.013556892052292824,
-0.010815979912877083,
0\.9998496174812317
]
],
"specTranslation": {
"x": -2.0,
"y": 0.0,
"z": 0.0
},
"toCameraSocket": 2,
"translation": {
"x": -1.9847725629806519,
"y": 0.012162133120000362,
"z": 0.0005395516636781394
}
},
"height": 800,
"intrinsicMatrix": [
[
787\.2338256835938,
0\.0,
647\.3936767578125
],
[
0\.0,
787\.082763671875,
431\.3923645019531
],
[
0\.0,
0\.0,
1\.0
]
],
"lensPosition": 0,
"specHfovDeg": 71.86000061035156,
"width": 1280
}
],
[
2,
{
"cameraType": 0,
"distortionCoeff": [
30\.76590347290039,
-54.4755744934082,
-0.0008531531202606857,
-1.405266175424913e-05,
30\.58104705810547,
29\.98700523376465,
-52.241275787353516,
28\.935041427612305,
0\.0,
0\.0,
0\.0,
0\.0,
-0.0013123243115842342,
-0.001979471417143941
],
"extrinsics": {
"rotationMatrix": [
[
0\.9999327063560486,
-0.009824327193200588,
0\.006170947570353746
],
[
0\.009851339273154736,
0\.9999419450759888,
-0.0043623484671115875
],
[
-0.006127732340246439,
0\.004422847181558609,
0\.9999714493751526
]
],
"specTranslation": {
"x": -1.7381999492645264,
"y": 0.0,
"z": 0.0
},
"toCameraSocket": 0,
"translation": {
"x": -1.743937373161316,
"y": -0.03857424855232239,
"z": 0.026013867929577827
}
},
"height": 800,
"intrinsicMatrix": [
[
798\.1550903320312,
0\.0,
661\.350341796875
],
[
0\.0,
798\.4345092773438,
413\.2405090332031
],
[
0\.0,
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,
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": [
[
1\.0,
0\.0,
0\.0
],
[
0\.0,
1\.0,
0\.0
],
[
0\.0,
0\.0,
1\.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\.9998925924301147,
-0.006328894291073084,
0\.013217130675911903
],
[
0\.006257037166506052,
0\.9999654293060303,
0\.005470947362482548
],
[
-0.013251299038529396,
-0.00538766011595726,
0\.9998976588249207
]
],
"rectifiedRotationRight": [
[
0\.999981164932251,
-0.006127606146037579,
-0.0002718404575716704
],
[
0\.006126040127128363,
0\.9999665021896362,
-0.005430307704955339
],
[
0\.00030510613578371704,
0\.005428540054708719,
0\.9999852180480957
]
],
"rightCameraSocket": 2
},
"stereoUseSpecTranslation": false,
"version": 7,
"verticalCameraSocket": -1
}
Factory calibration: {
"batchName": "",
"batchTime": 1759798491,
"boardConf": "IR-C80M00-00",
"boardCustom": "",
"boardName": "EL2086",
"boardOptions": 6401,
"boardRev": "R4M3E4",
"cameraData": [
[
0,
{
"cameraType": 0,
"distortionCoeff": [
-8.740734100341797,
24\.91324806213379,
0\.0001931142614921555,
0\.0004091814917046577,
24\.905956268310547,
-8.696517944335938,
24\.28214454650879,
27\.145341873168945,
0\.0,
0\.0,
0\.0,
0\.0,
-0.0049303448759019375,
0\.003941478207707405
],
"extrinsics": {
"rotationMatrix": [
[
0\.0,
0\.0,
0\.0
],
[
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": [
[
472\.02301025390625,
0\.0,
318\.9490966796875
],
[
0\.0,
471\.93316650390625,
246\.0225372314453
],
[
0\.0,
0\.0,
1\.0
]
],
"lensPosition": 0,
"specHfovDeg": 71.86000061035156,
"width": 640
}
],
[
1,
{
"cameraType": 0,
"distortionCoeff": [
32\.67498016357422,
-54.50141525268555,
-1.0734095667430665e-05,
0\.0001936289481818676,
30\.96769905090332,
31\.928985595703125,
-52.18511199951172,
29\.230148315429688,
0\.0,
0\.0,
0\.0,
0\.0,
0\.00010013872815761715,
-0.007896934635937214
],
"extrinsics": {
"rotationMatrix": [
[
0\.9999080896377563,
-0.00020459064398892224,
0\.013555471785366535
],
[
5\.7944162108469754e-05,
0\.9999414682388306,
0\.010817759670317173
],
[
-0.013556892052292824,
-0.010815979912877083,
0\.9998496174812317
]
],
"specTranslation": {
"x": -2.0,
"y": 0.0,
"z": 0.0
},
"toCameraSocket": 2,
"translation": {
"x": -1.9847725629806519,
"y": 0.012162133120000362,
"z": 0.0005395516636781394
}
},
"height": 800,
"intrinsicMatrix": [
[
787\.2338256835938,
0\.0,
647\.3936767578125
],
[
0\.0,
787\.082763671875,
431\.3923645019531
],
[
0\.0,
0\.0,
1\.0
]
],
"lensPosition": 0,
"specHfovDeg": 71.86000061035156,
"width": 1280
}
],
[
2,
{
"cameraType": 0,
"distortionCoeff": [
30\.76590347290039,
-54.4755744934082,
-0.0008531531202606857,
-1.405266175424913e-05,
30\.58104705810547,
29\.98700523376465,
-52.241275787353516,
28\.935041427612305,
0\.0,
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0\.0,
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-0.001979471417143941
],
"extrinsics": {
"rotationMatrix": [
[
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],
[
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-0.0043623484671115875
],
[
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]
],
"specTranslation": {
"x": -1.7381999492645264,
"y": 0.0,
"z": 0.0
},
"toCameraSocket": 0,
"translation": {
"x": -1.743937373161316,
"y": -0.03857424855232239,
"z": 0.026013867929577827
}
},
"height": 800,
"intrinsicMatrix": [
[
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],
[
0\.0,
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],
[
0\.0,
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]
],
"lensPosition": 0,
"specHfovDeg": 71.86000061035156,
"width": 1280
}
]
],
"deviceName": "",
"hardwareConf": "F1-FV00-BC000",
"housingExtrinsics": {
"rotationMatrix": [
[
1\.0,
0\.0,
0\.0
],
[
0\.0,
1\.0,
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],
[
0\.0,
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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": [
[
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],
[
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],
[
0\.0,
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]
],
"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\.9998925924301147,
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0\.013217130675911903
],
[
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],
[
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]
],
"rectifiedRotationRight": [
[
0\.999981164932251,
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],
[
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],
[
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]
],
"rightCameraSocket": 2
},
"stereoUseSpecTranslation": false,
"version": 7,
"verticalCameraSocket": -1
}
}
