Different NIR brightness between OAK-D Pro cameras under the same conditions

kimzone

Hi,

I’m capturing NIR images using multiple OAK-D Pro cameras in the same environment at the same time, but I’m seeing a significant difference in brightness between the devices.

Camera A: Produces a bright NIR image where the dot pattern (IR projector) is clearly visible.
Camera B: Produces a much darker NIR image where the IR illumination/dot pattern is barely visible.

This does not seem to be a time synchronization issue. Overall, the NIR image from Camera B is consistently underexposed/dark.

For additional context: the cameras are mounted on a robot and a LiDAR is running at the same time. In the darker NIR image, I can still see the LiDAR scan lines, which suggests the NIR image is being captured, but it is very dim.

Both devices are the same OAK-D Pro model.
What could cause this quality/brightness difference between two identical cameras? Is it possible that different NIR filter wavelength bands are used depending on the unit (e.g., different IR-cut / NIR-pass filter variants)?

Thanks in advance.

OskarSonc

kimzone - this is unlikely to be caused by different NIR filter variants between two identical OAK-D Pro units. On the Pro line, the stereo pair uses the same 940nm IR filter setup, so we would not expect one camera to have a different wavelength band than another.

A brightness difference this large is more likely caused by different IR emitter intensity, different mono exposure/gain settings, power-delivery differences, LiDAR IR interference, or a unit-specific hardware issue. I would first test both cameras with identical manual exposure/gain and explicitly set the same dot-projector/flood intensity on both, then repeat with the LiDAR off and swap ports/positions. If the darker image still follows the same device, that points more to a hardware/emitter issue on that unit.

kimzone

OskarSonc

Thank you for your reply.

The dot pattern visible in the uploaded image is actually the IR illumination emitted by the RealSense camera mounted on the robot; the IR LEDs on the OAK-D Pro are currently turned off.

Additionally, the two images were captured simultaneously by two robots facing each other, and both cameras are using the exact same exposure and gain settings.

kimzone

@OskarSonc Just following up—looking forward to your reply when you get a chance.

OskarSonc

kimzone - Please first confirm that both OAK-D Pro emitters are fully disabled on both devices: flood light = 0 and dot projector = 0.

If they are both definitely off and you still see the same brightness difference, please try:

Swapping the two OAK cameras between the robots / positions.
Running a different minimal test script on both devices.

Also could you share the script?

kimzone

I am using two identical OAK-D cameras with the same specifications. The only difference between them is the purchase date: one was purchased in 2023-2024, and the other in 2025. I conducted a local test by connecting both cameras and running the exact same code. The script I used is 'mono_camera_control.py' from the Luxonis repository (link below), and I executed it without any modifications.

depthai-python/examples/MonoCamera/mono_camera_control.py at main · luxonis/depthai-python · GitHub

OskarSonc

kimzone - thanks for testing this. One important detail is that mono_camera_control.py uses auto-exposure by default. It only switches to manual exposure / ISO after pressing I/O/K/L, so running it unmodified does not yet confirm a hardware difference between the two cameras.

Could you please retry with the following:

Explicitly disable both IR emitters on both devices by adding these lines right after with dai.Device(pipeline) as device:

device.setIrFloodLightIntensity(0)
device.setIrLaserDotProjectorIntensity(0)

Force the same manual exposure time and ISO on both cameras using I/O/K/L
Swap the two devices between positions / cables

Thank you,
Oskar

kimzone

These are the results from the shooting after configuring the settings as you mentioned.

OAK-D Infrared Settings: Both IrFloodLight and IrLaserDotProjector are OFF.
Manual Exposure Settings: Both manual exposure time and ISO have been set identically.
Hardware Configuration: Both the device positions and cables have been changed/swapped between the devices.

Even after making all of these changes, the same results are still occurring consistently.

kimzone

img-4208.mov

13MB

kimzone

The IR Dot projector light that appears on a camera is generated by the RealSense camera installed in target robot.

OskarSonc

Hey kimzone - thanks for testing this. Could you provide the calibration dump from both cameras and MXID?

Thanks,
Oskar

kimzone

Cam 1

Is EEPROM available: True

User calibration: {

"batchName": "",

"batchTime": 0,

"boardConf": "nIR-C21M08-00",

"boardCustom": "",

"boardName": "DM9098",

"boardOptions": 1048580,

"boardRev": "R7M2E7",

"cameraData": [

[

  2,

  {

    "cameraType": 0,

    "distortionCoeff": [

      19\.19112777709961,

      -30.889665603637695,

      0\.0013206142466515303,

      1\.95248157979222e-05,

      13\.02011489868164,

      18\.68639373779297,

      -29.431440353393555,

      11\.911249160766602,

      0\.0,

      0\.0,

      0\.0,

      0\.0,

      0\.0,

      0\.0

    ],

    "extrinsics": {

      "rotationMatrix": [

        [

          0\.9998505711555481,

          6\.198595656314865e-05,

          0\.017287518829107285

        ],

        [

          -0.0001484412932768464,

          0\.9999874830245972,

          0\.004999788012355566

        ],

        [

          -0.017286991700530052,

          -0.00500160688534379,

          0\.9998380541801453

        ]

      ],

      "specTranslation": {

        "x": 3.75,

        "y": 0.0,

        "z": 0.0

      },

      "toCameraSocket": 0,

      "translation": {

        "x": 3.7509238719940186,

        "y": 0.021834969520568848,

        "z": -0.28743380308151245

      }

    },

    "height": 800,

    "intrinsicMatrix": [

      [

        804\.2630615234375,

        0\.0,

        644\.4454956054688

      ],

      [

        0\.0,

        804\.7075805664062,

        413\.4162292480469

      ],

      [

        0\.0,

        0\.0,

        1\.0

      ]

    ],

    "lensPosition": 0,

    "specHfovDeg": 71.86000061035156,

    "width": 1280

  }

],

[

  1,

  {

    "cameraType": 0,

    "distortionCoeff": [

      19\.976930618286133,

      -32.04928207397461,

      0\.0002765328099485487,

      0\.001629751524887979,

      15\.070162773132324,

      19\.447824478149414,

      -30.528226852416992,

      13\.914793968200684,

      0\.0,

      0\.0,

      0\.0,

      0\.0,

      0\.0,

      0\.0

    ],

    "extrinsics": {

      "rotationMatrix": [

        [

          0\.9997023344039917,

          0\.00798206776380539,

          -0.023053744807839394

        ],

        [

          -0.007997268810868263,

          0\.9999678730964661,

          -0.000567236274946481

        ],

        [

          0\.02304847724735737,

          0\.0007514344761148095,

          0\.9997340440750122

        ]

      ],

      "specTranslation": {

        "x": -7.5,

        "y": 0.0,

        "z": 0.0

      },

      "toCameraSocket": 2,

      "translation": {

        "x": -7.510120868682861,

        "y": -0.009158043190836906,

        "z": 0.0017518429085612297

      }

    },

    "height": 800,

    "intrinsicMatrix": [

      [

        800\.95068359375,

        0\.0,

        629\.2523193359375

      ],

      [

        0\.0,

        801\.2490844726562,

        380\.2207946777344

      ],

      [

        0\.0,

        0\.0,

        1\.0

      ]

    ],

    "lensPosition": 0,

    "specHfovDeg": 71.86000061035156,

    "width": 1280

  }

],

[

  0,

  {

    "cameraType": 0,

    "distortionCoeff": [

      7\.2250518798828125,

      -63.491371154785156,

      0\.0005674950079992414,

      -7.040784112177789e-05,

      293\.5593566894531,

      7\.028101444244385,

      -62.278892517089844,

      287\.69744873046875,

      0\.0,

      0\.0,

      0\.0,

      0\.0,

      0\.0,

      0\.0

    ],

    "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": 2160,

    "intrinsicMatrix": [

      [

        3113\.082275390625,

        0\.0,

        1905\.7001953125

      ],

      [

        0\.0,

        3113\.3359375,

        1102\.1800537109375

      ],

      [

        0\.0,

        0\.0,

        1\.0

      ]

    ],

    "lensPosition": 130,

    "specHfovDeg": 68.7938003540039,

    "width": 3840

  }

]

"hardwareConf": "F0-FV00-BC000",

"imuExtrinsics": {

"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

}

"miscellaneousData": [],

"productName": "OAK-D-PRO-AF",

"stereoRectificationData": {

"leftCameraSocket": 1,

"rectifiedRotationLeft": [

  [

    0\.9996864795684814,

    0\.009201273322105408,

    -0.02328762225806713

  ],

  [

    -0.0092087984085083,

    0\.9999575614929199,

    -0.00021592598932329565

  ],

  [

    0\.02328464761376381,

    0\.0004303093010094017,

    0\.999728798866272

  ]

],

"rectifiedRotationRight": [

  [

    0\.9999992251396179,

    0\.0012194259325042367,

    -0.000233264101552777

  ],

  [

    -0.0012193504953756928,

    0\.9999992251396179,

    0\.0003232852614019066

  ],

  [

    0\.0002336581383133307,

    -0.00032300056773237884,

    0\.9999999403953552

  ]

],

"rightCameraSocket": 2

"version": 7

}

Factory calibration: {

"batchName": "",

"batchTime": 0,

"boardConf": "nIR-C21M08-00",

"boardCustom": "",

"boardName": "DM9098",

"boardOptions": 1048580,

"boardRev": "R7M2E7",

"cameraData": [

[

  2,

  {

    "cameraType": 0,

    "distortionCoeff": [

      19\.19112777709961,

      -30.889665603637695,

      0\.0013206142466515303,

      1\.95248157979222e-05,

      13\.02011489868164,

      18\.68639373779297,

      -29.431440353393555,

      11\.911249160766602,

      0\.0,

      0\.0,

      0\.0,

      0\.0,

      0\.0,

      0\.0

    ],

    "extrinsics": {

      "rotationMatrix": [

        [

          0\.9998505711555481,

          6\.198595656314865e-05,

          0\.017287518829107285

        ],

        [

          -0.0001484412932768464,

          0\.9999874830245972,

          0\.004999788012355566

        ],

        [

          -0.017286991700530052,

          -0.00500160688534379,

          0\.9998380541801453

        ]

      ],

      "specTranslation": {

        "x": 3.75,

        "y": 0.0,

        "z": 0.0

      },

      "toCameraSocket": 0,

      "translation": {

        "x": 3.7509238719940186,

        "y": 0.021834969520568848,

        "z": -0.28743380308151245

      }

    },

    "height": 800,

    "intrinsicMatrix": [

      [

        804\.2630615234375,

        0\.0,

        644\.4454956054688

      ],

      [

        0\.0,

        804\.7075805664062,

        413\.4162292480469

      ],

      [

        0\.0,

        0\.0,

        1\.0

      ]

    ],

    "lensPosition": 0,

    "specHfovDeg": 71.86000061035156,

    "width": 1280

  }

],

[

  1,

  {

    "cameraType": 0,

    "distortionCoeff": [

      19\.976930618286133,

      -32.04928207397461,

      0\.0002765328099485487,

      0\.001629751524887979,

      15\.070162773132324,

      19\.447824478149414,

      -30.528226852416992,

      13\.914793968200684,

      0\.0,

      0\.0,

      0\.0,

      0\.0,

      0\.0,

      0\.0

    ],

    "extrinsics": {

      "rotationMatrix": [

        [

          0\.9997023344039917,

          0\.00798206776380539,

          -0.023053744807839394

        ],

        [

          -0.007997268810868263,

          0\.9999678730964661,

          -0.000567236274946481

        ],

        [

          0\.02304847724735737,

          0\.0007514344761148095,

          0\.9997340440750122

        ]

      ],

      "specTranslation": {

        "x": -7.5,

        "y": 0.0,

        "z": 0.0

      },

      "toCameraSocket": 2,

      "translation": {

        "x": -7.510120868682861,

        "y": -0.009158043190836906,

        "z": 0.0017518429085612297

      }

    },

    "height": 800,

    "intrinsicMatrix": [

      [

        800\.95068359375,

        0\.0,

        629\.2523193359375

      ],

      [

        0\.0,

        801\.2490844726562,

        380\.2207946777344

      ],

      [

        0\.0,

        0\.0,

        1\.0

      ]

    ],

    "lensPosition": 0,

    "specHfovDeg": 71.86000061035156,

    "width": 1280

  }

],

[

  0,

  {

    "cameraType": 0,

    "distortionCoeff": [

      7\.2250518798828125,

      -63.491371154785156,

      0\.0005674950079992414,

      -7.040784112177789e-05,

      293\.5593566894531,

      7\.028101444244385,

      -62.278892517089844,

      287\.69744873046875,

      0\.0,

      0\.0,

      0\.0,

      0\.0,

      0\.0,

      0\.0

    ],

    "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": 2160,

    "intrinsicMatrix": [

      [

        3113\.082275390625,

        0\.0,

        1905\.7001953125

      ],

      [

        0\.0,

        3113\.3359375,

        1102\.1800537109375

      ],

      [

        0\.0,

        0\.0,

        1\.0

      ]

    ],

    "lensPosition": 130,

    "specHfovDeg": 68.7938003540039,

    "width": 3840

  }

]

"hardwareConf": "F0-FV00-BC000",

"imuExtrinsics": {

"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

}

"miscellaneousData": [],

"productName": "OAK-D-PRO-AF",

"stereoRectificationData": {

"leftCameraSocket": 1,

"rectifiedRotationLeft": [

  [

    0\.9996864795684814,

    0\.009201273322105408,

    -0.02328762225806713

  ],

  [

    -0.0092087984085083,

    0\.9999575614929199,

    -0.00021592598932329565

  ],

  [

    0\.02328464761376381,

    0\.0004303093010094017,

    0\.999728798866272

  ]

],

"rectifiedRotationRight": [

  [

    0\.9999992251396179,

    0\.0012194259325042367,

    -0.000233264101552777

  ],

  [

    -0.0012193504953756928,

    0\.9999992251396179,

    0\.0003232852614019066

  ],

  [

    0\.0002336581383133307,

    -0.00032300056773237884,

    0\.9999999403953552

  ]

],

"rightCameraSocket": 2

"version": 7

}

kimzone

Cam 2
MXID : 14442C10011BD0D200

Is EEPROM available: True

User calibration: {

"batchName": "",

"batchTime": 1741852314,

"boardConf": "IR-C21M08-00",

"boardCustom": "",

"boardName": "DM9098",

"boardOptions": 1048580,

"boardRev": "R8M2E8",

"cameraData": [

[

  2,

  {

    "cameraType": 0,

    "distortionCoeff": [

      27\.599468231201172,

      -46.349308013916016,

      0\.0009864384774118662,

      0\.001242974423803389,

      23\.85444450378418,

      26\.863128662109375,

      -44.18709182739258,

      22\.2548828125,

      0\.0,

      0\.0,

      0\.0,

      0\.0,

      -0.006603539921343327,

      0\.0066258469596505165

    ],

    "extrinsics": {

      "rotationMatrix": [

        [

          0\.9999881982803345,

          -0.004511701408773661,

          -0.0018152132397517562

        ],

        [

          0\.004484135191887617,

          0\.9998787045478821,

          -0.014913906343281269

        ],

        [

          0\.0018822802230715752,

          0\.014905589632689953,

          0\.9998871088027954

        ]

      ],

      "specTranslation": {

        "x": 3.75,

        "y": 0.0,

        "z": 0.0

      },

      "toCameraSocket": 0,

      "translation": {

        "x": 3.742635726928711,

        "y": 0.0066296798177063465,

        "z": -0.12612153589725494

      }

    },

    "height": 800,

    "intrinsicMatrix": [

      [

        802\.95361328125,

        0\.0,

        652\.7644653320312

      ],

      [

        0\.0,

        803\.0050048828125,

        370\.26251220703125

      ],

      [

        0\.0,

        0\.0,

        1\.0

      ]

    ],

    "lensPosition": 0,

    "specHfovDeg": 71.86000061035156,

    "width": 1280

  }

],

[

  0,

  {

    "cameraType": 0,

    "distortionCoeff": [

      30\.804893493652344,

      -259.7940368652344,

      4\.004639413324185e-05,

      8\.201042510336265e-05,

      621\.5701293945312,

      30\.336843490600586,

      -256.6819763183594,

      614\.459716796875,

      0\.0,

      0\.0,

      0\.0,

      0\.0,

      0\.003843759885057807,

      -0.0012203098740428686

    ],

    "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": 2160,

    "intrinsicMatrix": [

      [

        3110\.611328125,

        0\.0,

        1871\.3433837890625

      ],

      [

        0\.0,

        3109\.796630859375,

        1076\.2203369140625

      ],

      [

        0\.0,

        0\.0,

        1\.0

      ]

    ],

    "lensPosition": 0,

    "specHfovDeg": 68.7938003540039,

    "width": 3840

  }

],

[

  1,

  {

    "cameraType": 0,

    "distortionCoeff": [

      12\.494904518127441,

      -3.128938913345337,

      0\.00018739757069852203,

      -0.0004989267908968031,

      -9.970846176147461,

      11\.969914436340332,

      -1.5659822225570679,

      -11.125360488891602,

      0\.0,

      0\.0,

      0\.0,

      0\.0,

      0\.00015195984451565892,

      -0.004631337709724903

    ],

    "extrinsics": {

      "rotationMatrix": [

        [

          0\.9999544024467468,

          -0.009418819099664688,

          0\.0015924946637824178

        ],

        [

          0\.009398743510246277,

          0\.9998816847801208,

          0\.012176008895039558

        ],

        [

          -0.0017069898312911391,

          -0.012160486541688442,

          0\.9999246001243591

        ]

      ],

      "specTranslation": {

        "x": -7.5,

        "y": 0.0,

        "z": 0.0

      },

      "toCameraSocket": 2,

      "translation": {

        "x": -7.5003862380981445,

        "y": -0.003890551859512925,

        "z": 0.003596445545554161

      }

    },

    "height": 800,

    "intrinsicMatrix": [

      [

        799\.5939331054688,

        0\.0,

        650\.7420043945312

      ],

      [

        0\.0,

        799\.440673828125,

        396\.7879943847656

      ],

      [

        0\.0,

        0\.0,

        1\.0

      ]

    ],

    "lensPosition": 0,

    "specHfovDeg": 71.86000061035156,

    "width": 1280

  }

]

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

"imuExtrinsics": {

"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

}

"miscellaneousData": [],

"productName": "OAK-D-PRO-FF",

"stereoRectificationData": {

"leftCameraSocket": 1,

"rectifiedRotationLeft": [

  [

    0\.9999598264694214,

    -0.00889433454722166,

    0\.001119344960898161

  ],

  [

    0\.008887358009815216,

    0\.9999419450759888,

    0\.0060902852565050125

  ],

  [

    -0.0011734490981325507,

    -0.006080092396587133,

    0\.9999808073043823

  ]

],

"rectifiedRotationRight": [

  [

    0\.9999997615814209,

    0\.0005187134374864399,

    -0.0004795012646354735

  ],

  [

    -0.0005216216668486595,

    0\.9999813437461853,

    -0.0060851252637803555

  ],

  [

    0\.0004763359029311687,

    0\.006085373926907778,

    0\.9999813437461853

  ]

],

"rightCameraSocket": 2

"version": 7

}

Factory calibration: {

"batchName": "",

"batchTime": 1741852314,

"boardConf": "IR-C21M08-00",

"boardCustom": "",

"boardName": "DM9098",

"boardOptions": 1048580,

"boardRev": "R8M2E8",

"cameraData": [

[

  2,

  {

    "cameraType": 0,

    "distortionCoeff": [

      27\.599468231201172,

      -46.349308013916016,

      0\.0009864384774118662,

      0\.001242974423803389,

      23\.85444450378418,

      26\.863128662109375,

      -44.18709182739258,

      22\.2548828125,

      0\.0,

      0\.0,

      0\.0,

      0\.0,

      -0.006603539921343327,

      0\.0066258469596505165

    ],

    "extrinsics": {

      "rotationMatrix": [

        [

          0\.9999881982803345,

          -0.004511701408773661,

          -0.0018152132397517562

        ],

        [

          0\.004484135191887617,

          0\.9998787045478821,

          -0.014913906343281269

        ],

        [

          0\.0018822802230715752,

          0\.014905589632689953,

          0\.9998871088027954

        ]

      ],

      "specTranslation": {

        "x": 3.75,

        "y": 0.0,

        "z": 0.0

      },

      "toCameraSocket": 0,

      "translation": {

        "x": 3.742635726928711,

        "y": 0.0066296798177063465,

        "z": -0.12612153589725494

      }

    },

    "height": 800,

    "intrinsicMatrix": [

      [

        802\.95361328125,

        0\.0,

        652\.7644653320312

      ],

      [

        0\.0,

        803\.0050048828125,

        370\.26251220703125

      ],

      [

        0\.0,

        0\.0,

        1\.0

      ]

    ],

    "lensPosition": 0,

    "specHfovDeg": 71.86000061035156,

    "width": 1280

  }

],

[

  0,

  {

    "cameraType": 0,

    "distortionCoeff": [

      30\.804893493652344,

      -259.7940368652344,

      4\.004639413324185e-05,

      8\.201042510336265e-05,

      621\.5701293945312,

      30\.336843490600586,

      -256.6819763183594,

      614\.459716796875,

      0\.0,

      0\.0,

      0\.0,

      0\.0,

      0\.003843759885057807,

      -0.0012203098740428686

    ],

    "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": 2160,

    "intrinsicMatrix": [

      [

        3110\.611328125,

        0\.0,

        1871\.3433837890625

      ],

      [

        0\.0,

        3109\.796630859375,

        1076\.2203369140625

      ],

      [

        0\.0,

        0\.0,

        1\.0

      ]

    ],

    "lensPosition": 0,

    "specHfovDeg": 68.7938003540039,

    "width": 3840

  }

],

[

  1,

  {

    "cameraType": 0,

    "distortionCoeff": [

      12\.494904518127441,

      -3.128938913345337,

      0\.00018739757069852203,

      -0.0004989267908968031,

      -9.970846176147461,

      11\.969914436340332,

      -1.5659822225570679,

      -11.125360488891602,

      0\.0,

      0\.0,

      0\.0,

      0\.0,

      0\.00015195984451565892,

      -0.004631337709724903

    ],

    "extrinsics": {

      "rotationMatrix": [

        [

          0\.9999544024467468,

          -0.009418819099664688,

          0\.0015924946637824178

        ],

        [

          0\.009398743510246277,

          0\.9998816847801208,

          0\.012176008895039558

        ],

        [

          -0.0017069898312911391,

          -0.012160486541688442,

          0\.9999246001243591

        ]

      ],

      "specTranslation": {

        "x": -7.5,

        "y": 0.0,

        "z": 0.0

      },

      "toCameraSocket": 2,

      "translation": {

        "x": -7.5003862380981445,

        "y": -0.003890551859512925,

        "z": 0.003596445545554161

      }

    },

    "height": 800,

    "intrinsicMatrix": [

      [

        799\.5939331054688,

        0\.0,

        650\.7420043945312

      ],

      [

        0\.0,

        799\.440673828125,

        396\.7879943847656

      ],

      [

        0\.0,

        0\.0,

        1\.0

      ]

    ],

    "lensPosition": 0,

    "specHfovDeg": 71.86000061035156,

    "width": 1280

  }

]

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

"imuExtrinsics": {

"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

}

"miscellaneousData": [],

"productName": "OAK-D-PRO-FF",

"stereoRectificationData": {

"leftCameraSocket": 1,

"rectifiedRotationLeft": [

  [

    0\.9999598264694214,

    -0.00889433454722166,

    0\.001119344960898161

  ],

  [

    0\.008887358009815216,

    0\.9999419450759888,

    0\.0060902852565050125

  ],

  [

    -0.0011734490981325507,

    -0.006080092396587133,

    0\.9999808073043823

  ]

],

"rectifiedRotationRight": [

  [

    0\.9999997615814209,

    0\.0005187134374864399,

    -0.0004795012646354735

  ],

  [

    -0.0005216216668486595,

    0\.9999813437461853,

    -0.0060851252637803555

  ],

  [

    0\.0004763359029311687,

    0\.006085373926907778,

    0\.9999813437461853

  ]

],

"rightCameraSocket": 2

"version": 7

}

kimzone

cam 1 : MXID : 19443010F17E992E00
cam 2 : MXID : 14442C10011BD0D200

OskarSonc

kimzone - Hey looks like somehting is not right with cam 1 : MXID : 19443010F17E992E00.
"boardConf": "nIR-C21M08-00" looks like the wrong config was uploaded to the camera, so it is acting like non-pro.
So please write an email to support@luxonis.com for RMA. Sorry for this inconvenience.

Thanks,
Oskar

kimzone

Thank you for your reply. We already have a robot in service using that camera. Is it possible to resolve this issue locally? Additionally, we would like to know exactly what the problem is.

kimzone

@OskarSonc
Additionally, we purchased all of our cameras as FF (Fixed Focus), but upon checking the board config, cam1 is listed as AF (Auto Focus). According to the guide, when we physically check the camera lenses, both should be FF. This is quite strange.

OskarSonc

Hey, so yea you could try reflashing calibration and changing name. But we can also just send you the new right device, no need to send yours back...