Dreamcast was amazing. Unfortunately most gamers didn't give it a look as they were too hyped for PS2 due to specs.
Funny that for quite a while the dreamcast games were performing and looking better.
It was a surprisingly powerful system at the time and it took developers years to understand it well enough to take full advantage of the hardware. But the ability to have 2 CPUs run simultaneously and interact with each other allowed for A LOT of crazy optimizations that I haven't seen since.