# OAK 4 D Pro ## Specification ### Variant: Pro Auto Focus [Shop](https://shop.luxonis.com/products/oak-4-d-ea) | Property | Value | | --- | --- | | Based on | RVC4 | | Connection | USB 2/3 (up to 10 Gbps), Ethernet 2.5Gbps | | Dot projector | Yes | | Infrared | Yes | | IMU | Yes | | Wide FOV | Yes | #### Sensor 1, 3 - OV9282 * Type: Monochrome * [DFOV / HFOV / VFOV: 84.5° / 77° / 52.7°](https://fov.luxonis.com/?horizontalFov=77&verticalFov=52.7&horizontalResolution=1280&verticalResolution=800) * Size: 1/4 * Shutter: Global * Focus: Fixed #### Sensor 2 - IMX586 * Type: Color * [DFOV / HFOV / VFOV: 82.4° / 67.3° / 53°](https://fov.luxonis.com/?horizontalFov=67.3&verticalFov=53&horizontalResolution=8000&verticalResolution=6000) * Size: 1/2 * Shutter: Rolling * Focus: Auto ### Variant: Pro Fixed Focus [Shop](https://shop.luxonis.com/products/oak-4-d-ea) | Property | Value | | --- | --- | | Based on | RVC4 | | Connection | USB 2/3 (up to 10 Gbps), Ethernet 2.5Gbps | | Dot projector | Yes | | Infrared | Yes | | IMU | Yes | | Wide FOV | Yes | #### Sensor 1, 3 - OV9282 * Type: Monochrome * [DFOV / HFOV / VFOV: 84.5° / 77° / 52.7°](https://fov.luxonis.com/?horizontalFov=77&verticalFov=52.7&horizontalResolution=1280&verticalResolution=800) * Size: 1/4 * Shutter: Global * Focus: Fixed #### Sensor 2 - IMX586 * Type: Color * [DFOV / HFOV / VFOV: 78° / 66° / 52°](https://fov.luxonis.com/?horizontalFov=66&verticalFov=52&horizontalResolution=8000&verticalResolution=6000) * Size: 1/2 * Shutter: Rolling * Focus: Fixed ### Variant: Pro Wide FOV [Shop](https://shop.luxonis.com/products/oak-4-d-ea) | Property | Value | | --- | --- | | Based on | RVC4 | | Connection | USB 2/3 (up to 10 Gbps), Ethernet 2.5Gbps | | Dot projector | Yes | | Infrared | Yes | | IMU | Yes | | Wide FOV | Yes | #### Sensor 1, 3 - OV9282 * Type: Monochrome * [DFOV / HFOV / VFOV: 150° / 127° / 79.5°](https://fov.luxonis.com/?horizontalFov=127&verticalFov=79.5&horizontalResolution=1280&verticalResolution=800) * Size: 1/4 * Shutter: Global * Focus: Fixed #### Sensor 2 - IMX586 * Type: Color * [DFOV / HFOV / VFOV: 120° / 95° / 72°](https://fov.luxonis.com/?horizontalFov=95&verticalFov=72&horizontalResolution=8000&verticalResolution=6000) * Size: 1/2 * Shutter: Rolling * Focus: Fixed ## IR perception The Pro version of this device has [notch IR filters at 940nm](https://github.com/luxonis/oak-hardware/assets/18037362/b3e5caf3-1dd9-4156-b9a9-d81041945230) on the stereo camera pair, which allows both visible light and IR light from illumination LED/laser dot projector to be perceived by the camera. #### IR Dot Projector The IR laser dot projector projects many small dots in front of the device, which helps with disparity matching, especially for low-visual-interest surfaces (blank surfaces with little to no texture), such as a wall or floor. The technique that we use is called [ASV](https://en.wikipedia.org/wiki/Computer_stereo_vision#Conventional_active_stereo_vision_(ASV)) - conventional Active Stereo Vision - as stereo matching is performed on the device the same way as on OAK-D (passive stereo). On the image below there's a blank wall with no texture. Without the dot projector, (passive) depth perception is poor. With the dot projector set to ~200mA, the (active) depth perception looks much better. If you look closely at the bottom left frame, you can see little dots all around the wall. #### IR Illumination LED Flood IR LED illumination allows perceiving low-light and no-light environments. You can run your AI/CV processes on frames that are illuminated by the IR LED. Note that the color camera doesn't perceive IR light, so you would need to use a mono camera stream for your AI/CV processes. ## Connectors M8 aux connector has 8pin female A-coded connector and the M12 ethernet has 8pin female X-coded connector. Cameras also include an M8 connector cap for waterproofing in case the M8 connector wouldn't be used. | Pin | M12 pin | M8 pin | M8 functionality | | --- | --- | --- | --- | | 1 | Eth MX0+ | GPIO_20/5V_RX | Either a 5V GPIO, or UART RX | | 2 | Eth MX0- | FSYNC/STROBE_5V | FSYNC is the default, STROBE can be enabled | | 3 | Eth MX1+ | USB D+ | USB 2.0 Host interface (Can't be used alongside USB-C interface) | | 4 | Eth MX1- | USB D- | USB 2.0 Host interface (Can't be used alongside USB-C interface) | | 5 | Eth MX3+ | 5V | This pin is used for sourcing 5V power (max 5W) to accessory devices connected to the M8 connector. | | 6 | Eth MX3- | GPIO_21/5V_TX | Either a 5V GPIO, or UART TX | | 7 | Eth MX2+ | DET_PIN | Used to detect what device is connected, can't be used for any other purpose | | 8 | Eth MX2- | GND | Ground | ## Power consumption The RVC4 itself has a maximum power peaks of about 25W, which is mainly consumed by the SoC, Qualcomm's QCS8550, that is integrated inside the RVC4. * Max peak: 25W * Max average: 10-15W * Average idle: 1.6W * Booting peak: 12W * Booting average: 2.3W (~15sec) ## IMU This OAK camera has an integrated ICM-42688-P, a 6-axis IMU (Inertial Measurement Unit). A separate AK09919C, a 3-axis magnetometer is also integrated to allow for 9-axis IMU functionality. ## Laser Safety This product is classified as a Class 1 Laser Product under the EN/IEC 60825-1, Edition 3 (2014) internationally. * Do not power on the product if any external damage was observed. * Do not attempt to open any portion of this laser product. * Invisible laser radiation when opened. Avoid direct exposure to the beam. * There are no user serviceable parts with this laser product. * Modification or service of the stereo module, specifically the infrared projector, may cause the emissions to exceed Class 1. * No magnifying optical elements, such as eye loupes and magnifiers, are allowed. * Do not try to update camera firmware that is not officially released for specific camera module and revision.