# OAK 4 SoM

## Specification

### Variant: OAK 4 SoM

[Shop](https://shop.luxonis.com/products/oak-4-som)

| Property | Value |
| --- | --- |
| Based on | RVC4 |
| Dot projector | Yes |
| Infrared | No |
| IMU | None |

## 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.

## 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)

## 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.