# OAK-D

## Specification

### Variant: OAK-D

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

[Datasheet](https://github.com/luxonis/depthai-hardware/blob/master/BW1098OAK_USB3C/Datasheet/OAK-D_Datasheet.pdf)

| Property | Value |
| --- | --- |
| Based on | RVC2 |
| Connection | USB 2/3 (up to 10 Gbps) |
| Dot projector | No |
| Infrared | No |
| IMU | Yes |

#### Sensor 1, 3 - OV9282

 * Type: Monochrome
 * [DFOV / HFOV / VFOV: 81° / 72° /
   49°](https://fov.luxonis.com/?horizontalFov=72&verticalFov=49&horizontalResolution=1280&verticalResolution=800)
 * Size: 1/4
 * Shutter: Global
 * Focus: Fixed
#### Sensor 2 - IMX378

 * Type: Color
 * [DFOV / HFOV / VFOV: 81° / 69° /
   55°](https://fov.luxonis.com/?horizontalFov=69&verticalFov=55&horizontalResolution=4056&verticalResolution=3040)
 * Size: 1/2.3
 * Shutter: Rolling
 * Focus: Auto
## RVC2 inside

This OAK device is built on top of the [RVC2](https://docs.luxonis.com/hardware/platform/rvc/rvc2.md) architecture, with main
features being:

## Stereo depth perception

This OAK camera has a baseline of 75cm - the distance between the left and the right stereo camera. Minimal and maximal depth
perception (MinZ and MaxZ) depends on camera FOV, resolution, and baseline - [more information
here](https://docs.luxonis.com/projects/api/en/latest/tutorials/configuring-stereo-depth/#how-baseline-distance-and-focal-length-affect-depth).

 * - [Ideal
   range](https://docs.luxonis.com/projects/api/en/latest/tutorials/configuring-stereo-depth/#move-the-camera-closer-to-the-object):
   ~80cm - 12m
    - [MinZ](https://docs.luxonis.com/projects/api/en/latest/tutorials/configuring-stereo-depth/#short-range-stereo-depth): ~20cm
      (400P + [extended
      disp](https://docs.luxonis.com/projects/api/en/latest/tutorials/configuring-stereo-depth/#stereo-extended-disparity-mode)),
      ~40cm (400P OR 800P +
      [extended](https://docs.luxonis.com/projects/api/en/latest/tutorials/configuring-stereo-depth/#stereo-extended-disparity-mode)),
      ~80cm (800P)
    - Median depth accuracy (See [these docs](https://docs.luxonis.com/hardware/platform/depth/depth-accuracy.md) for more info):
      * below 4m: below 2% absolute depth error
      * 4m - 7m: below 4% absolute depth error
      * 7m - 10m: below 6% absolute depth error

## Power consumption

Most of the power is consumed by the [RVC2](https://docs.luxonis.com/hardware/platform/rvc/rvc2.md), so the power consumption
mostly depends on the workload of the VPU:

 * - Base consumption + camera streaming: 2.5W - 3W
    - AI subsystem consumption: Up to 1W
    - Stereo depth pipeline subsystem: Up to 0.5W
    - Video Encoder subsystem: Up to 0.5W

To reduce the power consumption, you can reduce FPS of the whole pipeline - that way, subsystems won't be utilized at 100% and
will consume less power.

## IMU

This OAK camera has an integrated BNO086, a 9-axis IMU (Inertial Measurement Unit). See [IMU
node](https://docs.luxonis.com/projects/api/en/latest/components/nodes/imu/) for the API details on how to use it.

## Operating temperature

The ambient operating temperature of [RVC2](https://docs.luxonis.com/hardware/platform/rvc/rvc2.md)-based devices is between -20°C
and 50°C when fully utilizing the VPU.

Similarly to the power consumption, the max operating temperature depends on VPU utilization. The higher the VPU utilization, the
more heat the VPU will generate. The RVC2 VPU can continuously operate at 105 °C, after which the depthai library will
automatically shut down the device (to avoid chip damage).

To find out more, see our [Operating
Temperature](https://docs.luxonis.com/hardware/platform/environmental-specifications/operating-temperature.md) documentation.

## Similar models

- [OAK-D Lite](https://docs.luxonis.com/hardware/products/OAK-D%20Lite.md)