OAK-D LR

OAK-D LR
Shop Datasheet

Based on

RVC2

Connection

USB 2/3 (up to 10 Gbps)

Ethernet 1Gbps

Dot projector

Infrared

IMU

Yes

Sensor 1, 2, 3 - AR0234

Type

Color

DFOV / HFOV / VFOV

100° / 82° / 56°

Size

1/2.6

Shutter

Global

Focus

Fixed

Stereo

Looking for more details? Visit specific features at Platform -> Features

RVC2 inside

This OAK device is built on top of the RVC2 architecture, with main features being:

4 TOPS of processing power (1.4 TOPS for AI) - RVC2 NN Performance

Run any AI model, even custom-architectured/built ones - models need to be converted.

Encoding: H.264, H.265, MJPEG - 4K/30FPS, 1080P/60FPS

Computer vision: warp/dewarp, resize, crop via ImageManip node, edge detection, feature tracking. You can also run custom CV functions

Stereo depth perception with filtering, post-processing, RGB-depth alignment, and high configurability

Object tracking: 2D and 3D tracking with ObjectTracker node

On-device programming: Run custom logic/tasks on-device (guide)

Theoretical depth accuracy

As M12 lenses are swappable, user can easily change lenses to achieve wider FOV, or longer depth perception (narrower FOV):

HFOV [°]	< 2% depth error	< 4% depth error	< 8% depth error	MinZ
10	54.9 m	137.2 m	274.3 m	1.92 m
20	27.2 m	68.1 m	136.1 m	95 cm
30	17.9 m	44.8 m	89.6 m	63 cm
40	13.2 m	33.0 m	65.9 m	46 cm
50	10.3 m	25.7 m	51.5 m	36 cm
60	8.3 m	20.8 m	41.6 m	29 cm
70	6.9 m	17.1 m	34.3 m	24 cm
80	5.7 m	14.3 m	28.6 m	21 cm
82	5.5 m	13.8 m	27.6 m	20 cm
90	4.8 m	12.0 m	24.0 m	17 cm
100	4.0 m	10.1 m	20.1 m	14 cm

Note: we haven't tested all of these combinations, but calculated theoretical depth error and interpolated those values with our previous real-world tests when enabling subpixel disparity:

< 2% error - 20th disparity pixel, which has 5% full-pixel error (~2% with subpixel enabled)
< 4% error - 8th disparity pixel, which has 12.5% full-pixel error (~4% with subpixel enabled)
< 8% error - 4th disparity pixel, which has 25% full-pixel error (~10% with subpixel enabled)

Maximum depth was calculated by using the large (15cm) baseline, while MinZ was calculated by using the small (5cm) baseline of the OAK-D-LR. You can further decrease MinZ by lowering the resolution, or using disparity shift (docs here). MinZ values are already using Extended Disparity Mode.

Tested lenses

Lenses from 3 different lens kits were tested with the OAK-D LR device. The tables below show which lenses fit the device enclosure, what is their (measured) HFOV and if they match the sensor's size.In the device OAK-D LR, the sensor AR0234 with the size of 1/2.6'' is used. The lenses need to be wide enough so the light reaches the entire sensor. The Notes columns in the tables show whether the lens is big enough for the used sensor. The vignetting effect link is seen where the lens doesn't fit the sensor's size.

Lens kit 1 link

From lens kit 1, all lenses were tested except for the LN013

Lens model	SKU	Fits into enclosure*	HFOV	Measured HFOV	Notes
M25170H12	LN007	2 mm	180°	180°
M27195H15	LN055	2 mm	150°	150°
M27210H08	LN005	yes	125°	130°	Some vignetting
M27280M07S	LN013	/	90°	/
M25360H06S	LN012	yes	80°	80°
M2504ZH05S	LN011	<1 mm	70°	73°
M2506ZH04	LN003	3 mm	55°	55°
M2508ZH02	LN002	2.5 mm	40°	42°
M2512ZH03	LN065	3 mm	25°	25°
M2516ZH01	LN001	image not sharp	20°	/

*some lenses fit in the device, but the front enclosure doesn't close completely, which leads to degraded IP rating

Lens Kit 2 link

Lens model	SKU	Fits into enclosure*	HFOV	Measured HFOV
M25156H18	LN031	Maye ok	180°	180°
M23272M14	LN056	1 mm	140°	125°
M23356H09	LN033	2 mm	90°	80°
M23390H08	LN053	Maybe ok	70°	72°
M2306ZM13	LN024	2 mm	50°	50°
M2025ZM02	LN036	9 mm	20°	~13°

*some lenses fit in the device, but the front enclosure doesn't close completely, which leads to degraded IP rating

Lens Kit 3 link

Lens model	Fits into enclosure	HFOV	Measured HFOV	Notes
M40180H10	yes	100°	145°	Some vignetting

Power consumption

Most of the power is consumed by the RVC2, 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 for the API details on how to use it.

Operating temperature

The ambient operating temperature of RVC2-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 documentation.

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