# OAK-D LR

## Specification

### Variant: OAK-D LR

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

| Property | Value |
| --- | --- |
| Based on | RVC2 |
| Connection | USB 2/3 (up to 10 Gbps), Ethernet 1Gbps |
| Dot projector | No |
| Infrared | No |
| IMU | Yes |

## 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:

4 TOPS of processing power (1.4 TOPS for AI) - [RVC2 NN Performance](https://docs.luxonis.com/hardware/platform/rvc/rvc2.md) Run
any AI model, even custom-architectured/built ones - models need to [be
converted](https://docs.luxonis.com/software/ai-inference/conversion.md). Encoding: H.264, H.265, MJPEG - 4K/30FPS, 1080P/60FPS
Computer vision: warp/dewarp, resize, crop via
[ImageManip](https://docs.luxonis.com/software/depthai-components/nodes/image_manip.md) node, [edge
detection](https://docs.luxonis.com/software/depthai/examples/edge_detector.md), [feature
tracking](https://docs.luxonis.com/software/depthai/examples/feature_tracker.md). You can also [run custom CV
functions](https://docs.luxonis.com/software-v3/depthai/tutorials/on-device-programming.md) Stereo depth perception with
filtering, [post-processing](https://docs.luxonis.com/software/depthai/examples/depth_post_processing.md), [RGB-depth
alignment](https://docs.luxonis.com/software/depthai/examples/rgb_depth_aligned.md), and high
[configurability](https://docs.luxonis.com/software/depthai-components/nodes/stereo_depth.md#currently-configurable-blocks) Object
tracking: 2D and 3D tracking with [ObjectTracker](https://docs.luxonis.com/software/depthai-components/nodes/object_tracker.md)
node On-device programming: Run custom logic/tasks on-device
([guide](https://docs.luxonis.com/software-v3/depthai/tutorials/on-device-programming.md))

## 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/software/depthai-components/nodes/imu.md) 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.

## 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](https://docs.google.com/spreadsheets/d/1ymn-0D4HcCbzYP-iPycj_PIdSwmrLenlGryuZDyA4rQ/edit#gid=0) 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](https://docs.luxonis.com/hardware/platform/depth/configuring-stereo-depth.md#how-to-get-lower-minz)). 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](https://docs.luxonis.com/hardware/sensors/AR0234.md) 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](https://en.wikipedia.org/wiki/Vignetting) is seen where the lens
doesn't fit the sensor's size.

### Lens kit 1 [link](https://www.uctronics.com/lens/m12-mount-lens/arducam-m12-lens-set-arducam-lens-for-usb-camera.html)

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](https://www.uctronics.com/lens/m12-mount-lens/arducam-m12-lens-kit-for-raspberry-pi-hq-camera-fisheye-wide-angle-telephoto-m12-camera-lenses-with-lens-adapter.html.html)

| 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](https://www.uctronics.com/lens/m12-mount-lens/lk001.html)

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