OAK-D Pro

OAK-D Pro
Shop Datasheet

Based on

RVC2

Connection

USB 2/3 (up to 10 Gbps)

Dot projector

Yes

Infrared

Yes

IMU

Yes

Sensor 1, 3 - OV9282

Type

Monochrome

DFOV / HFOV / VFOV

89.5° / 80° / 55°

Size

1/4"

Shutter

Global

Focus

Fixed

Sensor 2 - IMX378

Type

Color

DFOV / HFOV / VFOV

78° / 66° / 54°

Size

1/2.3"

Shutter

Rolling

Focus

Auto

Stereo

IR Projector

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

Stereo depth perception

800p 75This 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.

Ideal range: ~80cm - 12m

MinZ: ~20cm (400P + extended disp), ~40cm (400P OR 800P + extended), ~80cm (800P)

Median depth accuracy (See these docs for more info):

below 4m: below 2% absolute depth error
4m - 7m: below 4% absolute depth error
7m - 10m: below 6% absolute depth error

IR perception

The Pro version of this device has notch IR filters at 940nm 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

IR Illumination LED

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 - 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.

Laser dot projector and flood LED are disabled by default! That's because most people would prefer intentionally enabling the laser dot projector when they are wearing eye safety gear.

Getting started

You can set IR laser dot projector and illumination LED via the API as below:

Python

1# Either within Script node:
2script = pipeline.create(dai.node.Script)
3script.setScript("""
4  Device.setIrLaserDotProjectorIntensity(0.5)
5  Device.setIrFloodLightIntensity(0)
6""")
7
8with dai.Device(pipeline) as device:
9  # Or, using the dai.Device object from the host:
10  device.setIrLaserDotProjectorIntensity(0.5) # in %, from 0 to 1
11  device.setIrFloodLightIntensity(0.0) # in %, from 0 to 1

You can set these two parameters in DepthAI Viewer in the Depth drop-down menu:

Dot projector specifications

Projector Specs	Value
Dot projector	Ams Belago1.1 Dot-Pattern Infrared Illuminator
Number of dots	4700
HFOI* 50%	78 ± 7%
VFOI* 50%	61° ± 7%
VSCEL wavelength	940nm
Operating temperature	10°C to ~60°C
Temperature absolute limits	0°C to ~80°C
PDF	Click here

FOI = Field of illumination. Also note that in the datasheet, HFOI and VFOI are switched, that's because we mount the Belago1.1 rotated as we want greater horizontal field to match field of cameras.Regarding operating temperature; some customers use dot projector even at lower ambient temperatures, but first wait a few minutes for device to heat up (by running AI/CV/stereo depth...) so projector gets to above 0°C.

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. You can also decrease power (and brightness) of the illumination LED and dot projector to reduce the overall power consumption of the device.

Illumination LED and laser dot projector

Power configurable (more power - more brightness):

Dot projector (active stereo): Up to 1W
Illumination LED (night vision): Up to 1W

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 Operative Temperature documentation.

Vibration Testing

This OAK device has been tested for vibration tolerance according to the EN 60068-2-6:2008 standard:

Vibration Report - Report of the vibration stress tests performed by the SIQ (3rd-party lab)
Vibration Results - Results of Camera Focus, Camera Angles, and Stereo Depth Accuracy before and after the vibration stress tests

More information can be found at Vibration Tolerance documentation.

Similar models

OAK-D S2 OAK-D W OAK-D Pro OAK-D Pro W

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.

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