Object tracking: 2D and 3D tracking with ObjectTracker node
On-device programming: Run custom logic/tasks on-device (guide)
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.
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
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.
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.
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""")78with dai.Device()as device:9# Or, using the dai.Device object from the host:10 device.setIrLaserDotProjectorIntensity(0.5)# in %, from 0 to 111 device.setIrFloodLightIntensity(0.0)# in %, from 0 to 1
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
Pro devices might consume up to 15W of power, so it's recommended to use external 15+W power supply with Y-adapter.
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.
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
