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
Size
1/4
Shutter
Global
Focus
Fixed
Sensor 2 - IMX378
Type
Color
DFOV / HFOV / VFOV
Size
1/2.3
Shutter
Rolling
Focus
Fixed
Stereo
Wide FOV
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
- 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.- Ideal range: ~70cm - 12m
- MinZ: ~20cm (400P + extended disp), ~40cm (400P OR 800P + extended), ~70cm (800P)
- Median depth accuracy (See these docs for more info):
- below 3.5m: below 2% absolute depth error
- 3.5m - 6.5m: below 4% absolute depth error
- 6.5m - 9m: 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
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.
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
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 |
| Click here |
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
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 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
Similar models
OAK-D S2OAK-D WOAK-D ProOAK-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.