# OAK-D Pro W PoE ## Specification ### Variant: IMX378 [Shop](https://shop.luxonis.com/products/oak-d-pro-w-poe?RGB+Camera=Auto-focus) | Property | Value | | --- | --- | | Based on | RVC2 | | Connection | Ethernet 1Gbps | | Dot projector | Yes | | Infrared | Yes | | IMU | Yes | | Wide FOV | Yes | #### Sensor 1, 3 - OV9282 * Type: Monochrome * [DFOV / HFOV / VFOV: 150° / 127° / 79.5°](https://fov.luxonis.com/?horizontalFov=127&verticalFov=79.5&horizontalResolution=1280&verticalResolution=800) * Size: 1/4 * Shutter: Global * Focus: Fixed #### Sensor 2 - IMX378 * Type: Color * [DFOV / HFOV / VFOV: 120° / 95° / 72°](https://fov.luxonis.com/?horizontalFov=95&verticalFov=72&horizontalResolution=4056&verticalResolution=3040) * Size: 1/2.3 * Shutter: Rolling * Focus: Fixed ### Variant: OV9782 [Shop](https://shop.luxonis.com/products/oak-d-pro-w-poe) | Property | Value | | --- | --- | | Based on | RVC2 | | Connection | Ethernet 1Gbps | | Dot projector | Yes | | Infrared | Yes | | IMU | Yes | | Wide FOV | Yes | #### Sensor 1, 3 - OV9282 * Type: Monochrome * [DFOV / HFOV / VFOV: 150° / 127° / 79.5°](https://fov.luxonis.com/?horizontalFov=127&verticalFov=79.5&horizontalResolution=1280&verticalResolution=800) * Size: 1/4 * Shutter: Global * Focus: Fixed #### Sensor 2 - OV9782 * Type: Color * [DFOV / HFOV / VFOV: 150° / 127° / 79.5°](https://fov.luxonis.com/?horizontalFov=127&verticalFov=79.5&horizontalResolution=1280&verticalResolution=800) * Size: 1/4 * Shutter: Global * Focus: Fixed ## 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)) ## 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](https://docs.luxonis.com/hardware/platform/depth/configuring-stereo-depth.md#how-baseline-distance-and-focal-length-affect-depth). [Ideal range](https://docs.luxonis.com/hardware/platform/depth/configuring-stereo-depth.md#move-the-camera-closer-to-the-object): ~70cm - 12m [MinZ](https://docs.luxonis.com/hardware/platform/depth/configuring-stereo-depth.md#short-range-stereo-depth): ~20cm (400P + [extended disp](https://docs.luxonis.com/hardware/platform/depth/configuring-stereo-depth.md#stereo-extended-disparity-mode)), ~40cm (400P OR 800P + [extended](https://docs.luxonis.com/hardware/platform/depth/configuring-stereo-depth.md#stereo-extended-disparity-mode)), ~70cm (800P) Median depth accuracy (See [these docs](https://docs.luxonis.com/hardware/platform/depth/depth-accuracy.md) 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](https://github.com/luxonis/oak-hardware/assets/18037362/b3e5caf3-1dd9-4156-b9a9-d81041945230) 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](https://en.wikipedia.org/wiki/Computer_stereo_vision#Conventional_active_stereo_vision_(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. ## Connectors M8 aux connector has 8pin female A-coded connector and the M12 ethernet has 8pin female X-coded connector. Cameras also include an M8 connector cap for waterproofing in case the M8 connector wouldn't be used. | Pin | M12 pin | M8 pin | M8 functionality | | --- | --- | --- | --- | | 1 | Eth MX0+ | AUX GPIO 3V3 | 3V3 auxiliary GPIO **52**. Pull this pin high with 10k resistor at startup for **USB boot**. | | 2 | Eth MX0- | FSYNC ISO | Isolated Frame synchronization input signal for cameras | | 3 | Eth MX1+ | USB D+ | USB 2.0 interface that can be used to connect to the OAK device (eg. reflash) if USB boot is enabled (via AUX GPIO 3V3). | | 4 | Eth MX1- | USB D- | USB 2.0 interface that can be used to connect to the OAK device (eg. reflash) if USB boot is enabled (via AUX GPIO 3V3). | | 5 | Eth MX3+ | VBUSIN | This pin is used for sourcing 5V power to accessory devices connected to the M8 connector. If trying to boot the device in USB boot mode, this pin can also sink current. | | 6 | Eth MX3- | Strobe ISO | Isolated Strobe output signal for cameras (Open Collector) | | 7 | Eth MX2+ | Isolated GND | Isolated ground for Strobe/FSYNC | | 8 | Eth MX2- | GND | Ground | External triggering: Sensors require 1V8 rising edge on FSYNC for the trigger event. We are using an optocoupler and ESD protection diode, so the input trigger voltage should be 12V (up to 24V) and the trigger logic is reversed, so trigger event happens at 0V on the FSYNC line. For an example, see [External FSYNC Example](https://docs.luxonis.com/hardware/platform/deploy/frame-sync.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 + PoE circuitry + camera streaming: 3W - 3.5W 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](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. ## Vibration Testing This OAK device has been tested for vibration tolerance according to the EN 60068-2-6:2008 standard: * [Vibration Report](https://www.luxonis.com/assets/marketing/certificates/Vibration_Test_Report.pdf) - Report of the vibration stress tests performed by the [SIQ](https://www.siq.si/en/) (3rd-party lab) * [Vibration Results](https://www.luxonis.com/assets/marketing/certificates/Vibration_Test_Results.pdf) - 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](https://docs.luxonis.com/hardware/platform/environmental-specifications/vibration-tolerance.md) documentation. ## Similar models ## 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.