# OAK-D W ## Specification ### Variant: IMX378 [Shop](https://shop.luxonis.com/products/oak-d-w)[Datasheet](https://github.com/luxonis/depthai-hardware/blob/master/DM9098_OAK-D-S2/Datasheet/OAK-D-S2_Datasheet.pdf) | Property | Value | | --- | --- | | Based on | RVC2 | | Connection | USB 2/3 (up to 10 Gbps) | | Dot projector | No | | Infrared | No | | 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-w?Central+RGB+Camera=OV9782)[Datasheet](https://github.com/luxonis/depthai-hardware/blob/master/DM9098_OAK-D-S2/Datasheet/OAK-D-S2_Datasheet.pdf) | Property | Value | | --- | --- | | Based on | RVC2 | | Connection | USB 2/3 (up to 10 Gbps) | | Dot projector | No | | Infrared | No | | 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 ## 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. > Due to supply chain issues, most of the OAK camera that were manufactured between Q2 2021 and Q2 2023 have integrated BMI270 - 6-axis IMU instead. ## 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