OAK4 Pro W

ShopDatasheet

Based on

RVC4

Connection

USB 2/3 (up to 10 Gbps), Ethernet 1Gbps

Dot projector

Yes

Infrared

Yes

IMU

Yes

Sensor 1 - IMX586

Type

Color

DFOV / HFOV / VFOV

120° / 0° / 0°

Size

1/2

Shutter

Rolling

Focus

Fixed

Sensor 2, 3 - OV9282

Type

Monochrome

DFOV / HFOV / VFOV

150° / 127° / 79.5°

Size

1/4

Shutter

Global

Focus

Fixed

Stereo

Wide FOV

IR Projector

Looking for more details? Visit specific features at Platform -> Features

IR perception

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

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.

Connectors

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.

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.