OAK-D-CM3¶
Overview¶
Warning
We recommend using the OAK-D-CM4, the latest model, unless you are sure you need this one.
Based on the Raspberry PI CM3, the OAK-D-CM3 (BW1097) combines a host and the OAK-SoM to allow for fully integrated solution for real-time Spatial AI. OAK-SoM is connected to the RPi CM3 via USB2 lines (on PCB).
Hardware specifications¶
Camera module specifications¶
You can select either FF or AF color camera, more information here.
Camera Specs |
Color camera |
Stereo pair |
|---|---|---|
Sensor |
IMX378 (PY004 AF, PY052 FF) |
OV9282 (PY003) |
DFOV / HFOV / VFOV |
81° / 69° / 55° |
82° / 77° / 53° |
Resolution |
12MP (4056x3040) |
1MP (1280x800) |
Focus |
AF: 8cm - ∞, FF: 50cm - ∞ |
FF: 19.6cm - ∞ |
Max Framerate |
60 FPS |
120 FPS |
F-number |
1.8 ±5% |
2.0 ±5% |
Lens size |
1/2.3 inch |
1/4 inch |
Effective Focal Length |
4.81mm |
2.35mm |
Distortion |
< 1% AF, < 1.5% FF |
< 1% |
Pixel size |
1.55µm x 1.55µm |
3µm x 3µm |
RVC2 inside¶
This OAK device is built on top of the RVC2. Main features:
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
Stereo depth perception¶
This OAK camera has a baseline of 9.0cm - the distance between the left and the right stereo camera. Minimal and maximal depth perception (MinZ and Max) depends on camera FOV, resolution, and baseline- more information here.
Ideal range: 85cm - 10m
MinZ: ~20cm (400P, extended), ~40cm (400P OR 800P, extended), ~80cm (800P)
MaxZ: ~17 meters with a variance of 10% (depth accuracy evaluation)
Extended means that StereoDepth node has Extended disparity mode enabled.
Getting started¶
The OAK-D-CM3 accepts 5V (+/-10%) from a 5.5m x 2.5mm barrel jack. Raspberry PI USB boot can be accessed by setting a header jumper, which allows initial flash of eMMC on CM3/CM3+. Alternatively the microSD slot can be used with a bootable system image. The Raspberry PI JTAG header is not populated by default, but can be added, allowing JTAG access.
The reset button resets the OAK-SoM only. To reset the CM3/CM3+, ground the RUN header via to the GND header via.
The PWR LED indicates “power good” for the BW1097 on-board PMIC. The ACT LED indicates activity on the CM3/CM3+ device. Other indicator LEDs exist for the two USB2.0 Type A ports and for the 10/100 Ethernet port.