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 Fixed Focus (FF) or Auto Focus (AF) color camera, more information here.
Camera Specs |
Color camera |
Stereo pair |
|---|---|---|
Sensor |
IMX378 (PY004 AF, PY052 FF) |
OV9282 (PY003) |
DFOV / HFOV / VFOV |
||
Resolution |
12MP (4056x3040) |
1MP (1280x800) |
Focus |
AF: 8cm - ∞ or 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 |
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
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%
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.
Power consumption¶
Most of the power is consumed by the RVC2 and by the Raspberry Pi Compute Module (CM), so the power consumption depends mostly on the workload of the VPU and CPU:
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
Raspberry Pi CM: Between 0.5W and 10W, depending on the CPU usage
So the total power consumption can be up to ~15W if you are using all the features at 100% at the same time. To reduce the power consumption, you can reduce CPU computation on the RPi CM, or FPS of the whole pipeline - that way, subsystems won’t be utilized at 100% and will consume less power.
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, 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 Operative temperature range documentation.