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The OAK-D baseboard has three on-board cameras which implement stereo and RGB vision, piped directly into the OAK SoM for depth and AI processing. The data is then output to a host via USB 3.1 Gen1 (Type-C).

Hardware specifications

This OAK camera uses USB-C cable for communication and power. It supports both USB2 and USB3 (5Gbps / 10Gbps).

Sensor specifications

You can select either FF or AF color camera, more information here.

Camera Specs

Color camera

Stereo pair


IMX378 (PY004 AF, PY052 FF)

OV9282 (PY003)


81° / 69° / 55°

82° / 72° / 50°


12MP (4032x3040)

1MP (1280x800)


AF: 8cm - ∞, FF: 50cm - ∞

FF: 19.6cm - ∞

Max Framerate

60 FPS

120 FPS


1.8 ±5%

2.0 ±5%

Lens size

1/2.3 inch

1/4 inch

Effective Focal Length




< 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:

Dimensions and Weight


Weight: 115g total, OAK-D-PCBA 43g

Depth perception

This OAK camera has a baseline of 7.5cm - the distance between left and right stereo camera. Minimal and maximal depth perception depends on camera FOV, resolution, and baseline - more information here.

  • MinZ: ~20cm (400P, extended), ~35cm (400P OR 800P, extended), ~70cm (800P)

  • Theoretical MaxZ, docs): ~35 meters

  • Practical MaxZ (real world): ~15 meters with a variance of 10% (depth accuracy evaluation)

Extended means that StereoDepth node has Extended disparity mode enabled.


In the past we also sold OAK-D PCBA, which is essentially an OAK-D without an enclosure and instead has a heatsink. This could still be useful for some applications where size/weight is really critical (eg. drones), and PCBA also exposes some additional connectors.

../_images/BW1098OBC_an.jpg ../_images/BW1098OBC_dims.jpg

Getting started

The OAK-D is powered via USB Type-C or from a 5V, 5.5m x 2.5mm barrel jack. USB3 5Gbps speeds are standard for streaming video or data from the device. With cameras and the OAK-SoM, total power consumption usually stays below the 900ma specification of USB 3, but Type-C power of 1.5A or greater is recommended.

Interfacing with the OAK-SoM is also possible with OAK-D connector pads J4, J5, and J6. These pads are designed for the Amphenol/FCI 20021121-00010T1LF or equivalent. Please refer to the schematics for pinout information.

The reset button is not populated by default on the OAK-D, but can be added. Alternativey, the :ref:`OAK-SoM`can be reset by shorting RST to ground.

The 5V LED indicates 5V power is present on the PCBA. The PG LED indicates “power good” from the OAK-SoM. The “RUN” LED indicates that the OAK-SoM is not in reset.


3D Models

  • Board (PCBA) STEP files here

  • Enclosure STEP files here