OAK-D¶
Overview¶
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).
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 |
||
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 |
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 7.5cm - 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: 70cm - 8m
MinZ: ~20cm (400P, extended), ~35cm (400P OR 800P, extended), ~70cm (800P)
MaxZ: ~15 meters with a variance of 10% (depth accuracy evaluation)
Extended means that StereoDepth node has Extended disparity mode enabled.
Integrated IMU¶
This OAK camera has an integrated BNO085, a 9-axis IMU (Inertial Measurement Unit). See IMU node for the API details on how to use it.
Note: 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.
OAK-D PCBA¶
Available despite decreasing demand, OAK-D PCBA 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.
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. Alternatively, 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.