Buy it on Luxonis shop


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

Camera Specs

Color camera

Stereo pair


IMX378 (PY011 AF)

OV9282 (PY010 FF)


81° / 69° / 55°

81° / 72° / 49°


12MP (4056x3040)

1MP (1280x800)


AF: 8cm - ∞ or 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



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

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 depth range: 70cm - 12m

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

  • Median depth accuracy (See 800P, 75mm baseline distance OAKs for details):

    • below 4m: below 2% absolute depth error

    • 4m - 7m: below 4% absolute depth error

    • 7m - 10m: below 6% absolute depth error

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.


Buy it on Luxonis shop

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 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.

Power consumption

Most of the power is consumed by the RVC2, so the power consumption mostly depends on the workload of the VPU:

  • 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

So the total power consumption can be up to ~5W if you are using all the features at 100% at the same time. To reduce the power consumption, you can reduce 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.


3D Models

  • Board (PCBA) STEP files here

  • Enclosure STEP files here


Got questions?

Head over to Discussion Forum for technical support or any other questions you might have.