OAK-D

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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

81° / 69° / 55°

89° / 80° / 55°

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:

Dimensions and Weight

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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.

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

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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.

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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.

Brochures

3D Models

  • Board (PCBA) STEP files here

  • Enclosure STEP files here

Files

Got questions?

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