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OAK-D-CM4 is based off of the OAK-D-CM3 and it combines a host (RPi CM4) and the OAK-SoM to allow for a fully standalone and integrated solution for real-time Spatial AI.

The biggest difference between OAK-D-CM4 and OAK-D-CM3 architecture is that OAK-D-CM4 integrates a CM4 module, has gigabit ethernet, and is populated with MagJack supporting PoE. PoE can be used with additional PoE Hat. CM4 modules also have WiFi and Bluetooth connectivity.

Most OAK-D-CM4 devices have eMMC memory on-board. If you would like to flash a new image to it, follow the tutorial here. OAK-SoM is connected to the RPi CM4 via USB2 lines (on PCB).

Hardware specifications

Sensor specifications

Camera Specs

Color camera

Stereo pair





81° / 69° / 55°

82° / 72° / 50°


12MP (4032x3040)

1MP (1280x800)


Auto-Focus: 8cm - ∞

Fixed-Focus: 19.6cm - ∞

Max Framerate

60 FPS

120 FPS




Lens size

1/2.3 inch

1/4 inch

Pixel size

1.55µm x 1.55µm

3µm x 3µm

RVC2 inside

This OAK device is built on top of the RVC2. Main features:

Depth perception

This OAK camera has a baseline of 9.0cm - 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), ~40cm (400P OR 800P, extended), ~80cm (800P)

  • Theoretical MaxZ, docs): ~35 meters

  • Practical MaxZ (real world): ~17 meters with a variance of 10% (depth accuracy evaluation)

Extended means that StereoDepth node has Extended disparity mode enabled.

Dimensions and Weight

  • Width: 110 mm

  • Height: 60 mm

  • Length: 27 mm

  • Weight: 106g


Board Layout

../_images/DM1097.jpg ../_images/DM1097_side.jpg

3D Models

  • Board STEP files here