Based on the OAK-D-CM3 and Raspberry PI CM4IO board, the OAK-D-CM4 (DM1097) combines a host and the Luxonis DepthAI SoM to allow for a fully integrated solution for real-time spatial AI. The biggest difference in DM1097 and OAK-D-CM3 architecture is that DM1097 integrates CM4 module, has gigabit ethernet, and populated with MagJack supporting PoE. PoE can be used with additional PoE Hat.

Board Layout


Dimensions and Weight

  • Width: 110 mm

  • Height: 60 mm

  • Length: 27 mm

  • Weight: 106g


Key features

  • Support for onboard stereo and RGB camera modules

  • Interface for Luxnois DepthAI SoM

  • Interface for Raspberry PI CM4 - Wireless, 4GB RAM, 8GB storage (PN: CM4104008)

  • USB2 interface between CM4 and DepthAI SoM

  • 2x USB2

  • 1x Aux USB2

  • Gigabit Ethernet connected directly to CM4

  • Raspberry PI CSI/DSI support

  • Raspberry PI USB boot option

  • Standard 40-pin header for CMIO/CM4

  • HDMI output

  • 5V barrel jack input

  • Support for 5V fan

  • TRS Audio output

  • microSD card support

  • Design files produced with Altium Designer 20


Minimal and maximal perceiving distances of the camera

Minimal depth perceiving distance of the camera depends on mono camera FOV, resolution, baseline and stereo depth mode, more info is available on the Stereo Depth documentation.

OAK-D-CM4 has a baseline of 9cm and by varying the resolution and stereo depth mode, we get the following minimal depth perceiving distances:

  • Min distance (800P): ~ 80cm

  • Min distance (400P): ~ 40cm

  • Min distance with extended disparity (800P): ~ 40cm

  • Min distance with extended disparity (400P): ~ 20.9cm

Maximal perceiving distance for OAK-D-CM4: 45.9 meters

For more information about the maximum distance see the Stereo Depth documentation.

Altium Design Files

See files here

3D Models

  • Board STEP files here

Got questions?

We’re always happy to help with code or other questions you might have.