Buy it on Luxonis shop



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

Camera module specifications

You can select either FF or AF color camera, more information here.

Camera Specs

Color camera

Stereo pair


IMX378 (PY004 AF, PY052 FF)

OV9282 (PY003)


81° / 69° / 55°

89° / 80° / 55°


12MP (4056x3040)

1MP (1280x800)


AF: 8cm - ∞, 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:

Stereo depth perception

This OAK camera has a baseline of 9.0cm - 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.

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


Got questions?

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