OAK-D-CM4¶
Overview¶
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 |
|---|---|---|
Sensor |
IMX378 (PY004 AF, PY052 FF) |
OV9282 (PY003) |
DFOV / HFOV / VFOV |
||
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:
4 TOPS of processing power (1.4 TOPS for AI - RVC2 NN Performance)
Run any AI model, even custom-architectured/built ones - models need to be converted.
Encoding: H.264, H.265, MJPEG - 4K/30FPS, 1080P/60FPS
Computer vision: warp/dewarp, resize, crop via ImageManip node, edge detection, feature tracking. You can also run custom CV functions
Stereo depth perception with filtering, post-processing, RGB-depth alignment, and high configurability
Object tracking: 2D and 3D tracking with ObjectTracker node
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.
Ideal range: 85cm - 10m
MinZ: ~20cm (400P, extended), ~40cm (400P OR 800P, extended), ~80cm (800P)
MaxZ: ~17 meters with a variance of 10% (depth accuracy evaluation)
Extended means that StereoDepth node has Extended disparity mode enabled.
