OAK-D CM4 PoE¶
Overview¶
The OAK-D CM4 PoE is an upgraded version of OAK-D-CM4, as PoE is used both for power delivery and communication for the Raspberry Pi Compute Module 4 (No wireless, 4GB RAM, 32GB eMMC, PN: CM4004032), and it comes in a IP67 rated enclosure. The enclosure is about the size as the OAK-D-PoE. The color camera is also close to the right camera, so RGB-depth alignment isn’t needed in most cases, which reduces system load.
The OAK-D CM4 PoE combines a host (RPi CM4) and the OAK-SoM-Pro to allow for a fully standalone and integrated solution for real-time Spatial AI.
PoE for RPi, not OAK¶
Note
Even though this device supports PoE, it doesn’t behave like an OAK POE devices!
You could look at this device exactly like having an Raspberry Pi 4 with an OAK-D connected to it (via USB), and having a PoE hat on the RPi.
Development works in the same way - user has to SSH/VNC into the RPi (see here), and then execute the scripts/apps on the RPi which connect to “the OAK” (OAK SOM). RPi CM4 is connected via USB3 (on PCB) to the OAK-SoM-Pro.
So users that have this device shouldn’t follow Getting started with OAK PoE devices guide, even though this device
has PoE in the name.
Hardware specifications¶
This OAK camera uses Power-over-Ethernet (PoE) for communication and power. It offers full 802.3af, Class 3 PoE compliance with 1000BASE-T speeds (1 Gbps) and has a micro SD (uSD) card connector. A PoE injector/switch is required to power the device. It also features an IP67-rated enclosure.
Camera module specifications¶
You can select either Fixed Focus (FF) or Auto Focus (AF) color camera, more information here.
Camera Specs |
Color camera |
Stereo pair |
|---|---|---|
Sensor |
IMX378 (PY004 AF) |
OV9282 (PY003) |
DFOV / HFOV / VFOV |
||
Resolution |
12MP (4056x3040) |
1MP (1280x800) |
Focus |
AF: 8cm - ∞ or 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
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%
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.
Power consumption¶
Most of the power is consumed by the RVC2 and by the Raspberry Pi Compute Module (CM), so the power consumption depends mostly on the workload of the VPU and CPU:
Base consumption + camera streaming: 2.5W - 3W
AI subsystem consumption: Up to 1W
Stereo depth pipeline subsystem: Up to 0.5W
Video Encoder subsystem: Up to 0.5W
Raspberry Pi CM: Between 0.5W and 10W, depending on the CPU usage
So the total power consumption can be up to ~15W if you are using all the features at 100% at the same time. To reduce the power consumption, you can reduce CPU computation on the RPi CM, or FPS of the whole pipeline - that way, subsystems won’t be utilized at 100% and will consume less power.
Operating temperature¶
The ambient operating temperature of RVC2 based devices is between -20°C and 50°C when fully utilizing the VPU.
Similarly to the Power consumption, max operating temperature depends on VPU utilization. The higher the VPU utilization, the more heat the VPU will generate. The RVC2 VPU can continuously operate at 105 °C, after which the depthai library will automatically shut down the device (to avoid chip damage).
To find out more, see our Operative temperature range documentation.