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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


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 IP67 rated enclosure.

Sensor 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°

82° / 72° / 50°


12MP (4032x3040)

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




< 1% AF, < 1.5% FF

< 1%

Pixel size

1.55µm x 1.55µm

3µm x 3µm

RVC2 inside

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

Dimensions and Weight

Weight: 318g

../_images/dimensions.png ../_images/cm4-poe-back.png

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.


3D Models

  • Board STEP files here

  • Enclosure STEP files here