OAK-D W¶
Overview¶
The OAK-D W is a Wide Field of View (FoV) version of the OAK-D S2.
Looking for the Normal FOV OAK-D S2? You can find it here.
Hardware specifications¶
This OAK camera uses USB-C cable for communication and power. It supports both USB2 and USB3 (5Gbps / 10Gbps).
Camera module specifications¶
For the wide FOV version you can select either 120° DFOV IMX378 (12MP) or 150° DFOV color OV9782 (1MP) color camera.
Camera Specs |
Color camera |
Stereo pair |
|---|---|---|
Sensor |
IMX378 (PY060) |
OV9282 (PY059) |
DFOV / HFOV / VFOV |
||
Rectified Depth FOV |
N/A |
|
Resolution |
12MP (4056x3040) |
1MP (1280x800) |
Focus |
FF: 60cm - ∞ |
FF: 18cm - ∞ |
Max Framerate |
60 FPS |
120 FPS |
F-number |
2.8 ±5% |
2 ±5% |
Lens size |
1/2.3 inch |
1/4 inch |
Effective Focal Length |
2.75mm |
1.69mm |
Pixel size |
1.55µm x 1.55µm |
3µm x 3µm |
Wide FOV lenses can only be fixed-focus.
Left: normal FOV, Right: Wide FOV
For the wide FOV version you can select either 120° DFOV IMX378 (12MP) or 150° DFOV color OV9782 (1MP) color camera.
Camera Specs |
Color camera |
Stereo pair |
|---|---|---|
Sensor |
OV9782 (PY058) |
OV9282 (PY059) |
DFOV / HFOV / VFOV |
||
Rectified Depth FOV |
N/A |
|
Resolution |
1MP (1280x800) |
1MP (1280x800) |
Focus |
FF: 18cm - ∞ |
FF: 18cm - ∞ |
Max Framerate |
120 FPS (800P) |
120 FPS (800P) |
F-number |
2 ±5% |
2 ±5% |
Lens size |
1/4 inch |
1/4 inch |
Effective Focal Length |
1.69mm |
1.69mm |
Pixel size |
3µm x 3µm |
3µm x 3µm |
Wide FOV lenses can only be fixed-focus.
Left: normal FOV, Right: Wide FOV
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 7.5cm - 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: 40cm - 6m
MinZ: ~20cm (400P OR 800P, extended), ~37cm (800P)
MaxZ: ~10 meters with a variance of 10% (depth accuracy evaluation)
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.