Overview :
The OAK-D baseboard has three on-board cameras which implement stereo and RGB vision, piped directly into the OAK SoM for depth and AI processing. The data is then output to a host via USB 3.1 Gen1 (Type-C).
Hardware specifications :
This OAK camera uses USB-C cable for communication and power. It supports both USB2 and USB3 (5Gbps / 10Gbps).
Sensor specifications
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Camera Specs
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Color camera
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Stereo pair
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Sensor
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IMX378
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OV9282
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DFOV / HFOV / VFOV
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81° / 69° / 55°
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82° / 72° / 50°
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Resolution
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12MP (4032x3040)
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1MP (1280x800)
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Focus
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Auto-Focus: 8cm - ∞
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Fixed-Focus: 19.6cm - ∞
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Max Framerate
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60 FPS
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120 FPS
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F-number
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2.0
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2.2
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Lens size
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1/2.3 inch
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1/4 inch
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Pixel size
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1.55µm x 1.55µm
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3µm x 3µm
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RVC2 inside :
This OAK device is built on top of the RVC2. Main features:
1. 4 TOPS of processing power (1.4 TOPS for AI)
2. Run any AI model, even custom architectured/built ones - models need to be converted.
3. Encoding: H.264, H.265, MJPEG - 4K/30FPS, 1080P/60FPS
4. Computer vision: warp/dewarp, resize, crop via ImageManip node, edge detection, feature tracking. You can also run custom CV functions
5. Stereo depth perception with filtering, post-processing, RGB-depth alignment, and high configurability
6. Object tracking: 2D and 3D tracking with ObjectTracker node
Weight: 115g total, OAK-D-PCBA 43g
Depth perception
This OAK camera has a baseline of 7.5cm - the distance between left and right stereo camera. Minimal and maximal depth perception depends on camera FOV, resolution, and baseline - more information here.
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Min perceivable distance: ~20cm (400P, extended), ~35cm (400P OR 800P, extended), ~70cm (800P)
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Max perceivable distance: ~35 meters
Extended means that StereoDepth node has Extended disparity mode enabled, more information here. Maximum perceivable distance calculation here.
OAK-D PCBA :
In the past we also sold OAK-D PCBA, which is essentailly an OAK-D without an enclosure and instead has a heatsink. This could still be useful for some applications where size/weight is really critical (eg. drones), and PCBA also exposes some additional connectors.
Getting started
The OAK-D is powered via USB Type-C or from a 5V, 5.5m x 2.5mm barrel jack. USB3 5Gbps speeds are standard for streaming video or data from the device. With cameras and the OAK-SoM, total power consumption usually stays below the 900ma specification of USB 3, but Type-C power of 1.5A or greater is recommended.
Interfacing with the OAK-SoM is also possible with OAK-D connector pads J4, J5, and J6. These pads are designed for the Amphenol/FCI 20021121-00010T1LF or equivalent. Please refer to the schematics for pinout information.
The reset button is not populated by default on the OAK-D, but can be added. Alternativey, the :ref:`OAK-SoM`can be reset by shorting RST to ground.
The 5V LED indicates 5V power is present on the PCBA. The PG LED indicates “power good” from the OAK-SoM. The “RUN” LED indicates that the OAK-SoM is not in reset.
