- Description
- Technical Specifications
- Package Includes
- Files
OAK-D CM4 is the ultimate camera for robotic vision that perceives the world like a human by combining a stereo depth camera and a high-resolution color camera with on-device Neural Network inferencing and Computer Vision capabilities.
For a smooth getting started experience with the USB camera, we recommend following USB deployment guide.
OAK-D CM4 is the ultimate camera for robotic vision that perceives the world like a human by combining stereo depth camera and high-resolution color camera with an on-device Neural Network inferencing and Computer Vision capabilities.
RVC2 architecture on-board features:
- 4 TOPS of processing power (1.4 TOPS for AI - RVC2 NN Performance)
- Run any AI model, even custom architected/built ones (models need to be converted)
- Encoding: H.264, H.265, MJPEG - 4K/30FPS, 1080P/60FPS
- Computer vision: warp (undistortion), 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
- CM4: Raspberry Pi acts as a host computer, which you can access via SSH/VNC. CM4 connects to the OAK-SOM, see Deploy with Raspberry Pi for additional information.
- Base line: 90 mm
- Ideal depth range: 85cm - 10m. See technical specifications.
- Power consumption: Up to 15W (please see technical specifications)
Dimensions & Weight
- Dimensions: 110x60x27 mm
- Weight: 106g
Camera Specifications
This camera uses 12MP auto-focus camera with IMX378 as main RGB camera.
Sensor Specifications
| Color camera | Stereo Pair | |
|---|---|---|
| Sensor | IMX378 (PY011) | OV9282 (PY010) |
| DFOV / HFOV / VFOV | 81° / 69° / 55° | 81° / 72° / 49° |
| Resolution | up to 12MP (4056x3040) | up to 1MP (1280x800) |
| Focus * | AF: 8cm - ∞ | FF: 19.6cm - ∞ |
| Max Framerate | up to 60 FPS | up to 255 FPS |
| Spectral Range | Visible | Visible |
| Filter options | IR-cut 650nm | IR-cut 650nm |
| Shutter Type | Rolling | Global |
| Sensor size | 1/2.3" | 1/4" |
| F-number | 1.8 ± 5% | 2.0 ± 5% |
| Effective Focal Length | 4.81mm | 2.35mm |
| Pixel size | 1.55µm | 3µm |
* certain limitations apply - contact Luxonis support for more information
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 depth range: 85cm - 10m
- MinZ: ~20cm (400P, extended), ~40cm (400P OR 800P, extended), ~80cm (800P)
- MaxZ: ~17 meters with a variance of 10%
Power and connectivity
Connectivity
Camera offers USB-C (USB 3.2 Gen1, 5 Gbps) for power and connectivity.
Power consumption
Most of the power is consumed by the RVC2, so the power consumption mostly depends on the workload of the VPU:
- 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 Characteristics
Temperature
The ambient operating temperature of RVC2 based devices is between -20°C and 50°C when fully utilizing the VPU. To find out more, see our operating temperature range documentation.
U.S. export classification
This product is classified as EAR99 under the U.S. Export Administration Regulations (EAR).
Package contains:
- Power supply with international adapters
- OAK-D CM4 board
