- 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 |
| 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 |
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
ConnectivityCamera 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
TemperatureThe 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.
Package contains:
- Power supply with international adapters
- OAK-D CM4 board
