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OAK-D Pro PoE

Based on
RVC2
Connection

Ethernet 1Gbps

Dot projector
Yes
Infrared
Yes
IMU
Yes
Sensor 1, 3 - OV9282
Type
Monochrome
DFOV / HFOV / VFOV
89.5° / 80° / 55°
Size
1/4"
Shutter
Global
Focus
Fixed
Sensor 2 - IMX378
Type
Color
DFOV / HFOV / VFOV
78° / 66° / 54°
Size
1/2.3"
Shutter
Rolling
Focus
Auto
Stereo
IR Projector

Looking for more details? Visit specific features at Platform -> Features

RVC2 inside

This OAK device is built on top of the RVC2 architecture, with main features being:

Stereo depth perception

This OAK camera has a baseline of 75cm - the distance between the left and the right stereo camera. Minimal and maximal depth perception (MinZ and MaxZ) depends on camera FOV, resolution, and baseline - more information here.
  • Ideal range: ~80cm - 12m
  • MinZ: ~20cm (400P + extended disp), ~40cm (400P OR 800P + extended), ~80cm (800P)
  • Median depth accuracy (See these docs for more info):
    • below 4m: below 2% absolute depth error
    • 4m - 7m: below 4% absolute depth error
    • 7m - 10m: below 6% absolute depth error

    IR perception

    The Pro version of this device has notch IR filters at 940nm on the stereo camera pair, which allows both visible light and IR light from illumination LED/laser dot projector to be perceived by the camera.
    IR Dot Projector
    IR Illumination LED
    The IR laser dot projector projects many small dots in front of the device, which helps with disparity matching, especially for low-visual-interest surfaces (blank surfaces with little to no texture), such as a wall or floor. The technique that we use is called ASV - conventional Active Stereo Vision - as stereo matching is performed on the device the same way as on OAK-D (passive stereo).On the image below there's a blank wall with no texture. Without the dot projector, (passive) depth perception is poor. With the dot projector set to ~200mA, the (active) depth perception looks much better. If you look closely at the bottom left frame, you can see little dots all around the wall.

    Getting started

    You can set IR laser dot projector and illumination LED via the API as below:
    Python
    1# Either within Script node:
    2script = pipeline.create(dai.node.Script)
    3script.setScript("""
    4  Device.setIrLaserDotProjectorIntensity(0.5)
    5  Device.setIrFloodLightIntensity(0)
    6""")
    7
    8with dai.Device(pipeline) as device:
    9  # Or, using the dai.Device object from the host:
    10  device.setIrLaserDotProjectorIntensity(0.5) # in %, from 0 to 1
    11  device.setIrFloodLightIntensity(0.0) # in %, from 0 to 1
    You can set these two parameters in DepthAI Viewer in the Depth drop-down menu:

    Dot projector specifications

    Projector SpecsValue
    Dot projectorAms Belago1.1 Dot-Pattern Infrared Illuminator
    Number of dots4700
    HFOI* 50%78 ± 7%
    VFOI* 50%61° ± 7%
    VSCEL wavelength940nm
    Operating temperature10°C to ~60°C
    Temperature absolute limits0°C to ~80°C
    PDFClick here
    FOI = Field of illumination. Also note that in the datasheet, HFOI and VFOI are switched, that's because we mount the Belago1.1 rotated as we want greater horizontal field to match field of cameras.Regarding operating temperature; some customers use dot projector even at lower ambient temperatures, but first wait a few minutes for device to heat up (by running AI/CV/stereo depth...) so projector gets to above 0°C.

    Connectors

    M8 aux connector has 8pin female A-coded connector and the M12 ethernet has 8pin female X-coded connector. Cameras also include an M8 connector cap for waterproofing in case the M8 connector wouldn't be used.
    Pin M12 pin M8 pin M8 functionality
    1Eth MX0+AUX GPIO 3V33V3 auxiliary GPIO 52. Pull this pin high with 10k resistor at startup for USB boot.
    2Eth MX0-FSYNC ISOIsolated Frame synchronization input signal for cameras
    3Eth MX1+USB D+USB 2.0 interface that can be used to connect to the OAK device (eg. reflash) if USB boot is enabled (via AUX GPIO 3V3).
    4Eth MX1-USB D-USB 2.0 interface that can be used to connect to the OAK device (eg. reflash) if USB boot is enabled (via AUX GPIO 3V3).
    5Eth MX3+VBUSINThis pin is used for sourcing 5V power to accessory devices connected to the M8 connector. If trying to boot the device in USB boot mode, this pin can also sink current.
    6Eth MX3-Strobe ISOIsolated Strobe output signal for cameras (Open Collector)
    7Eth MX2+Isolated GNDIsolated ground for Strobe/FSYNC
    8Eth MX2-GNDGround
    External triggering: Sensors require 1V8 rising edge on FSYNC for the trigger event. We are using an optocoupler and ESD protection diode, so the input trigger voltage should be 12V (up to 24V) and the trigger logic is reversed, so trigger event happens at 0V on the FSYNC line. For an example, see External FSYNC Example.

    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 + PoE circuitry + camera streaming: 3W - 3.5W
    • AI subsystem consumption: Up to 1W
    • Stereo depth pipeline subsystem: Up to 0.5W
    • Video Encoder subsystem: Up to 0.5W
    To reduce the power consumption, you can reduce FPS of the whole pipeline - that way, subsystems won't be utilized at 100% and will consume less power. You can also decrease power (and brightness) of the illumination LED and dot projector to reduce the overall power consumption of the device.

    Illumination LED and laser dot projector

    Power configurable (more power - more brightness):
    • Dot projector (active stereo): Up to 1W
    • Illumination LED (night vision): Up to 1W

    IMU

    This OAK camera has an integrated BNO086, a 9-axis IMU (Inertial Measurement Unit). See IMU node for the API details on how to use it.

    Operating temperature

    The ambient operating temperature of RVC2-based devices is between -20°C and 50°C when fully utilizing the VPU.Similarly to the Power consumption, the max operating temperature depends on VPU utilization. The higher the VPU utilization, the more heat the VPU will generate. The RVC2 VPU can continuously operate at 105 °C, after which the depthai library will automatically shut down the device (to avoid chip damage).To find out more, see our Operative Temperature documentation.

    Vibration Testing

    This OAK device has been tested for vibration tolerance according to the EN 60068-2-6:2008 standard:
    • Vibration Report - Report of the vibration stress tests performed by the SIQ (3rd-party lab)
    • Vibration Results - Results of Camera Focus, Camera Angles, and Stereo Depth Accuracy before and after the vibration stress tests
    More information can be found at Vibration Tolerance documentation.

    Similar models

    OAK-D S2 PoEOAK-D W PoEOAK-D Pro PoEOAK-D Pro W PoE

    Laser Safety

    This product is classified as a Class 1 Laser Product under the EN/IEC 60825-1, Edition 3 (2014) internationally.
    • Do not power on the product if any external damage was observed.
    • Do not attempt to open any portion of this laser product.
    • Invisible laser radiation when opened. Avoid direct exposure to the beam.
    • There are no user serviceable parts with this laser product.
    • Modification or service of the stereo module, specifically the infrared projector, may cause the emissions to exceed Class 1.
    • No magnifying optical elements, such as eye loupes and magnifiers, are allowed.
    • Do not try to update camera firmware that is not officially released for specific camera module and revision.