OAK 4 D is the ultimate edge inference, stereo vision camera. This stand alone device is perfect for robotic vision and automated systems, combining stereo depth camera and high-resolution color camera with on-device Neural Network inferencing and Computer Vision capabilities.
Key features
RVC4 on-board features:- 8-core ARM CPU (QC Snapdragon 8-series), 8GB RAM, 128GB of storage
- Operated by Luxonis OS, based on Linux kernel 5.15
- Computer vision: warp (undistortion), resize, crop via ImageManip node, edge detection, feature tracking. You can also run custom CV functions
- AI: 48 TOPs (INT8) and 12 TOPs (FP16) operations
- Stereo depth perception with filtering, post-processing, RGB-depth alignment, and high configurability
- Object tracking: 2D and 3D tracking with ObjectTracker node
Specifications:
- Base line: 75 mm
- Ideal depth range: 70 cm - 12 m.
- Power consumption: up to 25W
- Housing:
- Industrial grade aluminum with Front Gorilla Glass
- Water resistance enclosure with IP67 rating - Mounts:
- 1/4" tripod mount
- 75mm M4 Vesa mount on back and bottom cover - Dimensions: 143.5 x 42.5 x 67.3 mm
- Weight:
- 674g
OAK 4 D uses 48MP sensor (IMX586) as the main RGB camera.
Sensor specification:
| Auto Focus | Fixed Focus | Wide | Stereo Pair | Stereo Pair - Wide | |
|---|---|---|---|---|---|
| Sensor | IMX586 (PY237) | IMX586 (PYXXX) | IMX586 (PY262) | OV9282 (PY238) | OV9282 (PY265) |
| DFOV | 82.4˚ | 82.4˚ | 120.0˚ | 84.5° | 149.2° |
| Resolution | 48MP ( 8000x6000) | 48MP ( 8000x6000) | 48MP ( 8000x6000) | 1MP (1280x800) | 1MP (1280x800) |
| Focus | AF | FF | FF | FF | FF |
| Max Framerate | 30 FPS | 30 FPS | 30 FPS | 60 FPS | 120 FPS |
| Spectral range | Visible | Visible | Visible | Visible | Visible |
| Shutter Type | Rolling | Rolling | Rolling | Global | Global |
| Sensor size | 1/2" | 1/2" | 1/2" | 1/4" | 1/4" |
| F-number | 1.79 ± 5% | 1.79 ± 5% | 1.79 ± 5% | 2.0 ± 5% | 2.0 ± 5% |
| Effective Focal Length | 4.74mm | 4.74mm | 4.74mm | 2.35mm | 1.69mm |
| Pixel size | 0.8µm | 0.8µm | 0.8µm | 3.0µm | 3.0µm |
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.
- Ideal depth range: 70cm - 12m
- MinZ: ~20cm (400P and extended), ~35cm (400P OR 800P, extended), ~70cm (800P)
- below 4m: below 2% absolute depth error
- 4m - 7m: below 4% absolute depth error
- 7m - 10m: below 6% absolute depth error
Connectivity
Power-over-Ethernet (PoE)The base board offers full 802.3af, Class 3 PoE compliance with 2.5GBASE-T speeds (up to 2.5Gbps, depending on the network infrastructure). A PoE switch is recommended to power the device and utilize the full potential of PoE connectivity.
M12 PoE connector is used for power and 2.5GBit data transfer. Additionally, there's an M8 connector for IO connectivity; USB2 (D+, D-), camera IOs (FSIN, STROBE), power, and 2x GPIO (can be used for UART). Cap for M8 is included when connector is not used to ensure water resistance.
Camera also offers USB-C (USB 3.2 Gen2, 10 Gbps) as an option for power and connectivity.
You can also combine both approaches.
Operating characteristics
Water resistanceThis camera is shipped with IP67 rated enclosure.
Power consumption1.5W to 25W
Operating temperature
-20C to 50C
Vibration tolerances
EN 60068-2-6:2008 and ISO 15998:2008 Clause 7.2.3 Table 1
- 3D model (downloads zipped STEP file)
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