Luxonis OAK-D (1st Generation) AI Video Camera

The OAK-D 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 Neural Network inferencing and Computer Vision capabilities. It uses USB-C for both power and USB3 connectivity.

For a smooth getting started experience with the USB camera, we recommend following USB deployment guide.

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 - more information here.

• Ideal depth range: 70cm - 12m
• Maximum effective depth range: 30m
• MinZ: ~20cm (400P and extended), ~35cm (400P OR 800P, extended), ~70cm (800P)

Depth accuracy (See 800P, 75mm baseline distance OAKs for details):

• below 4m: below 2% absolute depth error
• 4m - 7m: below 4% absolute depth error
• 7m - 10m: below 6% absolute depth error

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
• Base line: 75 mm
• Ideal depth range: 70cm - 12m. See technical specifications.
• Maximum effective depth range: 30m
• Power consumption: Up to 5W. See technical specifications
• Industrial grade aluminum housing with Front Gorilla Glass
• 1/4\" tripod mount and 75mm M4 Vesa mount
  

FeaturesIntegrated 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.

Power and connectivityConnectivity

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

So the total power consumption can be up to ~5W if you are using all the features at 100% at the same time. 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.

Operating characteristicsTemperature

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.