The OAK-D CM4 PoE combines OAK-D with Raspberry Pi CM4 module acting as host computer. It's designed to provide developers with a platform for creating advanced computer vision applications.

Key Features

• 4 TOPS of processing power (1.4 TOPS for AI - RVC2 NN Performance)
• CM4004032: 4GB RAM, 32GB eMMC, no wifi
• Pre-flashed with Raspberry Pi OS and DepthAI Python interface
• RJ45 connector for both power and communication
• IP67 rated enclosure

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Description

OAK-D CM4 PoE 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 and capabilities. The OAK-D CM4 PoE combines a host (RPi CM4) and the to allow for a fully standalone and integrated solution for DepthAI.

PoE connection allows cameras to communicate to other computers via networking protocols (, UDP, , , etc.). As our PoE models feature device flash memory, you can also run your programs in . OAK PoE cameras are housed in an rugged, IP-rated enclosure, which is required for industrial and outdoor use. RVC2 architecture on-board features:

• 4 TOPS of processing power (1.4 TOPS for AI - )
• Run any AI model, even custom architected/built ones (models need to )
• Encoding: H.264, H.265, MJPEG - 4K/30FPS, 1080P/60FPS
• Computer vision: warp (undistortion), resize, crop via 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)


• Dimension: 130x64x30mm
• Weight: 318g

Product Diagram

Technical Specifications

Base Concept

This device is exactly like having an Raspberry Pi4 with an OAK-D connected to it (via USB), and having a PoE hat on the RPi.

Development works in the same way - user has to SSH/VNC into the RPi (see here), and then execute the scripts/apps on the RPi which connect to “the OAK” (OAK SOM). RPi CM4 is connected via USB3 (on PCB) to the OAK-SoM-Pro.

Camera specifications

This camera uses 12MP auto-focus camera with IMX378 as main RGB camera.

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%

Features

This OAK camera has an integrated BNO085, a 9-axis IMU (Inertial Measurement Unit). See IMU node for the API details on how to use it.

Power and connectivity

The base board offers full 802.3af, Class 3 PoE compliance with 1000BASE-T speeds (1Gbps). PoE injector/switch is required to power the device. If need an injector, you can buy it here.

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

This camera is shipped with IP67 rated enclosure. More details can be found here.

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.

Package Includes

Package contains:

• OAK-D-CM4-PoE camera
• Ethernet cable, 2m
• Cable gland
• Cleaning cloth

Note: PoE injector / switch is required to power the device and it is not included in the packaging. If you need an injector, you can buy it here.

Files

1. Datasheet
2. 3D Models
3. Altium design files
4. Assembly drawing
5. Assembly output
6. Fabrication Drawing
7. Fabrication output