# OAK 4 D

## Specification

### Variant: Auto Focus

[Shop](https://shop.luxonis.com/products/oak-4-d)

| Property | Value |
| --- | --- |
| Based on | RVC4 |
| Connection | USB 2/3 (up to 10 Gbps), Ethernet 2.5Gbps |
| Dot projector | No |
| Infrared | No |
| IMU | Yes |
| Wide FOV | Yes |

#### Sensor 1, 3 - OV9282

 * Type: Monochrome

 * [DFOV / HFOV / VFOV: 84.5° / 77° /
   52.7°](https://fov.luxonis.com/?horizontalFov=77&verticalFov=52.7&horizontalResolution=1280&verticalResolution=800)

 * Size: 1/4

 * Shutter: Global

 * Focus: Fixed

#### Sensor 2 - IMX586

 * Type: Color

 * [DFOV / HFOV / VFOV: 82.4° / 67.3° /
   53°](https://fov.luxonis.com/?horizontalFov=67.3&verticalFov=53&horizontalResolution=8000&verticalResolution=6000)

 * Size: 1/2

 * Shutter: Rolling

 * Focus: Auto

### Variant: Fixed Focus

[Shop](https://shop.luxonis.com/products/oak-4-d)

| Property | Value |
| --- | --- |
| Based on | RVC4 |
| Connection | USB 2/3 (up to 10 Gbps), Ethernet 2.5Gbps |
| Dot projector | No |
| Infrared | No |
| IMU | Yes |
| Wide FOV | Yes |

#### Sensor 1, 3 - OV9282

 * Type: Monochrome

 * [DFOV / HFOV / VFOV: 84.5° / 77° /
   52.7°](https://fov.luxonis.com/?horizontalFov=77&verticalFov=52.7&horizontalResolution=1280&verticalResolution=800)

 * Size: 1/4

 * Shutter: Global

 * Focus: Fixed

#### Sensor 2 - IMX586

 * Type: Color

 * [DFOV / HFOV / VFOV: 78° / 66° /
   52°](https://fov.luxonis.com/?horizontalFov=66&verticalFov=52&horizontalResolution=8000&verticalResolution=6000)

 * Size: 1/2

 * Shutter: Rolling

 * Focus: Fixed

### Variant: Wide FOV

[Shop](https://shop.luxonis.com/products/oak-4-d)

| Property | Value |
| --- | --- |
| Based on | RVC4 |
| Connection | USB 2/3 (up to 10 Gbps), Ethernet 2.5Gbps |
| Dot projector | No |
| Infrared | No |
| IMU | Yes |
| Wide FOV | Yes |

#### Sensor 1, 3 - OV9282

 * Type: Monochrome

 * [DFOV / HFOV / VFOV: 150° / 127° /
   79.5°](https://fov.luxonis.com/?horizontalFov=127&verticalFov=79.5&horizontalResolution=1280&verticalResolution=800)

 * Size: 1/4

 * Shutter: Global

 * Focus: Fixed

#### Sensor 2 - IMX586

 * Type: Color

 * [DFOV / HFOV / VFOV: 120° / 95° /
   72°](https://fov.luxonis.com/?horizontalFov=95&verticalFov=72&horizontalResolution=8000&verticalResolution=6000)

 * Size: 1/2

 * Shutter: Rolling

 * Focus: Fixed

## 连接器

M8辅助连接器采用8针A型母头连接器，M12以太网采用8针X型母头连接器。摄像头还配有一个M8连接器帽，以防M8连接器未被使用时实现防水。

| 引脚 | M12 引脚 | M8 引脚 | M8 功能 |
| --- | --- | --- | --- |
| 1 | Eth MX0+ | GPIO_20/5V_RX | 可以是5V GPIO或UART RX |
| 2 | Eth MX0- | FSYNC/STROBE_5V | 默认FSYNC，STROBE可启用 |
| 3 | Eth MX1+ | USB D+ | USB 2.0 主机接口（不能与USB-C接口同时使用） |
| 4 | Eth MX1- | USB D- | USB 2.0 主机接口（不能与USB-C接口同时使用） |
| 5 | Eth MX3+ | 5V | 此引脚用于为连接到M8连接器的配件设备提供5V电源（最大5W）。 |
| 6 | Eth MX3- | GPIO_21/5V_TX | 可以是5V GPIO或UART TX |
| 7 | Eth MX2+ | DET_PIN | 用于检测连接的设备类型，不能用于其他目的 |
| 8 | Eth MX2- | GND | 接地 |

## 功耗

RVC4本身的峰值功耗约为25W，主要由集成在RVC4内部的SoC——高通QCS8550消耗。

 * 最大峰值：25W
 * 最大平均值：10-15W
 * 平均待机：1.6W
 * 启动峰值：12W
 * 启动平均值：2.3W（约15秒）

## IMU

此OAK相机集成有ICM-42688-P，一款6轴IMU（惯性测量单元）。同时集成单独的AK09919C，一款3轴磁力计，以实现9轴IMU功能。