OAK-D LRShop

Based on

RVC2

Connection

USB 2/3 (up to 10 Gbps), Ethernet 1Gbps

Dot projector

Infrared

IMU

Yes

Stereo

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

硬件更新

2026年5月之后生产的设备将不再包含eMMC存储。如果您的设备仍需eMMC，请联系我们的支持团队：support@luxonis.com。

内置RVC2

此OAK设备基于 RVC2 架构构建，主要特性包括：

4 TOPS 处理能力（1.4 TOPS 用于AI） - RVC2 NN 性能

运行任何 AI 模型，甚至是自定义架构/构建的模型 - 模型需要进行转换。

编码：H.264、H.265、MJPEG - 4K/30FPS、1080P/60FPS

计算机视觉：通过 ImageManip 节点进行畸变/去畸变、缩放、裁剪，边缘检测，特征跟踪。您还可以运行自定义 CV 函数

立体深度感知，包括滤波、后处理、RGB-深度对齐和高可配置性

目标跟踪：使用 ObjectTracker 节点进行 2D 和 3D 跟踪

设备端编程：在设备上运行自定义逻辑/任务（指南）

功耗

大部分功耗由RVC2消耗，因此功耗主要取决于VPU的工作负载：

基础功耗 + 摄像头流：2.5W - 3W

AI子系统功耗：最高1W

立体深度管线子系统：最高0.5W

视频编码器子系统：最高0.5W

为降低功耗，可以降低整个管线的帧率（FPS），这样子系统不会满负荷运行，功耗也会降低。

IMU

此OAK相机集成有BNO086，一款9轴IMU（惯性测量单元）。有关如何使用的API详情，请参阅IMU node。

工作温度

基于 RVC2 的设备在完全使用 VPU 时的环境工作温度介于 -20°C 至 50°C 之间。与功耗类似，最高工作温度取决于 VPU 使用率。VPU 使用率越高，VPU 产生的热量就越多。RVC2 VPU 可连续在 105°C 下运行，超过此温度后，depthai 库将自动关闭设备（以避免芯片损坏）。如需了解更多信息，请参阅我们的工作温度文档。

Theoretical depth accuracy

As M12 lenses are swappable, user can easily change lenses to achieve wider FOV, or longer depth perception (narrower FOV):

HFOV [°]	< 2% depth error	< 4% depth error	< 8% depth error	MinZ
10	54.9 m	137.2 m	274.3 m	1.92 m
20	27.2 m	68.1 m	136.1 m	95 cm
30	17.9 m	44.8 m	89.6 m	63 cm
40	13.2 m	33.0 m	65.9 m	46 cm
50	10.3 m	25.7 m	51.5 m	36 cm
60	8.3 m	20.8 m	41.6 m	29 cm
70	6.9 m	17.1 m	34.3 m	24 cm
80	5.7 m	14.3 m	28.6 m	21 cm
82	5.5 m	13.8 m	27.6 m	20 cm
90	4.8 m	12.0 m	24.0 m	17 cm
100	4.0 m	10.1 m	20.1 m	14 cm

Note: we haven't tested all of these combinations, but calculated theoretical depth error and interpolated those values with our previous real-world tests when enabling subpixel disparity:

< 2% error - 20th disparity pixel, which has 5% full-pixel error (~2% with subpixel enabled)
< 4% error - 8th disparity pixel, which has 12.5% full-pixel error (~4% with subpixel enabled)
< 8% error - 4th disparity pixel, which has 25% full-pixel error (~10% with subpixel enabled)

Maximum depth was calculated by using the large (15cm) baseline, while MinZ was calculated by using the small (5cm) baseline of the OAK-D-LR. You can further decrease MinZ by lowering the resolution, or using disparity shift (docs here). MinZ values are already using Extended Disparity Mode.

Tested lenses

Lenses from 3 different lens kits were tested with the OAK-D LR device. The tables below show which lenses fit the device enclosure, what is their (measured) HFOV and if they match the sensor's size.In the device OAK-D LR, the sensor AR0234 with the size of 1/2.6'' is used. The lenses need to be wide enough so the light reaches the entire sensor. The Notes columns in the tables show whether the lens is big enough for the used sensor. The vignetting effect link is seen where the lens doesn't fit the sensor's size.

Lens kit 1 link

From lens kit 1, all lenses were tested except for the LN013

Lens model	SKU	Fits into enclosure*	HFOV	Measured HFOV	Notes
M25170H12	LN007	2 mm	180°	180°
M27195H15	LN055	2 mm	150°	150°
M27210H08	LN005	yes	125°	130°	Some vignetting
M27280M07S	LN013	/	90°	/
M25360H06S	LN012	yes	80°	80°
M2504ZH05S	LN011	<1 mm	70°	73°
M2506ZH04	LN003	3 mm	55°	55°
M2508ZH02	LN002	2.5 mm	40°	42°
M2512ZH03	LN065	3 mm	25°	25°
M2516ZH01	LN001	image not sharp	20°	/

*some lenses fit in the device, but the front enclosure doesn't close completely, which leads to degraded IP rating

Lens Kit 2 link

Lens model	SKU	Fits into enclosure*	HFOV	Measured HFOV
M25156H18	LN031	Maye ok	180°	180°
M23272M14	LN056	1 mm	140°	125°
M23356H09	LN033	2 mm	90°	80°
M23390H08	LN053	Maybe ok	70°	72°
M2306ZM13	LN024	2 mm	50°	50°
M2025ZM02	LN036	9 mm	20°	~13°