# OAK-D LR ## Specification ### Variant: OAK-D LR [Shop](https://shop.luxonis.com/products/oak-d-lr) | Property | Value | | --- | --- | | Based on | RVC2 | | Connection | USB 2/3 (up to 10 Gbps), Ethernet 1Gbps | | Dot projector | No | | Infrared | No | | IMU | Yes | > **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](https://docs.luxonis.com/hardware/platform/rvc/rvc2.md) 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](https://docs.luxonis.com/hardware/platform/rvc/rvc2.md) 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](https://docs.luxonis.com/software/ai-inference/conversion.md)。 编码：H.264、H.265、MJPEG - 4K/30FPS、1080P/60FPS 计算机视觉：通过 [ImageManip](https://docs.luxonis.com/software/depthai-components/nodes/image_manip.md) 节点进行畸变/去畸变、缩放、裁剪，[边缘检测](https://docs.luxonis.com/software/depthai/examples/edge_detector.md)，[特征跟踪](https://docs.luxonis.com/software/depthai/examples/feature_tracker.md)。您还可以[运行自定义 CV 函数](https://docs.luxonis.com/software-v3/depthai/tutorials/on-device-programming.md) 立体深度感知，包括滤波、[后处理](https://docs.luxonis.com/software/depthai/examples/depth_post_processing.md)、[RGB-深度对齐](https://docs.luxonis.com/software/depthai/examples/rgb_depth_aligned.md)和高[可配置性](https://docs.luxonis.com/software/depthai-components/nodes/stereo_depth.md#currently-configurable-blocks) 目标跟踪：使用 [ObjectTracker](https://docs.luxonis.com/software/depthai-components/nodes/object_tracker.md) 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](https://docs.luxonis.com/software-v3/depthai/tutorials/on-device-programming.md)） ## 功耗 大部分功耗由[RVC2](https://docs.luxonis.com/hardware/platform/rvc/rvc2.md)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](https://docs.luxonis.com/software/depthai-components/nodes/imu.md)。 ## 工作温度 基于 [RVC2](https://docs.luxonis.com/hardware/platform/rvc/rvc2.md) 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](https://docs.luxonis.com/hardware/platform/environmental-specifications/operating-temperature.md)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](https://docs.google.com/spreadsheets/d/1ymn-0D4HcCbzYP-iPycj_PIdSwmrLenlGryuZDyA4rQ/edit#gid=0) 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](https://docs.luxonis.com/hardware/platform/depth/configuring-stereo-depth.md#how-to-get-lower-minz)). 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](https://docs.luxonis.com/hardware/sensors/AR0234.md) 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](https://en.wikipedia.org/wiki/Vignetting) is seen where the lens doesn't fit the sensor's size. ### Lens kit 1 [link](https://www.uctronics.com/lens/m12-mount-lens/arducam-m12-lens-set-arducam-lens-for-usb-camera.html) 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](https://www.uctronics.com/lens/m12-mount-lens/arducam-m12-lens-kit-for-raspberry-pi-hq-camera-fisheye-wide-angle-telephoto-m12-camera-lenses-with-lens-adapter.html.html) | 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° | > *some lenses fit in the device, but the front enclosure doesn't close completely, which leads to degraded IP rating ### Lens Kit 3 [link](https://www.uctronics.com/lens/m12-mount-lens/lk001.html) | Lens model | Fits into enclosure | HFOV | Measured HFOV | Notes | | --- | --- | --- | --- | --- | | M40180H10 | yes | 100° | 145° | Some vignetting |