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OAK-D-CM4 is based off of the OAK-D-CM3 and it combines a host (RPi CM4) and the OAK-SoM to allow for a fully standalone and integrated solution for real-time Spatial AI.

The biggest difference between OAK-D-CM4 and OAK-D-CM3 architecture is that OAK-D-CM4 integrates a CM4 module, has gigabit ethernet, and is populated with MagJack supporting PoE. PoE can be used with additional PoE Hat. CM4 modules also have WiFi and Bluetooth connectivity.

Most OAK-D-CM4 devices have eMMC memory on-board. If you would like to flash a new image to it, follow the tutorial here. OAK-SoM is connected to the RPi CM4 via USB2 lines (on PCB).

Hardware specifications

Camera module specifications

Camera Specs

Color camera

Stereo pair


IMX378 (PY011 AF)

OV9282 (PY010 FF)


81° / 69° / 55°

81° / 72° / 49°


12MP (4056x3040)

1MP (1280x800)


AF: 8cm - ∞ or FF: 50cm - ∞

FF: 19.6cm - ∞

Max Framerate

60 FPS

120 FPS


1.8 ±5%

2.0 ±5%

Lens size

1/2.3 inch

1/4 inch

Effective Focal Length



Pixel size

1.55µm x 1.55µm

3µm x 3µm

RVC2 inside

This OAK device is built on top of the RVC2. Main features:

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 range: 85cm - 10m

  • MinZ: ~20cm (400P, extended), ~40cm (400P OR 800P, extended), ~80cm (800P)

  • MaxZ: ~17 meters with a variance of 10%

Extended means that StereoDepth node has Extended disparity mode enabled.

Dimensions and Weight

  • Width: 110 mm

  • Height: 60 mm

  • Length: 27 mm

  • Weight: 106g

Board Layout

Power consumption

Most of the power is consumed by the RVC2 and by the Raspberry Pi Compute Module (CM), so the power consumption depends mostly on the workload of the VPU and CPU:

  • 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 temperature

The ambient operating temperature of RVC2 based devices is between -20°C and 50°C when fully utilizing the VPU.

Similarly to the Power consumption, max operating temperature depends on VPU utilization. The higher the VPU utilization, the more heat the VPU will generate. The RVC2 VPU can continuously operate at 105 °C, after which the depthai library will automatically shut down the device (to avoid chip damage).

To find out more, see our Operative temperature range documentation.


If the OAK-D-CM4 device does not come with a built-in WiFi module, a Tenda Wi-Fi dongle is included in the box of the device as a workaround. To enable the dongle, you will need to install the necessary drivers. These drivers come pre-installed on the V10 (or higher) OAK-CM4-POE 64bit RPi OS image (available here).

Alternatively, you can the steps below (source) to install the drivers manually:

sudo apt-get install build-essential git dkms linux-headers-$(uname -r)
git clone https://github.com/McMCCRU/rtl8188gu.git
cd rtl8188gu
sudo make install
sudo apt install --reinstall linux-firmware
sudo reboot

After rebooting, the Tenda USB dongle should be operational.

Note that the additional CSI connector on the OAK-D-CM4 doesn’t work by default.

3D Models

  • Board STEP files here


Got questions?

Head over to Discussion Forum for technical support or any other questions you might have.