Close-In Depth Model - OAK-D-SR (OAK D405)

[Luxonis-Brandon]

Start with the why:

A short-range-depth version of OAK is missing in the line up. The closest solution is the OAK-D-IoT-40, which does come close, but is intended for IoT applications (embedded; e.g. has built-in ESP32) rather than USB applications.

So while the OAK-D-IoT-40 is now often used for close-in depth, it's a bit of a mis-fit as in this case there's an unused ESP32 onboard, and it lacks an enclosure. And in such applications, having a single, small, enclosed product is clutch for mounting to picking arms/etc.

Meanwhile, there are a bunch of robotic bin pick/pack applications which would benefit from high-res, high-frame-rate and very-good-quality depth sensing + AI + CV + onboard compute in a USB-formfactor camera.

Supplementarily, there are cases where stereo excels in such applications and other scenarios where ToF (time of flight) excels. So to provide a swiss army knife of excellent close-in depth for such applications. The DepthAI ecosystem is uniquely suited to allow this as the onboard CV/depth computation can produce a single depth output that is the result of intelligent combination of ToF + stereo results to give the highest-accuracy depth-map output.

Finally, RGB-depth alignment in such applications ends up being paramount, as often the items being manipulated are challenging to grasp, so even tiny errors can result in underperformance of the robotic assembly. So the built-in support for OV9782 (global shutter color) in the DepthAI library is very useful, as it allows perfect RGBD alignment from the stereo pair. And this result, in combination with ToF, allows even-more-refined alignment of ToF to RGB and thereby a single, RGB-aligned depth result that is the fusion of stereo and ToF.

Given our modular arch

Move to the how:

Leverage our OAK-SoM-Pro to make a compact overall design that supports both wide FOV Stereo (color, 150° DFOV) and standard FOV (color, ~80° DFOV) - production-time selectable - and ToF. The SoM approach allows the design to be smaller and easier to mount/fit in robotic process automation/etc. It also allows the design to be open-sourced, allowing modifications as needed/desired by anyone.

The internal PCBA concept is shown below:

Move to the what:

• Dual OV9782 (1 MP Color Global Shutter) with production option for Wide FOV for 150° DFOV depth or Standard FOV for ~80°DFOV depth.
• VGA (640x480 @ 30fps) ToF
• USB3.1
• Enclosure like OAK-D-IoT-40 Series 2 (https://github.com/luxonis/depthai-hardware/issues/91; shown below)

Want it in PoE instead? See https://github.com/luxonis/depthai-hardware/issues/244

[Luxonis-Brandon]

We got the ToF in for this:

[nicholas-presien]

What's the model of the TOF sensors and their specification (mainly range, FOV, accuracy, and FPS)?

[Luxonis-Brandon]

Great question. Will circle back with answers.

[Luxonis-David]

@nicholas-presien here are some specs for the VGA ToF that might help:

• DFOV 78° HFOV 68° VFOV 54°
• resolution 640 * 480
• 940nm
• range indoor 0.1~7m
• accuracy <2% @ 0.3~1m
• accuracy <1% @ 1 ~ 7m

[shpigi]

no PoE model for this? I'm thinking USB and mounting on a moving robotic arm don't mix.

[Luxonis-Brandon]

Great question @shpigi - we're going to do a PoE as well. I'll write that up now and cross-post it.

[Luxonis-Brandon]

Just made it https://github.com/luxonis/depthai-hardware/issues/244 @shpigi . :-)

[Luxonis-Brandon]

For at least the initial USB version we're dropping ToF:

This will allow the device to be smaller and also exist sooner. And then the PoE version, https://github.com/luxonis/depthai-hardware/issues/244, which will have to be bigger anyway, will have the ToF additionally.

[Luxonis-David]

We got back the samples and validated the design. Few more days is needed to get it supported in FW and we will be ready to start with second batch of samples making them available in early access store.

Attached the sneak peak of the device (we added a bit of personality:) )

[Luxonis-David]

More of the enclosures have arrived, painting and assembly to be done and we will have some units available for sale on our early access store. In fact you can reserve one with preordering here.

[versavel]

what screws fit in the three holes on the back side of the Oak D SR ?

[versavel]

and what is the center-to-center distance between the two outer screw holes ?

[Luxonis-David]

Center one is 1/4" thread tripod mount, the side ones are M4 and center distance between them is 44mm.

[raveslave]

please consider adding an expansion-port on the on the back of these (and OAK-1) form factor

• 5V "vbus" pass-through & 3.3/1.8V logic level
• ~6x gpio's reconfigurable as SPI or I2C bridge (tunneled over the main USB-connection)

use-case would be to allow building fairly basic LED-light fixtures that sync with captures

• i.e. fast capture with ilumination from different directions
• multi-spectrum light for inspecting/binning color (rgb) or fingerprints/dust-particles (uv)

where the led-pcb could simply contain a good i2c controlled led-driver, not needing a cpu of its own

[Erol444]

Hi @raveslave , The OAK-D-SR-PoE actually does have an M8 connector which allows you to access the strobe output.

[raveslave]

true that, but I really like the USB-C form factor as we run from raspberry's (wired eth -> internet), i.e. don't want to add usb-to-eth dongles for the video stream as the rpi4 already has super-speed usb

[Erol444]

@raveslave one option would be to use M8 to USB adapter board, which also exposes strobe output. The downside is that it's only USB2, so 480mbps.

[raveslave]

isn't that breakout board for control only? if you can get the image that way (d+/d-) thats great, but not optimal due to the speed limit

[Erol444]

@raveslave intention was for control (due to bandwidth limitation), but you can also get images/other outputs through it as well.