You can replace NODAR HDK stereo vision camera with your own cameras. This document explains how to write your own stereo camera drivers. You can also replace the NODAR HDK Jetson Orin computer with your own Orin, and that process is described here.

%%{init: {"theme": "default", "themeVariables": {"fontSize": "24px"}, "scale": 2}}%%
graph LR
  %% Define node styles
  style A fill:#90ee90,stroke:#333,stroke-width:2px
  style AA fill:#90ee90,stroke:#333,stroke-width:2px
  style B fill:#add8e6,stroke:#333,stroke-width:2px

  %% First Diagram: Topbot Publisher to Image Viewer
  A[Your Camera 1] -- Ethernet, GMSL2, other --> B[Your Stereo Driver, <br> Topbot Publisher]
  AA[Your Camera 2] -- Ethernet, GMSL2, other --> B
  B -- ZMQ--> C[NODAR HDK Software]

  classDef empty fill:#ffffff,stroke-width:0px;

The supported compute can be found on the page here

Note - If you are using Triton 5.4 MP Model (IMX490) ****from ****Lucid Vision Labs, you can skip to Section 3 of this document.

Overview

This document provides a comprehensive guide on how to use the Topbot Publisher for publishing top-bottom images (also called topbot images) using ZeroMQ (ZMQ) within the nodarhub/hammerhead_zmq framework. This example reads images from disk, but it can be modified to integrate camera drivers to read directly from cameras.

The guide covers:

1. Topbot Publisher

The Topbot Publisher reads a sequence of top-bottom .tiff images from a directory and publishes them over ZMQ.

To get started, you can download a short test dataset (~420 MB) here. You can also visit our Public Datasets page here

1.1. Accessing the Code

To use the Topbot Publisher, you will need access to the hammerhead_zmq repository on GitHub:

hammerhead_zmq

Please reach out to Nodar support email ([email protected]) with your GitHub ID to gain access to the Github repository.