This guide shows how to install the NODAR HDK software on your Jetson Orin AGX 64 GB computer. These instructions may work on other Jetson flavors with more than 8 GB RAM, with NX flavors slightly more likely to work, but they are not supported or tested.

<aside> 💡

Currently, we require the customer to use our NDR-HDK-2.0-XX stereo camera head. In March 2025, we will add generic camera interfaces to allow customers to use any camera.

</aside>

The steps below install the following software packages:

What Where
HDK software Jetson Orin AGX
NODAR Viewer software Jetson Orin AGX

The HDK software consists of

  1. Hammerhead software that converts left and right images into point clouds
  2. GridDetect software that converts point clouds into occupancy maps

The NODAR Viewer software can also be installed on a separate Computer instead of the Orin.

Step 1: Check hardware compatibility

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graph LR
  %% Adjust the size of nodes and fonts
  style A fill:#90ee90,stroke:#333,stroke-width:2px
  style B fill:#90ee90,stroke:#333,stroke-width:2px
  style C fill:#90ee90,stroke:#333,stroke-width:2px
  style D fill:#90ee90,stroke:#333,stroke-width:2px
  style E fill:#add8e6,stroke:#333,stroke-width:2px
  style F fill:#add8e6,stroke:#333,stroke-width:2px
  style G fill:#add8e6,stroke:#333,stroke-width:2px

  %% Define the graph
  A[Left Camera] --M12 to RJ45 <br> 1G port--> C[PoE Switch]
  B[Right Camera] --M12 to RJ45 <br> 1G port--> C
  C <--Cat8 Ethernet <br> 10G port--> D[Orin <br> HDK and Nodar Viewer]
  C --> E[SFP+ Adapter]
  E --Cat8 Ethernet <br> 10G port--> F[Thunderbolt adapter]
  F --> G[Computer NODAR Viewer]

We support the Nvidia AGX Orin 64 GB development kit with Lucid Triton IMX 490 cameras. The GigE vision cameras plug into the PoE switch. The 10G port of the Orin (with RJ-45 connector) connects to the 10G port of the PoE switch. The total input plus output bandwidth to the Orin is greater than 1G Ethernet.

For optimal settings and reduced latency from the Orin to the Computer, we attach the SFP+ adapter to the switch which can then work as an additional 10G port. Some computers support 10G Ethernet port natively, but most don’t. If it is not supported on your Computer, then you can use the Thunderbolt adapter mentioned in the table to connect to the 10G switch.

Bill of materials:

In the table, some items are listed as mandatory and some as optional. The optional items denote the bill of materials needed to stream the Hammerhead output to the Computer.

Item Description Qty Reference Item Requirement
1 Nvidia AGX Orin 64 GB Dev Kit 1 Link Mandatory
2 NVME SSD 1 Link Mandatory
3 Lucid Triton 5.4 MP cameras 2 Link Mandatory
4 Lucid M12 to RJ45 cables 2 Link Mandatory
5 8-Port 10G Ethernet PoE Managed Switch 1 Link Mandatory
6 Cat 8 Ethernet cables with RJ 45 connectors 2 Link Mandatory (1 qty)
Optional (1 qty)
7 SFP+ to RJ45, 10G adapter 1 Link Optional
8 OWC Thunderbolt 3 10G Ethernet Adapter 1 Link Optional

In addition, a mouse, keyboard, display port cable and monitor are needed for interacting with the Orin.

Uncompressed video and depth maps from 5.4MP cameras is a lot of data. We have spent several engineering weeks evaluating different NVME SSD solid state drives to determine which can sustain high data transfer rates and have come to the recommendation in the table above.

Step 2: Setting up Orin

Step 2.1: Mounting NVME SSD