How can I access the password for the Jetson Orin that was shipped to me?

• For security reasons, the default username and password for the Jetson Orin device are confidential and not included in the documentation. Please refer to section 1.3 for contacting us.

How can I generate point clouds from the recorded data?

• To ensure real-time performance during data recording, point clouds are not saved directly. However, you can generate point clouds from the recorded data afterward. Follow the example provided in our repository to create point clouds offline:
  • https://github.com/nodarhub/hammerhead_zmq/tree/main/examples/offline_point_cloud_generator

How can I generate ROS2 bags from the recorded data?

• ROS2 bags are not directly recorded to ensure optimal performance during data capture. However, you can generate ROS2 bags from the recorded data afterward. Refer to the following example in our repository for guidance:
  • https://github.com/nodarhub/hammerhead_ros2/tree/main/src/generate_rosbag2

The 3D bounding boxes in the point cloud viewer are not aligned with the ground plane and/or have an offset with respect to the ground. What can I do?

• This is a common occurrence when the camera axis is not parallel with the ground plane. Here, it is advisable to set the bar_pitch correctly in the master configuration file.
• Furthermore, the Box Offset parameter can be tuned in the Properties pane of the point cloud viewer to adjust the relative position of the 3D bounding boxes in the y dimension.

The distance to an object gives me the wrong value. Why?

• During shipment and large shock events, the absolute range calibration can sometimes be affected.
• Go to Viewers tab and choose the “Initial Calibration” option on the NODAR Viewer. Then enter the baseline of the camera and click on the “Range Calibration” checkbox.
• After selecting the target on the image, enter the distance to the target and click on Submit.
• Recheck the distance to the target in the “Blended Depth” viewer to double check whether the changes got implemented. If not, you might have to choose a different target and repeat the range calibration routine. Please refer to Section 4.6 for help regarding calibration.

The detection is cut off in the bottom left corner of the Blended depth map. Is there a specific reason for this?

• The shadows around the objects and missing returns in the bottom left corner are 'expected'. The bottom left corner having no returns is due to the area not being visible in the right image. Valid detections are only possible when a scene is captured in both the left and right images.