NODAR Inc. / NODAR Sensor Gmbh / September 26, 2024
The NODAR Hammerhead Development Kit (HDK) generates high-quality point clouds from a pair of cameras. It automatically calibrates and generates depth maps for a stereo vision camera setup. The HDK allows you to utilize high-resolution cameras, simplifies calibration, and enables wide-baseline, long-range stereo vision. This document assumes that the two provided lens-camera pairs are parallel and facing forward (along the direction of vehicle motion).
This document is intended to guide the initial setup and first run of your HDK. It includes information on the components of the system and instructions on how to perform system assembly, configure system parameters, launch the HDK application, and record data for diagnostic evaluation.
The Hammerhead Development Kit is referred to as HDK in this document to improve readability.
This document is intended for trained engineers tasked with integrating, testing, or evaluating the system. Users are assumed to possess an operational understanding of camera-based vision systems, familiarity with network configuration, and terminal usage in Unix environments.
It is highly recommended that the user read and understand this document in its entirety prior to installation and operation of the system.
If you have questions during any part of the installation or evaluation process, please visit our support page or send us an email at [email protected].
The NODAR HDK comes partially assembled and is ready for testing within minutes. A standard HDK comes packaged in a Pelican Protector long case with foam inserts. Figure 1 demonstrates the components of a typical kit. Your kit may vary slightly from this configuration.
Figure 1: Unboxing the kit
Carefully unpack the case and ensure that all the components mentioned in the packing list are present in the kit. A typical kit will contain the items listed in Table 1.
| Item | Category | Quantity |
|---|---|---|
| T-Slotted Aluminum Framing Rail, 52" | Mount | 1 |
| Suction Cup/Magnet, with ball-head mounts | Mount | 2 |
| Tie-down strap with cam-buckle, 1" x 12’ | Mount | 2 |
| Lucid Vision Labs Triton 5.4MP Sensor | Camera | 2 |
| Fujinon C-Mount 6mm or 16mm Lens | Camera | 2 |
| IP67 C-Mount Lens Tube | Camera | 2 |
| M12-to-RJ45 IP67 Cat6a Cable, 5.0m | Camera | 2 |
| M8 GPIO-to-BNC Cable, 5.0m | Camera | 2 |
| NVIDIA Jetson AGX Orin Developer Kit | Compute | 1 |
| GPIO-to-BNC Breakout Board | Compute | 1 |
| 8-Port 10G Ethernet PoE+ Switch | Networking | 1 |
| CAT8 Ethernet Cable, 10ft | Networking | 1 |
| Leica Geosystems Laser Distance Meter | Tools | 1 |
Table 1: System Components
The HDK hardware contains sensitive electronics, optical elements, and glass components that need to be handled carefully. Please connect all cables before applying power to the system. Disconnecting any cables while the system is powered on may damage the system. Before operation, visually inspect the system for loose cables, debris on the optical elements, or any other damage to the kit’s components. Tie down any loose cables in a tension-released manner to prevent tripping hazards and avoid exerting excess force on any connectors while the vehicle is in motion.