If the application was installed using the provided package installer, you can open it by typing nodar_viewer in a terminal. Alternatively, you can launch it directly from the installation folder located at /usr/local/nodar/nodar_viewer on Linux systems.
To connect Nodar Viewer to the running application, enter the IP address of the machine where the application is running and press the "Connect" button, as shown in Figure 1. If you are running both the application and Nodar Viewer on the same machine, you can use the address 127.0.0.1. If they are on separate machines, you will need to know the IP address of the other machine.
NOTE: to allow Hammerhead to stream data to the Viewer, the show_gui **property of the Master Configuration File should be set to 1.
Figure 1: Nodar Viewer connect
Launching the application for the first time opens several default viewers, as shown in Figure 2. These include:
Clicking on the respective maximize button maximizes these windows to full screen. Clicking a minimize button restores the window to the original location.
Figure 2: Hammerhead GUI
The Blended Depth view is colored in range space, with red indicating close points and blue indicating points farther away. Clicking on a point while holding Ctrl in the Blended Depth view provides the range to it in meters.
Clicking on the respective setting button opens a setting window for the selected viewer.
To create a new viewer, choose one in the Viewers menu, as shown in Figure 3. The new viewer appears as a floating window. You can drag the window’s header to rearrange it.
Figure 3: Create a new viewer
The control viewer (Figure 4) can be used to set up communication with the application. It includes options such as pausing and resuming or changing camera exposure and gain. It also lists the shortcuts for the corresponding actions. Note that these shortcuts work even when this viewer is hidden.
Figure 4: Control viewer
Point Cloud viewer allows one to observe a 3D point cloud. You can navigate in the 3D space with a mouse and a keyboard. Available actions are listed in the viewer’s properties panel, see Figure 5.
Figure 5: Point Cloud viewer