HDK Software Checklist

When you receive a new HDK, use this checklist to verify that the software is functioning correctly before starting any development or data collection work.

1. Software Version

Verify that hammerhead and nodar_viewer are installed: 

hammerhead -v
nodar_viewer -v
The installed versions of hammerhead and nodar_viewer should match. If an update is needed, follow the HDK Software Update instructions.

2. Configuration Files

Verify that the following files exist in your config directory (${HOME}/.config/nodar/config/):

  • master_config.ini
  • intrinsics.ini
  • extrinsics.ini

The master_config.ini is the primary place to change settings before launching Hammerhead. Review the Master Configuration documentation for details on available options.

You can open and check the intrinsics and extrinsics files to verify the camera parameters.

3. Camera Connectivity

Launch hammerhead on the Orin (without the -s flag to use live cameras). Launch nodar_viewer on the Orin and click Connect. Verify that both left and right camera images appear in the viewer (cameras initialize in < 1 minute).

Verify that the images are not black, washed out, or showing artifacts.

4. Check Layouts

Explore the different layouts available in nodar_viewer. See the User Interface documentation for details on available views and layout options.

5. Calibration Verification

The HDK is factory-calibrated before delivery. Verify that calibration is intact:

Point the cameras at a scene with objects at known distances (ideally outdoors). Click on objects in the depth map and verify that reported distances are reasonable. Check that the depth map is dense and not overly sparse (sparse output may indicate calibration drift).

If the depth maps are not filled in, run a Refinement Calibration outdoors on a natural scene. If distances are off, perform a Range Calibration using a target > 20 m away.

6. Stereo Matching Output

Verify that the disparity/depth output looks correct in nodar_viewer:

  • Depth map should show a smooth gradient from near (red) to far (blue)
  • There should be no large holes or artifacts in textured regions

If using obstacle detection, enable and verify Grid Detect in master_config.ini: 

enable_grid_detect = 1

7. Network Connectivity (10G Port)

If you plan to connect the HDK to an external computer, follow the Connecting to a Computer instructions.

Connect a Cat8 Ethernet cable from the Orin's 10G port to your computer. Configure your computer's Ethernet interface with a static IP in the 10.10.1.X range (e.g., 10.10.1.100). Verify connectivity: 

ping 10.10.1.10

Install nodar_viewer on your computer and confirm it can connect to the HDK over the network. Verify that images stream without excessive frame drops.

8. Data Recording

Follow the Data Collection on the Computer instructions in the HDK Manual.

9. Communication Interface (Optional)

If you plan to integrate with external applications, test your communication interface (ZMQ or ROS2). See the ZMQ and ROS2 documentation for setup instructions and examples.

Troubleshooting

If any checks above fail:

  1. Cameras not detected: Ensure M12-RJ45 cables are securely connected to both the HDK and PoE ports. Power cycle the Orin.
  2. Poor depth quality: Clean the lens tubes with a microfiber cloth. Re-run refinement calibration outdoors on a natural scene.
  3. Network issues: Verify Cat8 cable quality and that your computer is on the 10.10.1.X subnet.
  4. Frame drops during recording: Close all viewer tabs except Data Collection. Use a high-performance SSD.
  5. Wrong distance readings: Run range calibration using a target > 20 m away.

For further assistance, contact support@nodarsensor.com.