Most optical cameras work with reflected light, not direct emission. The source of light is usually away and at an angle; this allows for shadows, textures, etc.
I don't see why an IR camera can't work the same way as an optical camera, if reflected IR is used; IR photos under e.g. sunlight look fine enough.
Radars or lidars work with their own scanning sources of illumination: microwave, IR, or optical. I wonder if the HADAR uses its own source of IR; if it does, how different it from a LIDAR?
(All these mysteries can be solved for $29, but I'm not yet curious enough.)