Installing Sekonix cameras on Drive Orin SDK

Cameras

There are 3 camera models Sekonix makes with AR0231 sensor:

3324,3325 and 3356.

The modules are only different by installed lens (FOV), 

Spec of the camera module:

• Onsemi AR0231 image sensor

• 1928 x 1208 Resolution (2.3M Pixel)

• Optical format: 1/2.7-inch

• 27MHz clock input

• Analog power supply, from 8V (±10%)

• Ultrahigh resolution Lens

• MAXIM – MAX96705 Serializer

• FAKRA Z TYPE Connector

• Waterproof – IP69K

• Dimension – 26x26x20.3

Drive OS

According to onsemi only this setup is supported

There is no explicit mention that newer OS is not supported.

To install 6.0.6.0 —4 (latest revision)  run the sdk manager as follows:

sdkmanager --cli install \

  --product Drive \

  --target-os Linux \

  --host \

  --version 6.0.6 \

 --target DRIVE_AGX_ORIN_DEVKITS \

  --flash

Physical connection

For this setup the cable must be connected to the top port of the nvidia box and the camera must be connected to the green cable (number 1)

(in the picture orange line goes to 2nd port, not the top port).

SerDes

We confirmed that the following serializer / deserializer are used in our system:

Serializer: MAX9296 (on the camera side)

Deserializer: MAX96712 (on the orin)

Additionally to map different cameras, one can refer to a manual from nVidia.

In case of non-standard setup, one can modify the .json file provided by onsemi package and point nv_sipl to the specific configuration and place the configs into

 /configs folder of nvsipl_camera application

For this setup there is no need to place the configs there, as ser/des parameters will be automatically loaded by the driver.

Libraries

Download an unzip module files and sensor driver from onsemi

(reach out to me or local onsemi FAE for driver info)

Driver 

The AR0231 sensor is not included in the default installation of the Drive OS.

The driver contains:

• Sensor addresses, modes resolution, color pattern 

• Sensor initialization sequence (which mode to start in, fps, timing, etc

• Initial tuning (any tuning settings, like color, hdr, noise reduction)

To install copy 2 .so files:

Libnvsipl_devblk_drv_ar0231_30fps_rccb.so

libnvsipl_qry_ar0231_30fps_rccb.so

under libs folder on the Nvidia Orin platform in 

/usr/lib/nvsipl_drv/ 

Verify that family of 332X modules show up when executing: 

./nvsipl_camera –help

After running help look for

 SF3326_CPHY_x4  - this is so called PLATFORM CONFIGURATION

(you can find all platform configurations for these cameras in .json files of library package)

Tuning

After default tuning for the sensor which is applied in the sensor driver, 

additional tuning can be applied to the specific camera by providing nvsipl with the .NITO file.

Usually NITO files carry lens specific correction, such as white balance and color related parameters,

Nito file should refer to the name of PLATFORM CONFIGURATION.

NITO files are loaded at the last stage of the process.

Copy the .NITO files from the downloaded library into

/usr/share/camera/ folder on the Orin

Verify  that following command doesn't produce any error or complain about missing NITO files

sudo ./nvsipl_camera -c SF3326_CPHY_x4  -m "0x0001 0x0 0x0 0x0" 

NVSIPL

Execute the following command for RGB output (ISP processed result):

sudo ./nvsipl_camera -c SF3326_CPHY_x4  -m "0x0001 0x0 0x0 0x0"  

And the following command for RAW output:

sudo ./nvsipl_camera -c SF3326_CPHY_x4  -m "0x0001 0x0 0x0 0x0"  --showfps  --disableISP0Output --enableRawOutput --disableISP1Output --disableISP2Output

To start streaming on the monitor attached to Orin SDK kill the graphics manager fist by:

systemctl disable gdm

systemctl stop gdm

(its important to do it from ssh host PC, so you don't loose control of the orin)

And execute:

sudo ./nvsipl_camera -c SF3326_CPHY_x4  -m "0x0001 0x0 0x0 0x0"  --showfps -d 1