AR0231 GMSL Camera RAW format memory layout

[v.vuongct12]

Please provide the following info (check/uncheck the boxes after clicking “+ Create Topic”):
Software Version
DRIVE OS Linux 5.2.0
DRIVE OS Linux 5.2.0 and DriveWorks 3.5
NVIDIA DRIVE™ Software 10.0 (Linux)
NVIDIA DRIVE™ Software 9.0 (Linux)
other DRIVE OS version
other

Target Operating System
Linux
QNX
other

Hardware Platform
NVIDIA DRIVE™ AGX Xavier DevKit (E3550)
NVIDIA DRIVE™ AGX Pegasus DevKit (E3550)
other

SDK Manager Version
1.5.0.7774
other

Host Machine Version
native Ubuntu 18.04
other

We want to test some software ISP on Drive AGX, first step is to get raw image from nvmedia ICP. We can get raw image of AR0231 sensor on Sekonix SF3324 Camera module using nvmipp_raw with --save-raw flag on.

Step 1, we remove top embedded lines from raw buffer to get pixel data only.
Step 2, we right shift each pixel data (16 bit) to remove 4 zero padding bits because AR0231 is raw12 bit data type. But diff from original pixel value and right shift value is slightly different (please see our debug code).

So my question is:

• In theory, I think diff value must be zero, is that correct?
• Right shift 4 bit is enough or we need another bit operation (flip, …) to decode raw image buffer?

I have attach raw buffer and our debug code
test_raw_desay.py (1.5 KB)
new_test.raw (4.4 MB)

I also view below topic, but it not help:

Image stream .raw structure

Hey! We are working with Sekonix cameras. For testing purposes and calibration we are saving the image stream with OpenCV in .raw format. We would like to know the data structure or paket structure of the .raw format. Do we have to contact Sekonix or does someone already have this information? Thanks for your answers. Greetings!

Raw GMSL image format

I’m working with a PX2 attached to a number of AR0231 RCCB GMSL cameras, and we need to be able to pull RGB images from logged data into python (for ease of manipulation). Currently it’s quite easy to log what we need with Driveworks recorder application, however we then need to pull images from the .raw binary log files. I want to do this directly in python: wrapping driveworks with pybind or similar is possible, but this isn’t a good solution. I’d also prefer not to write my own logging tool …

[SivaRamaKrishnaNV]

Dear @v.vuongct12,
We will check internally and update you soon

[v.vuongct12]

Hi @SivaRamaKrishnaNV,
Any update from your team?

[SivaRamaKrishnaNV]

Dear @v.vuongct12,
AFAIK, The output of VI in this case is stored in the lower 12 bits so I think there is no need to right shift.
I am confirming the same internally and waiting for an update. I will update you as soon as possible.

[SivaRamaKrishnaNV]

Dear @v.vuongct12,
right shift 4 bits should be fine.
when save RAW12 the 4 LSBs are not 0 padding, they are replicate of MSBs.

[v.vuongct12]

Thank you @SivaRamaKrishnaNV .