realsense-sipl

RealSense depth cameras on NVIDIA Jetson through SIPL/UDDF and the Holoscan Sensor Bridge (HSB), covering two independent camera paths:

Path	Camera	Transport	Where it lives
D457 over GMSL	RealSense D457 (DS5 ASIC + OV9282)	MAX9295A serializer → MAX96712 deserializer → Tegra CSI	d457-sipl/
D555 over CoE	RealSense D555 (HKR SoC)	Camera-over-Ethernet via the Holoscan Sensor Bridge	d555-sipl/

Both deliver frames to Holoscan applications through the vendored holoscan-sensor-bridge/.

---

Two independent projects

d457-sipl and d555-sipl are separate projects that share this repository. They target different Jetson releases whose SIPL config APIs are mutually exclusive, so neither can be built from the other's configuration:

Project	Jetson release	SIPL config API	Rig
d555-sipl	L4T R38	CameraSystemConfig — the API upstream HSB 2.5.0 targets	rs-hsb-thor
d457-sipl	L4T R39.2	sensorconfig::SensorSystemConfig, which replaced it	fw-advantech-thor-1

holoscan-sensor-bridge/ is therefore kept at (near) upstream 2.5.0 and carries no camera-specific code. Each project keeps its own Holoscan operators, examples and wiring under <project>/hsb/, and tools/graft_hsb.sh overlays exactly one of them onto an HSB checkout before building:

tools/graft_hsb.sh d457      # or: d555
tools/graft_hsb.sh --check   # report which project is currently grafted

Graft one project at a time; the script refuses to stack one on the other. This is the single-repository equivalent of how the projects used to be kept apart — one superproject branch each, pinning the HSB submodule to a different HSB branch.

Repository layout

Path	Contents
d457-sipl/	D457 over GMSL (R39.2). The SIPL/UDDF camera-module driver, query plugin, cdi-mgr device-tree overlay, DS5 register tables, SerDes SDK patches, its Holoscan code in hsb/, rig tools and tests
holoscan-sensor-bridge/	Vendored NVIDIA Holoscan Sensor Bridge 2.5.0 (Apache-2.0), kept near upstream — shared infrastructure only, no camera-specific code — see REALSENSE-FORK-NOTICE.md
d555-sipl/	D555 over CoE (R38). The UDDF module/sensor drivers, the CoE/HSB transport, its PyHSL sequences, and its Holoscan code in hsb/
resources/	Screenshots and misc assets

---

Building

Everything here targets aarch64 Jetson; none of it builds on an x86 host. The commands below were exercised on a Jetson Thor (Advantech MIC-742, L4T R39.2, kernel 6.8.12-tegra) with g++ 13.3 and cmake 3.28.

D457 SIPL driver, deserializer and query plugin

Needs the Jetson SIPL SDK source tree on the device (.../usr/src/jetson_sipl_api/sipl).

# from a checkout of this repository, on the Jetson
d457-sipl/tools/build_deploy.sh -r "$PWD"

That syncs the driver sources into the SDK tree, applies the MAX9295/MAX96712 patches, builds libuddf_d457cameramodule_library.so, libnvuddf_max96712_library.so and libnvsipl_qry_d457.so, and installs them into /usr/lib/nvsipl_drv. -c driver,deser,query selects a subset; see the header of the script for the rest.

For the multi-camera configuration, also apply the four SerDes diffs in d457-sipl/sdk-patches/multicam-patches/ to the SDK tree before building — see d457-sipl/sdk-patches/multicam-patches/README.md.

D555 UDDF driver (camera over Ethernet)

cmake -S d555-sipl -B build/d555
cmake --build build/d555 -j"$(nproc)"

Produces libnvuddf_realsense_library.so (D555 module + sensor + CoE/HSB transport). The Jetson Camera SIPL SDK is not vendored — the build uses the copy installed on the device; pass -DSIPL_ROOT=/path/to/sipl to point elsewhere. See d555-sipl/README.md.

Holoscan Sensor Bridge

Built inside the HSB container (hololink-demo:2.5.0):

cd holoscan-sensor-bridge
sh docker/demo.sh bash -c '
  cmake -S . -B build -DCCCL_DIR:PATH=/usr/local/cuda/targets/sbsa-linux/lib/cmake/cccl -DHOLOLINK_BUILD_SIPL=1 &&
  cmake --build build -j"$(nproc)"'

Graft a project first (tools/graft_hsb.sh d457 or d555) — the tree itself carries no camera code. See holoscan-sensor-bridge/docs/user_guide/thor-jp7-setup.md for the full device-setup prerequisites.

---

Running

The D457 players and rig helpers live in d457-sipl/tools/. They expect two things from the environment rather than hardcoding them:

• RIG_SUDO_PW — the device's sudo password, for non-interactive sudo. Leave it unset to use a cached/NOPASSWD sudo instead.
• VNC_PW — the password to install for the VNC server the viewer scripts start.

Stream selection is by environment variable: D457_STREAM=depth|rgb|ir for a single stream and D457_STREAMS=depth,rgb,ir for the multi-stream players; D555_STREAM for the D555 player.

---

License

This repository is Apache-2.0 — see LICENSE. Third-party code keeps its own notices:

Path	License
holoscan-sensor-bridge/	Apache-2.0 — a modified snapshot of NVIDIA's Holoscan Sensor Bridge, retaining its LICENSE and copyright headers (fork notice)
d555-sipl/hololink/core/	Apache-2.0 — NVIDIA, from the Holoscan Sensor Bridge
d555-sipl/fmt/	MIT — fmtlib/fmt

The NVIDIA Jetson Camera SIPL SDK is not included. It is distributed under LicenseRef-NvidiaProprietary, which prohibits redistribution without an express agreement with NVIDIA, so both d457-sipl/ and d555-sipl/ build against the copy installed on the Jetson rather than vendoring it.

The four SerDes drivers we had to change more deeply (MAX9295.{cpp,hpp}, MAX967XX.cpp, MAX967XXHsl.py) are not committed either. They are NVIDIA's code with our edits, so only the diffs are kept, in d457-sipl/sdk-patches/multicam-patches/, alongside an apply.sh that reproduces them against a stock SDK tree.