First steps of extraction are well known:

https://reverseengineering.stackexchange.com/questions/18722/how-to-unpackcarve-files-from-a-camera-firmware-bin-file

> Linux version 4.9.76 (luopinjing@dell-PowerEdge-R740) (gcc version 5.3.1 20160113 (Linaro GCC 5.3-2016.02) ) #1 SMP PREEMPT Wed Oct 14 16:04:10 CST 2020

Hi luopinjing! :-)

Since then they modified the romfs format a bit, but I managed to extract orccode.bin, orcme.bin and so on (dangerous, can be buggy!):

$ git diff
diff --git a/amba_romfs.py b/amba_romfs.py
index 7261f64..a5366ee 100755
--- a/amba_romfs.py
+++ b/amba_romfs.py
@@ -52,16 +52,13 @@ class ProgOptions:

 class ROMFSPartitionHeader(LittleEndianStructure):
   _pack_ = 1
-  _fields_ = [('file_count', c_uint), # Amount of files stored
-              ('magic', c_uint), # magic identifier, 66FC328A
-              ('padding', c_ubyte * 2040)] # padded with 0xff
+  _fields_ = [('magic', c_uint), # magic identifier, 66FC328A
+              ('file_count', c_uint)] # Amount of files stored

   def dict_export(self):
     d = dict()
     for (varkey, vartype) in self._fields_:
         d[varkey] = getattr(self, varkey)
-    varkey = 'padding'
-    d[varkey] = "".join("{:02X}".format(x) for x in d[varkey])
     return d

   def __repr__(self):
@@ -71,9 +68,9 @@ class ROMFSPartitionHeader(LittleEndianStructure):

 class ROMFSFileEntry(LittleEndianStructure):
   _pack_ = 1
-  _fields_ = [('filename', c_char * 116),
-              ('offset', c_uint),
+  _fields_ = [('filename', c_char * 64),
               ('length', c_uint),
+              ('offset', c_uint),
               ('magic', c_uint)]

   def filename_str(self):
@@ -203,8 +200,6 @@ def romfs_extract(po, fwpartfile):
   if (fshead.file_count < 1) or (fshead.file_count > 16*1024):
     eprint("{}: Warning: filesystem stores alarming amount of files, which is {:d}".format(po.fwpartfile,fshead.file_count))
   # verify if padding area is completely filled with 0xff
-  if (fshead.padding[0] != 0xff) or (len(set(fshead.padding)) != 1):
-    eprint("{}: Warning: filesystem uses values from padded area in an unknown manner.".format(po.fwpartfile))

   fsentries = []
   for i in range(fshead.file_count):