Add CAN-driven lazy inference with resident TensorRT engines

2026-09-23 20:25:34 +08:00
parent 26c5bfb88d
commit 647e5b5f79
31 changed files with 1234 additions and 129 deletions
@@ -123,7 +123,7 @@ struct Camera::Impl {
                m.driver_sequence=buffer.sequence;m.received_monotonic_ns=monotonicNs();
                m.driver_timestamp_ns=std::uint64_t(buffer.timestamp.tv_sec)*1000000000ULL+std::uint64_t(buffer.timestamp.tv_usec)*1000;
                m.driver_timestamp_monotonic=(buffer.flags&V4L2_BUF_FLAG_TIMESTAMP_MASK)==V4L2_BUF_FLAG_TIMESTAMP_MONOTONIC;
-                m.capture_monotonic_ns=m.driver_timestamp_monotonic&&m.driver_timestamp_ns>0&&m.driver_timestamp_ns<=m.received_monotonic_ns?m.driver_timestamp_ns:m.received_monotonic_ns;
+                m.capture_monotonic_ns=m.received_monotonic_ns; // Host dequeue clock; retain raw driver timestamp separately.
                if(haveSequence) {
                    auto delta=static_cast<std::uint32_t>(buffer.sequence-lastSequence);
                    if(delta==0||delta>0x7fffffffU)throw std::runtime_error("Camera sequence reset or repeated frame");