Add continuous TensorRT camera inference and ready-to-run Orin package

include/camera.hpp

@@ -0,0 +1,31 @@
+#pragma once
+#include "image.hpp"
+#include <atomic>
+#include <memory>
+#include <optional>
+#include <string>
+
+namespace cms {
+struct CameraConfig {
+    std::string device{"/dev/video5"};
+    int width{1920},height{1536},fps{30},buffers{4},timeout_ms{2000};
+};
+struct CapturedFrame {
+    CaptureMetadata metadata;
+    std::shared_ptr<const BgrImage> image;
+};
+// The capture thread exclusively owns read(); requestStop() is thread safe.
+class Camera {
+public:
+    explicit Camera(CameraConfig config);
+    ~Camera();
+    Camera(Camera const&)=delete;
+    Camera& operator=(Camera const&)=delete;
+    std::optional<CapturedFrame> read();
+    void requestStop() noexcept;
+private:
+    struct Impl;
+    std::unique_ptr<Impl> impl_;
+};
+std::uint64_t monotonicNs();
+}