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

include/camera_pipeline.hpp

@@ -0,0 +1,43 @@
+#pragma once
+#include "camera.hpp"
+#include "frame_result.hpp"
+#include <filesystem>
+#include <memory>
+
+namespace cms {
+struct PipelineConfig {
+    CameraConfig camera;
+    std::filesystem::path engines,door_mask;
+    double detector_confidence{0.30};
+    int max_people{3};
+    double warning_relative{0.30},release_relative{0.45};
+    std::size_t queue_capacity{2};
+    bool door_mask_calibration_verified{false};
+};
+struct PipelineStats {
+    std::uint64_t captured{},published{},driver_sequence_gaps{},discarded_error_frames{};
+    double mean_capture_to_result_ms{};
+};
+// One lifecycle per instance. start() warms engines before starting capture.
+// Runs continuously until requestStop() or a worker failure.
+// latest() reads the immutable result variable without removing or acknowledging it.
+// No result queue, consumer registration or frame-count termination.
+// Stop is safe from any thread;
+// destruction closes queues, interrupts capture and joins every worker.
+class CameraPipeline {
+public:
+    explicit CameraPipeline(PipelineConfig config);
+    ~CameraPipeline();
+    CameraPipeline(CameraPipeline const&)=delete;
+    CameraPipeline& operator=(CameraPipeline const&)=delete;
+    void start();
+    FrameResultPtr latest() const;
+    bool running() const noexcept;
+    void requestStop() noexcept;
+    void join();
+    PipelineStats stats() const;
+private:
+    struct Impl;
+    std::unique_ptr<Impl> impl_;
+};
+}