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

src/main.cpp

@@ -0,0 +1,43 @@
+#include "camera_pipeline.hpp"
+#include "config.hpp"
+#include "stop_signals.hpp"
+#include "visualizer.hpp"
+#include <functional>
+#include <iostream>
+#include <map>
+
+int main(int argc,char** argv)try {
+    auto root=std::filesystem::canonical("/proc/self/exe").parent_path().parent_path();
+    auto configPath=root/"config/camera.json";
+    bool visualize=false;
+    std::map<std::string,std::function<void(int&)>> arguments{
+        {"--visualize",[&](int&){visualize=true;}},
+        {"--config",[&](int&i){if(++i>=argc)throw std::invalid_argument("--config needs a file");configPath=argv[i];}},
+        {"--help",[](int&){std::cout<<"camera_risk [--config FILE] [--visualize]\nContinuous camera inference; latest FrameResult stays in memory. Stop with Ctrl+C or SIGTERM.\n";std::exit(0);}}
+    };
+    for(int i=1;i<argc;++i){auto handler=arguments.find(argv[i]);if(handler==arguments.end())throw std::invalid_argument("Unknown option: "+std::string(argv[i]));handler->second(i);}
+
+    cms::CameraPipeline pipeline(cms::loadConfig(configPath));
+    cms::StopSignals signals(pipeline);
+    pipeline.start();
+    /*
+     * 下游使用示例：在下游自己的线程/调用位置读取最新结果。
+     * 首帧尚未完成时 result 为空；读取不会影响取图和推理。
+     *
+     * auto result = pipeline.latest();
+     * if (result) {
+     *     const auto& risk = result->risk;
+     *     const auto& people = result->persons;
+     *     // result->frame_index / track_ids / boxes
+     *     // result->image / door_mask_pixels / capture / timing
+     *     // people[i].selected / smoothed / temporal：各 133 个关键点
+     * }
+     */
+    // Optional observer. Closing/failing the window never requests inference stop.
+    if(visualize) {
+        try {cms::runLocalVisualization(pipeline);}
+        catch(std::exception const& e){std::cerr<<"Visualization unavailable; inference continues: "<<e.what()<<std::endl;}
+    }
+    pipeline.join();
+    return 0;
+}catch(std::exception const& e){std::cerr<<"Camera pipeline failed: "<<e.what()<<std::endl;return 1;}