Integrate CAN-aware CMS risk pipeline and relocatable Orin runtime

include/frame_result.hpp

@@ -1,80 +0,0 @@
-#pragma once
-// Public downstream contract. Owns its data; no GPU, JSON or network handles.
-#include "image.hpp"
-#include <array>
-#include <cstdint>
-#include <memory>
-#include <optional>
-#include <string>
-#include <vector>
-
-namespace cms {
-struct DoorMaskResult {
-    std::string status;
-    int annotation_index{};
-    std::optional<std::string> path;
-    std::string format;
-    int area_px{};
-};
-struct RegionRisk {
-    std::string status;
-    std::optional<double> risk_score;
-    std::string risk_level;
-    std::string decision;
-    std::string source;
-    int track_id{};
-    std::string side;
-    std::optional<std::string> state;
-    // Unavailable evidence has no geometric measurements, matching the reference.
-    std::optional<int> region_area_px, door_overlap_px;
-    std::optional<double> region_overlap_ratio, min_distance_px;
-    std::optional<double> region_scale_px, distance_relative;
-};
-struct RiskResult {
-    std::string status;
-    std::optional<double> risk_score;
-    std::string risk_level;
-    std::string decision;
-    std::optional<std::string> source;
-    std::optional<int> track_id;
-    std::optional<std::string> side;
-    DoorMaskResult door_mask;
-    double warning_distance_relative{}, release_distance_relative{};
-    std::vector<RegionRisk> regions;
-};
-struct PosePoint { double x{},y{},score{}; };
-struct HandState {
-    std::string state, source;
-    bool limb_consensus{}, distance_eligible{}, alarm_eligible{};
-};
-struct PersonResult {
-    int track_id{};
-    double confidence{};
-    std::array<double,4> box{};
-    std::array<PosePoint,133> selected{}, smoothed{}, temporal{};
-    std::array<HandState,2> hands; // left, right
-};
-struct HandRegion {
-    int person_id{},track_id{};
-    std::string side;
-    std::array<PosePoint,21> keypoints{};
-};
-struct StageTiming {
-    double detector_ms{}, pose_ms{}, fusion_risk_ms{}, capture_to_result_ms{};
-};
-struct FrameResult {
-    int frame_index{};
-    std::vector<int> track_ids;
-    std::vector<std::array<double,4>> boxes;
-    RiskResult risk;
-    CaptureMetadata capture;
-    StageTiming timing;
-    std::vector<PersonResult> persons;
-    std::vector<HandRegion> hand_regions;
-    // Both images belong to this result. The constant mask is shared across frames.
-    std::shared_ptr<const BgrImage> image;
-    std::shared_ptr<const BinaryMask> door_mask_pixels;
-    bool door_mask_calibration_verified{};
-};
-using FrameResultPtr = std::shared_ptr<const FrameResult>;
-}