Add optional original, annotated and JSON frame outputs

src/camera_pipeline.cpp

@@ -50,6 +50,7 @@ struct CameraPipeline::Impl {
     BoundedQueue<CapturedFrame> captures;
     BoundedQueue<Detected> detections;
     LatestResult results;
+    std::unique_ptr<OutputWriter> outputWriter;
     fangjia::TrtLogger logger;
     std::unique_ptr<Detector> detector;
     std::unique_ptr<fangjia::RtmwEngine> pose;
@@ -93,6 +94,7 @@ struct CameraPipeline::Impl {
     void start() {
         {std::lock_guard<std::mutex> lock(stateMutex);if(started||stopped)throw std::logic_error("CameraPipeline can only be started once");started=true;}
         try {
+            outputWriter=std::make_unique<OutputWriter>(config.output);
             detector=std::make_unique<Detector>(config.engines/"yolo11s.engine",logger,config.detector_confidence,config.max_people);
             pose=std::make_unique<fangjia::RtmwEngine>(config.engines/"rtmw_l_384.engine",logger,config.camera.width,config.camera.height,config.max_people);
             DoorOptions options;options.constant=config.door_mask;options.warning=config.warning_relative;options.release=config.release_relative;
@@ -160,6 +162,7 @@ struct CameraPipeline::Impl {
             FrameResultPtr immutable=result;
             results.publish(std::move(immutable));
             {std::lock_guard<std::mutex> lock(stateMutex);totalLatency+=result->timing.capture_to_result_ms;++published;}
+            outputWriter->write(*result);
         }
         active=false;
     }