video_stage: add the Orin-to-PC video transport

CMakeLists.txt

@@ -72,6 +72,7 @@ option(BUILD_PLUGIN_OGLO "Build OGLO tactile glove plugin (BLE, Linux only; fetc
 option(BUILD_PLUGIN_WUJI_GLOVE "Build Wuji glove plugin (requires the wuji_sdk C SDK)" OFF)
 option(BUILD_PLUGIN_SHARPA_AVATAR "Build Sharpa AvatarExo Glove plugin (Linux; skips if the Avatar SDK is missing)" OFF)
 option(BUILD_PLUGIN_SENSING "Build SENSING GMSL camera plugin (Jetson only; requires SIPL, NVENC and the LiveKit SDK)" OFF)
+option(BUILD_VIDEO_STAGE "Build the video stage: the Orin-to-PC video transport and the PC relay" OFF)
 option(BUILD_EXAMPLES "Build examples" ON)
 option(BUILD_EXAMPLE_TELEOP_ROS2 "Build only the teleop_ros2 ROS 2 reference integration (e.g. for Docker)" OFF)
 option(BUILD_TESTING "Build unit tests" ON)

src/CMakeLists.txt

@@ -25,6 +25,10 @@ if(BUILD_VIZ)
     add_subdirectory(viz)
 endif()
 
+if(BUILD_VIDEO_STAGE)
+    add_subdirectory(video_stage)
+endif()
+
 if(BUILD_PLUGINS)
     add_subdirectory(plugins)
 endif()

src/video_stage/CMakeLists.txt

@@ -0,0 +1,21 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+# ==============================================================================
+# Video stage: the Orin-to-PC video transport
+# ==============================================================================
+#   wire/    video_stage_wire   -- AVS1 records, clock exchange, H.264 access-unit helpers, frame correlator
+#   sender/  video_stage_sender -- the Orin-side sender of AVS1 records over a direct link
+#
+# Plain C++ and POSIX sockets: no CUDA, no LiveKit.
+#
+# Configure with:
+#   cmake -B build -DBUILD_VIDEO_STAGE=ON
+# ==============================================================================
+
+add_subdirectory(wire)
+add_subdirectory(sender)
+
+if(BUILD_TESTING)
+    add_subdirectory(wire/tests)
+endif()

src/video_stage/sender/CMakeLists.txt

@@ -0,0 +1,27 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+# The Orin-side sender of AVS1 records to the PC video stage: plain POSIX sockets and threads, no CUDA, so the camera
+# producer, the mock producer and the tests all link the same code.
+add_library(video_stage_sender STATIC
+    direct_sender.cpp
+    inc/video_stage/direct_sender.hpp
+)
+add_library(video_stage::sender ALIAS video_stage_sender)
+
+set_target_properties(video_stage_sender PROPERTIES POSITION_INDEPENDENT_CODE ON)
+
+target_include_directories(video_stage_sender
+    INTERFACE
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/inc>
+)
+
+target_link_libraries(video_stage_sender
+    PUBLIC
+        video_stage::wire
+        log_bridge::log_bridge_core
+)
+
+if(BUILD_TESTING)
+    add_subdirectory(tests)
+endif()