[gareth-morgan-nv]

Summary

The Sensing producer sends its camera video to the PC relay over a direct link instead of publishing to LiveKit.

Deployment change: an Orin on this build needs a running relay on the PC, and the LiveKit SDK is no longer fetched or installed for the producer. The stream option is --add-stream=sensor=N,name=NAME,direct=HOST:PORT; the LiveKit options become --fps, --scale-div and --bitrate.

• Frame correlation: each encoded unit is matched to its capture by the stamp the encoder returns (the driver is asked to copy input timestamps). A unit that matches none is sent without a capture time. --frame-correlation=fifo keeps by-order matching for previews, not for recording.
• Encoder: writes a VUI so a receiving decoder does not hold back pictures.
• Timestamp basis: monotonic only, the clock the link carries.

Validation

• This code compiled and linked on a Jetson Orin (SIPL build, JetPack with CUDA) as part of the head of the producer-control PR above this one; it has not been built on its own or with the Argus backend, and it has not been run.
• A PC-only check: every header and CMake path this change references resolves, and clang-format-14 and pre-commit are clean.
• Not run: any stream from a real camera through the direct link, and any latency measurement.

Stacked on the relay PR.

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✅ Preview deployed: https://NVIDIA.github.io/IsaacCapture/preview/pr-1468/

Built from commit 3e9aa42. It may take a minute for the updated preview to appear.

[gareth-morgan-nv]

Closing as superseded: the camera path is now the camera_streamer architecture (SIPL/Argus sender, AVS1 over TCP, PC receiver and LiveKit bridge; see #1473-#1479). Not merged; the branch and commits are kept.

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[gareth-morgan-nv]

This PR is superseded by the camera_streamer PRs:

• camera_streamer: add SIPL camera support to the sender #1473 camera_streamer: add SIPL camera support to the sender
• camera_streamer: map SIPL sensor timestamps to sender CLOCK_MONOTONIC and add an AVS1 timing record #1474 camera_streamer: map SIPL sensor timestamps to sender CLOCK_MONOTONIC and add an AVS1 timing record
• camera_streamer: add a UDP clock exchange responder to the sender #1475 camera_streamer: add a UDP clock exchange responder to the sender
• examples/camera_streamer: add a camera-free mock sender and publish the first decoded picture #1476 examples/camera_streamer: add a camera-free mock sender and publish the first decoded picture
• camera_streamer: add cross_build.sh and deploy_sender.py development tools #1477 camera_streamer: add cross_build.sh and deploy_sender.py development tools
• examples/camera_livekit_bridge: publish receiver frames to LiveKit #1478 examples/camera_livekit_bridge: publish receiver frames to LiveKit
• examples/camera_streamer: carry a qualified sensor capture time to LiveKit #1479 examples/camera_streamer: carry a qualified sensor capture time to LiveKit

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