[gareth-morgan-nv]

Summary

An optional PC GPU stage for the relay, behind BUILD_VIDEO_STAGE_GPU (off by default). With it, video_stage_worker --operation=sine-warp decodes each picture on NVDEC, applies a GPU operation and re-encodes on NVENC instead of forwarding the Orin's access units untouched. Only this option enables CUDA and fetches the NV codec headers; a build without it rejects the operation with a clear message and relays as before.

• The GpuOperation contract and an example sine-wave warp. It is an example, not calibrated rectification.
• Identity travels by key through NVDEC and NVENC, so metadata follows its frame through loss; a picture arriving while every encoder surface is busy is dropped and counted.
• The packet and geometry types the relay shares with this stage live in video_stage/wire.

Replaces #1443, which combined this stage with the producer changes now in the PRs above. It is stacked on the producer PR and carries no management-channel code.

Validation

• video_stage_tests (8 cases, 624031 assertions) on an RTX PRO 5000 Blackwell GPU and video_stage_tcp_receiver_tests (4 cases) pass.
• Not run: any warp on real camera video, any measurement of latency, and anything on an Orin.

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[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Closing as superseded: the camera path is now the camera_streamer architecture (SIPL/Argus sender, AVS1 over TCP, PC receiver and LiveKit bridge; see #1473-#1479).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This PR is superseded by the camera_streamer PRs: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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