doImgPreprocessThread 图像预处理线程
doCameraPerceptionWithPreprocThread 感知处理线程
topic : NV_frame_sync
doRecvImgFdThread在不断的fatchFd
推理OP后，哪里通知的前处理线程
pre_hdl中的成员变量process_bset_ 用于判断一阶段推理是否完成
到BevUniconvViewTransformOP::ProcessInner时，代表前处理已经完成，会将该pipeline的process_bset_全部置为false，并通知doImgPreprocessThread进行下次图像预处理，预处理结束则重新置为true
所以目前是每次一阶段推理完成就开始进行图像预处理，图像预处理之后到下次一阶段推理中间还有一段时间，这段时间如果有新的图像到来，也不会被用来替换旧的数据，这是一个问题
- 用当前时间跟图像时间戳进行比较，如果差距比较大，则继续
wait，但是如何定义比较大，图像fetch间隔并不固定
每次fetch是五路相机一块，时间戳是相同的
right_front_camera: 1678017411959311000
left_front_camera: 1678017411959311000
right_rear_camera: 1678017411959311000
left_rear_camera: 1678017411959311000
center_camera_fov120_lane: 1678017411959311000
center_camera_fov120_mono: 1678017411959311000
right_front_camera: 1678017412025597000
left_front_camera: 1678017412025597000
right_rear_camera: 1678017412025597000
left_rear_camera: 1678017412025597000
center_camera_fov120_lane: 1678017412025597000
center_camera_fov120_mono: 1678017412025597000
right_front_camera: 1678017412092317000
left_front_camera: 1678017412092317000
right_rear_camera: 1678017412092317000
left_rear_camera: 1678017412092317000
center_camera_fov120_lane: 1678017412092317000
center_camera_fov120_mono: 1678017412092317000
right_front_camera: 1678017412125914000
left_front_camera: 1678017412125914000
right_rear_camera: 1678017412125914000
left_rear_camera: 1678017412125914000
center_camera_fov120_lane: 1678017412125914000
center_camera_fov120_mono: 1678017412125914000
right_front_camera: 1678017412192693000
left_front_camera: 1678017412192693000
right_rear_camera: 1678017412192693000
left_rear_camera: 1678017412192693000
center_camera_fov120_lane: 1678017412192693000
center_camera_fov120_mono: 1678017412192693000
right_front_camera: 1678017412259473000
left_front_camera: 1678017412259473000
right_rear_camera: 1678017412259473000
left_rear_camera: 1678017412259473000
center_camera_fov120_lane: 1678017412259473000
center_camera_fov120_mono: 1678017412259473000