FFmpeg raspberry pi OMX hardware encoder with inline_headers enabled = Increasing latency over the time
Gyan is right :

I just need to add +global header flag and only the "dump_extra" bit stream filter

My patch become useless, ffmpeg can add SPS/PPS itself inside the stream.

My old cmdline is - missing inline SPS/PPS for infinite streaming - :

ffmpeg -f v4l2 -i /dev/video0 -vf hqdn3d=0:0:50:50 -c:v h264_omx -profile:v baseline -b:v 1500000 -f rawvideo tcp://127.0.0.1:8003

I just need to add "-flags:v +global_header -bsf:v dump_extra" the cmdline become :

ffmpeg -f v4l2 -i /dev/video0 -vf hqdn3d=0:0:50:50 -c:v h264_omx -profile:v baseline -b:v 1500000 -flags:v +global_header -bsf:v dump_extra -f rawvideo tcp://127.0.0.1:8003

(live result here : https://www.vigibot.com/ click on the "Astro" public robot)