Add ZED SVO to MCAP conversion tool

include/cvmmap_streamer/config/runtime_config.hpp

@@ -85,6 +85,8 @@ struct McapRecordConfig {
 	std::string path{"capture.mcap"};
 	std::string topic{"/camera/video"};
 	std::string depth_topic{"/camera/depth"};
+	std::string calibration_topic{"/camera/calibration"};
+	std::string pose_topic{"/camera/pose"};
 	std::string body_topic{"/camera/body"};
 	std::string frame_id{"camera"};
 	McapCompression compression{McapCompression::Zstd};

include/cvmmap_streamer/encode/encoder_backend.hpp

@@ -17,6 +17,7 @@ namespace cvmmap_streamer::encode {
 struct RawVideoFrame {
 	ipc::FrameInfo info{};
 	std::uint64_t source_timestamp_ns{0};
+	std::size_t row_stride_bytes{0};
 	std::span<const std::uint8_t> bytes{};
 };
 

include/cvmmap_streamer/record/mcap_record_sink.hpp

@@ -4,6 +4,7 @@
 #include "cvmmap_streamer/encode/encoded_access_unit.hpp"
 #include "cvmmap_streamer/ipc/contracts.hpp"
 
+#include <array>
 #include <cstddef>
 #include <cstdint>
 #include <expected>
@@ -26,6 +27,31 @@ struct RawDepthMapView {
 	std::span<const float> pixels{};
 };
 
+struct RawDepthMapU16View {
+	std::uint64_t timestamp_ns{0};
+	std::uint32_t width{0};
+	std::uint32_t height{0};
+	std::span<const std::uint16_t> pixels{};
+};
+
+struct RawCameraCalibrationView {
+	std::uint64_t timestamp_ns{0};
+	std::uint32_t width{0};
+	std::uint32_t height{0};
+	std::string_view distortion_model{};
+	std::span<const double> distortion{};
+	std::span<const double> intrinsic_matrix{};
+	std::span<const double> rectification_matrix{};
+	std::span<const double> projection_matrix{};
+};
+
+struct RawPoseView {
+	std::uint64_t timestamp_ns{0};
+	std::string_view reference_frame_id{};
+	std::array<double, 3> position{};
+	std::array<double, 4> orientation{};
+};
+
 struct RawBodyTrackingMessageView {
 	std::uint64_t timestamp_ns{0};
 	std::span<const std::uint8_t> bytes{};
@@ -56,6 +82,15 @@ public:
 	[[nodiscard]]
 	std::expected<void, std::string> write_depth_map(const RawDepthMapView &depth_map);
 
+	[[nodiscard]]
+	std::expected<void, std::string> write_depth_map_u16(const RawDepthMapU16View &depth_map);
+
+	[[nodiscard]]
+	std::expected<void, std::string> write_camera_calibration(const RawCameraCalibrationView &calibration);
+
+	[[nodiscard]]
+	std::expected<void, std::string> write_pose(const RawPoseView &pose);
+
 	[[nodiscard]]
 	std::expected<void, std::string> write_body_tracking_message(const RawBodyTrackingMessageView &body_message);