feat(record): add depth RVL recording to MCAP

include/cvmmap_streamer/config/runtime_config.hpp

@@ -83,6 +83,7 @@ struct McapRecordConfig {
 	bool enabled{false};
 	std::string path{"capture.mcap"};
 	std::string topic{"/camera/video"};
+	std::string depth_topic{"/camera/depth"};
 	std::string frame_id{"camera"};
 	McapCompression compression{McapCompression::Zstd};
 };

include/cvmmap_streamer/ipc/contracts.hpp

@@ -45,6 +45,12 @@ enum class PixelFormat : std::uint8_t {
 	YUYV,
 };
 
+enum class DepthUnit : std::uint8_t {
+	Unknown = 0,
+	Millimeter = 1,
+	Meter = 2,
+};
+
 enum class ModuleStatus : std::int32_t {
 	Online      = 0xa1,
 	Offline     = 0xa0,
@@ -57,6 +63,7 @@ enum class ParseError {
 	InvalidMagic,
 	UnsupportedVersion,
 	InvalidDepth,
+	InvalidDepthUnit,
 	InvalidPixelFormat,
 	InvalidModuleStatus,
 	PayloadLengthMismatch,
@@ -155,11 +162,23 @@ struct ControlResponseMessage {
 
 struct ValidatedShmView {
 	FrameMetadata metadata;
+	DepthUnit depth_unit{DepthUnit::Unknown};
 	std::span<const std::uint8_t> payload;
+	std::span<const std::uint8_t> left;
+	std::optional<FrameInfo> depth_info{};
+	std::span<const std::uint8_t> depth{};
+	std::optional<FrameInfo> confidence_info{};
+	std::span<const std::uint8_t> confidence{};
 };
 
 struct CoherentSnapshot {
 	FrameMetadata metadata;
+	DepthUnit depth_unit{DepthUnit::Unknown};
+	std::span<const std::uint8_t> left;
+	std::optional<FrameInfo> depth_info{};
+	std::span<const std::uint8_t> depth{};
+	std::optional<FrameInfo> confidence_info{};
+	std::span<const std::uint8_t> confidence{};
 	std::size_t bytes_copied;
 };
 

include/cvmmap_streamer/record/mcap_record_sink.hpp

@@ -2,13 +2,30 @@
 
 #include "cvmmap_streamer/config/runtime_config.hpp"
 #include "cvmmap_streamer/encode/encoded_access_unit.hpp"
+#include "cvmmap_streamer/ipc/contracts.hpp"
 
+#include <cstddef>
+#include <cstdint>
 #include <expected>
+#include <span>
 #include <string>
 #include <string_view>
 
 namespace cvmmap_streamer::record {
 
+enum class DepthEncoding {
+	RvlU16Lossless,
+	RvlF32,
+};
+
+struct RawDepthMapView {
+	std::uint64_t timestamp_ns{0};
+	std::uint32_t width{0};
+	std::uint32_t height{0};
+	ipc::DepthUnit source_unit{ipc::DepthUnit::Unknown};
+	std::span<const float> pixels{};
+};
+
 class McapRecordSink {
 public:
 	McapRecordSink() = default;
@@ -31,6 +48,9 @@ public:
 	[[nodiscard]]
 	std::expected<void, std::string> write_access_unit(const encode::EncodedAccessUnit &access_unit);
 
+	[[nodiscard]]
+	std::expected<void, std::string> write_depth_map(const RawDepthMapView &depth_map);
+
 	[[nodiscard]]
 	bool is_open() const;