feat(record): add depth RVL recording to MCAP

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;