feat(streamer): add ffmpeg encoder and mcap recording

include/cvmmap_streamer/encode/encoded_access_unit.hpp

@@ -0,0 +1,18 @@
+#pragma once
+
+#include "cvmmap_streamer/config/runtime_config.hpp"
+
+#include <cstdint>
+#include <vector>
+
+namespace cvmmap_streamer::encode {
+
+struct EncodedAccessUnit {
+	CodecType codec{CodecType::H264};
+	std::uint64_t source_timestamp_ns{0};
+	std::uint64_t stream_pts_ns{0};
+	bool keyframe{false};
+	std::vector<std::uint8_t> annexb_bytes{};
+};
+
+}