EncodedDepthImage archetype and integration with viewer and re_mcap

[makeecat]

Related

• CompressedDepth decoding for re_mcap #11702
• Add EncodedDepthImage archetype #9046

What

This is a draft PR to provide prototype for EncodedDepthImage. This PR needs to be split into sub-PRs once reviewed by @oxkitsune

1. Implemented the EncodedDepthImage archetype
2. Introduced a new utility crate re_depth_compression to host rvl codecs implementation
3. Integrated EncodedDepthImage archetype into viewer
4. Supported the EncodedDepthImage archetype in re_mcap.

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[makeecat]

Hi @oxkitsune , I believe I am comfortable with the prototype, the proof concept works well with lint and my local mcap bag with RVL-encoded depth image. I am ready to submit a separate PR for EncodedDepthImage archetype.

However, I am not very confident about my changes in re_view_spatial crate. I refactored the crates/viewer/re_view_spatial/src/visualizers/depth_images.rs to support crates/viewer/re_view_spatial/src/visualizers/encoded_depth_images.rs as a separate visualizer. I am looking for comments on that part.

If you are happy with the proof-of-concept demo and the design of the EncodedDepthImage archetype, I can prepare the first PR for EncodedDepthImage archetype.

[oxkitsune]

This demo looks great, thanks for putting it together!

Go ahead and open the PR for the EncodedDepthImage archetype; I’ll leave any implementation notes there.

[makeecat]

According to our discussion, we will not split this PR into small PRs.

There are a few decisions we need to make:

1. whether add mediatype
2. whether leave re_depth_compression as a crate or integrate it into exsting logic
   fallback detection of different format for decoding if the data didn't provide type metadata
3. When RVL metadata disagrees with the logged ImageFormat, the code just logs a warning and still constructs an ImageInfo with the caller’s width/height.
4. I don't like the way I refactored the DepthImagevisualizer: viewer/re_view_spatial/src/visualizers/depth_image.rs, I would like to avoid changing too much of existing depth image visualizer, but I didn't come up with a solution. The reason I have to refactor it is to expose some components from the original depth image visualizer to support encoded depth image visualizer.

[makeecat]

After discussing with @oxkitsune

1. We plan to add support of rvl as a media_type
2. We plan to squash the logic of re_depth_completion crate into re_viewer_context.
3. We plan to support MediaType::guess_from_data to support fallback detection of RVL data
4. We need further discussion to avoid refactoring too much of viewer/re_view_spatial/src/visualizers/depth_image.rs