Separate timelines for message timestamps with a custom epoch (#11179)

Author: oxkitsune

crates/utils/re_mcap/src/layers/mod.rs

@@ -111,9 +111,12 @@ impl McapChunkDecoder {
 
         let channel = msg.channel.as_ref();
         let channel_id = ChannelId(channel.id);
+        let log_time_cell = crate::util::TimestampCell::guess_from_nanos(msg.log_time, "log_time");
+        let publish_time_cell =
+            crate::util::TimestampCell::guess_from_nanos(msg.publish_time, "publish_time");
         let timepoint = re_chunk::TimePoint::from([
-            ("log_time", crate::util::guess_epoch(msg.log_time)),
-            ("publish_time", crate::util::guess_epoch(msg.publish_time)),
+            ("log_time", log_time_cell.into_time_cell()),
+            ("publish_time", publish_time_cell.into_time_cell()),
         ]);
 
         if let Some((ctx, parser)) = self.parsers.get_mut(&channel_id) {

crates/utils/re_mcap/src/parsers/decode.rs

@@ -6,6 +6,8 @@ use re_chunk::{
 };
 use re_log_types::TimeCell;
 
+use crate::util::TimestampCell;
+
 /// Trait for parsing MCAP messages of a specific schema into Rerun chunks.
 ///
 /// This trait defines the interface for converting MCAP messages into Rerun's internal
@@ -104,6 +106,22 @@ impl ParserContext {
         self
     }
 
+    /// Add a timestamp to the timeline using the provided timestamp cell.
+    ///
+    /// The timeline name and [`TimeCell`] are automatically determined from the timestamp cell.
+    /// For Unix epochs, creates a timestamp cell. For custom epochs, creates a duration cell.
+    pub fn add_timestamp_cell(&mut self, timestamp_cell: TimestampCell) -> &mut Self {
+        let timeline_name = TimelineName::from(timestamp_cell.timeline_name());
+        let cell = timestamp_cell.into_time_cell();
+
+        self.timelines
+            .entry(timeline_name)
+            .or_insert_with(|| TimeColumn::builder(Timeline::new(timeline_name, cell.typ)))
+            .with_row(cell.value);
+
+        self
+    }
+
     /// Consume this context and build all timelines into [`TimeColumn`]s.
     pub fn build_timelines(self) -> IntMap<TimelineName, TimeColumn> {
         self.timelines

crates/utils/re_mcap/src/parsers/ros2msg/rcl_interfaces/log.rs

@@ -8,14 +8,11 @@ use re_types::{
     datatypes::Rgba32,
 };
 
-use crate::{
-    parsers::{
-        cdr,
-        decode::{MessageParser, ParserContext},
-        ros2msg::definitions::rcl_interfaces::{self, LogLevel},
-        util::fixed_size_list_builder,
-    },
-    util::guess_epoch,
+use crate::parsers::{
+    cdr,
+    decode::{MessageParser, ParserContext},
+    ros2msg::definitions::rcl_interfaces::{self, LogLevel},
+    util::fixed_size_list_builder,
 };
 
 /// Plugin that parses `rcl_interfaces/msg/Log` messages.
@@ -81,7 +78,10 @@ impl MessageParser for LogMessageParser {
             .context("Failed to decode `rcl_interfaces::Log` message from CDR data")?;
 
         // add the sensor timestamp to the context, `log_time` and `publish_time` are added automatically
-        ctx.add_time_cell("timestamp", guess_epoch(stamp.as_nanos() as u64));
+        ctx.add_timestamp_cell(crate::util::TimestampCell::guess_from_nanos(
+            stamp.as_nanos() as u64,
+            msg.channel.topic.clone(),
+        ));
 
         self.text_entries.push(format!("[{name}] {log_msg}"));
         self.levels.push(level.to_string());

crates/utils/re_mcap/src/parsers/ros2msg/scalar_parser.rs

@@ -84,10 +84,10 @@ impl<T: ScalarExtractor> MessageParser for ScalarMessageParser<T> {
         })?;
 
         // Add the sensor timestamp to the context, `log_time` and `publish_time` are added automatically
-        ctx.add_time_cell(
-            "timestamp",
-            crate::util::guess_epoch(message.header().stamp.as_nanos() as u64),
-        );
+        ctx.add_timestamp_cell(crate::util::TimestampCell::guess_from_nanos(
+            message.header().stamp.as_nanos() as u64,
+            msg.channel.topic.clone(),
+        ));
 
         let scalar_values = message.extract_scalars();
 

crates/utils/re_mcap/src/parsers/ros2msg/sensor_msgs/camera_info.rs

@@ -96,10 +96,10 @@ impl MessageParser for CameraInfoMessageParser {
         } = cdr::try_decode_message::<sensor_msgs::CameraInfo>(&msg.data)?;
 
         // add the sensor timestamp to the context, `log_time` and `publish_time` are added automatically
-        ctx.add_time_cell(
-            "timestamp",
-            crate::util::guess_epoch(header.stamp.as_nanos() as u64),
-        );
+        ctx.add_timestamp_cell(crate::util::TimestampCell::guess_from_nanos(
+            header.stamp.as_nanos() as u64,
+            msg.channel.topic.clone(),
+        ));
 
         self.distortion_models
             .values()

crates/utils/re_mcap/src/parsers/ros2msg/sensor_msgs/compressed_image.rs

@@ -10,9 +10,12 @@ use re_types::{
     reflection::ComponentDescriptorExt as _,
 };
 
-use crate::parsers::{
-    cdr,
-    decode::{MessageParser, ParserContext},
+use crate::{
+    parsers::{
+        cdr,
+        decode::{MessageParser, ParserContext},
+    },
+    util::TimestampCell,
 };
 
 /// Plugin that parses `sensor_msgs/msg/CompressedImage` messages.
@@ -47,10 +50,10 @@ impl MessageParser for CompressedImageMessageParser {
         } = cdr::try_decode_message::<sensor_msgs::CompressedImage<'_>>(&msg.data)?;
 
         // add the sensor timestamp to the context, `log_time` and `publish_time` are added automatically
-        ctx.add_time_cell(
-            "timestamp",
-            crate::util::guess_epoch(header.stamp.as_nanos() as u64),
-        );
+        ctx.add_timestamp_cell(TimestampCell::guess_from_nanos(
+            header.stamp.as_nanos() as u64,
+            msg.channel.topic.clone(),
+        ));
 
         self.blobs.push(data.into_owned());
 

crates/utils/re_mcap/src/parsers/ros2msg/sensor_msgs/image.rs

@@ -72,10 +72,10 @@ impl MessageParser for ImageMessageParser {
             .context("Failed to decode sensor_msgs::Image message from CDR data")?;
 
         // add the sensor timestamp to the context, `log_time` and `publish_time` are added automatically
-        ctx.add_time_cell(
-            "timestamp",
-            crate::util::guess_epoch(header.stamp.as_nanos() as u64),
-        );
+        ctx.add_timestamp_cell(crate::util::TimestampCell::guess_from_nanos(
+            header.stamp.as_nanos() as u64,
+            msg.channel.topic.clone(),
+        ));
 
         let dimensions = [width, height];
         let img_format = decode_image_format(&encoding, dimensions)

crates/utils/re_mcap/src/parsers/ros2msg/sensor_msgs/imu.rs

@@ -72,10 +72,10 @@ impl MessageParser for ImuMessageParser {
             .map_err(|err| Error::Other(anyhow::anyhow!(err)))?;
 
         // add the sensor timestamp to the context, `log_time` and `publish_time` are added automatically
-        ctx.add_time_cell(
-            "timestamp",
-            crate::util::guess_epoch(imu.header.stamp.as_nanos() as u64),
-        );
+        ctx.add_timestamp_cell(crate::util::TimestampCell::guess_from_nanos(
+            imu.header.stamp.as_nanos() as u64,
+            msg.channel.topic.clone(),
+        ));
 
         self.orientation.values().append_slice(&[
             imu.orientation.x,

crates/utils/re_mcap/src/parsers/ros2msg/sensor_msgs/joint_state.rs

@@ -45,10 +45,10 @@ impl MessageParser for JointStateMessageParser {
             .map_err(|err| Error::Other(anyhow::anyhow!(err)))?;
 
         // add the sensor timestamp to the context, `log_time` and `publish_time` are added automatically
-        ctx.add_time_cell(
-            "timestamp",
-            crate::util::guess_epoch(header.stamp.as_nanos() as u64),
-        );
+        ctx.add_timestamp_cell(crate::util::TimestampCell::guess_from_nanos(
+            header.stamp.as_nanos() as u64,
+            msg.channel.topic.clone(),
+        ));
 
         for name in &name {
             self.joint_names.values().append_value(name);

crates/utils/re_mcap/src/parsers/ros2msg/sensor_msgs/magnetic_field.rs

@@ -39,10 +39,10 @@ impl MessageParser for MagneticFieldMessageParser {
                 .map_err(|err| Error::Other(anyhow::anyhow!(err)))?;
 
         // add the sensor timestamp to the context, `log_time` and `publish_time` are added automatically
-        ctx.add_time_cell(
-            "timestamp",
-            crate::util::guess_epoch(magnetic_field.header.stamp.as_nanos() as u64),
-        );
+        ctx.add_timestamp_cell(crate::util::TimestampCell::guess_from_nanos(
+            magnetic_field.header.stamp.as_nanos() as u64,
+            msg.channel.topic.clone(),
+        ));
 
         // Convert magnetic field vector to Vector3D and store
         self.vectors.push(Vec3D([