Add a rerun integration

[MichaelGrupp]

rerun could be a nice visualization option as an alternative to the matplotlib-based plotting features of evo. They seem to complement each other quite well:

• matplotlib: static, focus on high-quality plots suitable for print, terrible 3D view
• rerun: dynamic timeline replay, focus on live visualization/interaction, nice 3D view

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bridge

The rerun archetypes should allow to log most of the things that are also added to plots right now:

• trajectory visualization (pose axes, lines, correspondences, color-mapped trajectories...)
• scalar visualization (errors, speeds, XYZ, orientations...)

Missing / unclear:

• Support for map images (ROS map): https://github.com/rerun-io/rerun/issues/1531
• Map tiles? Seems to exist only for 2D?

Probably useless:

• PosePath3D support: probably makes no sense without timestamps, only support PoseTrajectory3D
• 2D view support: doesn't seem to be worth the effort, evo data is 3D and matplotlib is fine for 2D

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CLI

CLI integration into the existing commands would be nice. E.g. something like evo_traj bag ... --rerun to cover common use cases without scripting.

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Dependency

rerun should be only an optional dependency in pyproject.toml.

[MichaelGrupp]

A demo script can be found here: https://github.com/MichaelGrupp/evo/tree/master/contrib/rerun_example

[MichaelGrupp]

First support comes with new v1.32.0 version of evo. See also: https://github.com/MichaelGrupp/evo/wiki/Rerun-integration