uri_string path-noscheme handling issue

[u3s]

Describe the bug
uri_string:recompose does not handle path-noscheme case (relative-path reference in RFC) properly (at least not according to RFC3986)

To Reproduce

uri_string:recompose(#{path => "fo:o/b:ar"}).
"fo:o/b:ar"  // should have been: "fo%3Ao/b:ar"

Expected behavior

uri_string:recompose(#{path => "fo:o/b:ar"}).
"fo%3Ao/b:ar"

1st segment of a path-noscheme should be segment-nz-nc, meaning ':' is not allowed in it and should be percent-encoded

[u3s]

After checking RFC3986 4.2 Relative Reference, I think initial proposal might
not be optimal.

RFC suggests that relative-path reference should be preceded with a
dot-segment(./) if its 1st segment contains a colon - this is visualized below
with SOLUTION B pseudo code.

Main advantage I see is that adding a dot-segment
is neutral and not visible after reference is resolved.

Additionally, with B, user still has the possibility of expressing : with and without
percent encoding used in 1st segment.

%% TODAY #{path => "fo:o/b:ar"} is recomposed as #{scheme => "fo", path => "o/b:ar"}
1> uri_string:recompose(#{path => "fo:o/b:ar"}).
"fo:o/b:ar"
2> uri_string:recompose(#{scheme => "fo", path => "o/b:ar"}).
"fo:o/b:ar"
3> uri_string:resolve(uri_string:recompose(#{path => "fo:o/b:ar"}), "http:/localhost/a/b/c").
"fo:o/b:ar"

%% SOLUTION A: PERCENT_ENCODING ':' (initial idea)
4> uri_string:recompose(#{path => "fo:o/b:ar"}).
"fo%3Ao/b:ar"
5> uri_string:resolve(uri_string:recompose(#{path => "fo:o/b:ar"}), "http:/localhost/a/b/c").
"http://localhost/a/b/fo%3Ao/b:ar"
6> uri_string:resolve(uri_string:recompose(#{path => "fo%3Ao/b:ar"}), "http:/localhost/a/b/c").
"http://localhost/a/b/fo%3Ao/b:ar"

%% SOLUTION B: PREFIX WITH DOT-SEGMENT
7> uri_string:recompose(#{path => "fo:o/b:ar"}).
"./fo:o/b:ar"
8> uri_string:resolve(uri_string:recompose(#{path => "fo:o/b:ar"}), "http:/localhost/a/b/c").
"http://localhost/a/b/fo:o/b:ar"
9> uri_string:resolve(uri_string:recompose(#{path => "fo%3Ao/b:ar"}), "http:/localhost/a/b/c").
"http://localhost/a/b/fo%3Ao/b:ar"