feat(zed): export depth at neural optimal resolution

Restrict ZED depth export to neural modes and default offline MCAP conversion to the SDK-selected optimal depth size instead of camera resolution.

Add a configurable --depth-size option, propagate the actual returned depth dimensions into DepthMap metadata, and emit a dedicated depth calibration topic when depth resolution differs from video.

Update the batch and recording helper scripts to use the new neural-only depth mode surface and pass through depth sizing.

Verification:
- cmake --build build --target zed_svo_to_mcap mcap_multi_record_tester mcap_pose_record_tester -j4
- build/bin/mcap_multi_record_tester
- build/bin/mcap_pose_record_tester
- build/bin/zed_svo_to_mcap --input /workspaces/data/kindergarten/jump/experiment/2/2026-03-18T11-27-15/2026-03-18T11-27-15_zed4.svo2 --output /tmp/zed4_neural_optimal_test.mcap --codec h264 --encoder-device software --mcap-compression zstd --depth-mode neural --depth-size optimal --start-frame 0 --end-frame 9

scripts/zed_recording_mcap_tool.py

@@ -66,10 +66,15 @@ def parse_args() -> argparse.Namespace:
     )
     parser.add_argument(
         "--depth-mode",
-        choices=("neural", "quality", "performance", "ultra"),
+        choices=("neural_light", "neural", "neural_plus"),
         default="neural",
         help="Depth mode passed to zed_svo_to_mcap",
     )
+    parser.add_argument(
+        "--depth-size",
+        default="optimal",
+        help="Depth size passed to zed_svo_to_mcap (optimal|native|<width>x<height>)",
+    )
     parser.add_argument("--start-frame", type=int, default=0, help="First SVO frame to convert")
     parser.add_argument("--end-frame", type=int, help="Last SVO frame to convert")
     parser.add_argument(
@@ -289,6 +294,8 @@ def convert_svo(
         args.mcap_compression,
         "--depth-mode",
         args.depth_mode,
+        "--depth-size",
+        args.depth_size,
         "--start-frame",
         str(args.start_frame),
     ]