feat(zed): recover corrupted frame gaps in MCAP export

Make ZED MCAP export skip corrupted frame runs until recovery and

treat unreadable tail frames as end-of-stream instead of hard

failing conversion.

Update bundled nearest-mode export to emit partial bundles during

corruption gaps, extend BundleManifest with explicit member status

and skipped-frame counts, and only write payload messages for

present cameras.

Tighten batch probing so bundled MCAP validation checks /bundle

coverage and per-camera message counts, and improve failure

excerpts to include stderr tail output.

Also add a local cppzmq CMake fallback, refresh the multi-record

tester for the new bundle schema, and document the mixed NVENC

limitations in the README.

CMakeLists.txt

@@ -28,6 +28,14 @@ if (NOT TARGET OpenSSL::Crypto AND DEFINED OPENSSL_CRYPTO_LIBRARY)
 		INTERFACE_INCLUDE_DIRECTORIES "${OPENSSL_INCLUDE_DIR}")
 endif()
 find_package(cppzmq QUIET)
+set(CPPZMQ_LOCAL_ROOT "${CMAKE_CURRENT_LIST_DIR}/../cppzmq" CACHE PATH "Path to a local cppzmq checkout")
+if (NOT TARGET cppzmq::cppzmq AND NOT TARGET cppzmq)
+	if (EXISTS "${CPPZMQ_LOCAL_ROOT}/zmq.hpp")
+		add_library(cppzmq::cppzmq INTERFACE IMPORTED GLOBAL)
+		set_target_properties(cppzmq::cppzmq PROPERTIES
+			INTERFACE_INCLUDE_DIRECTORIES "${CPPZMQ_LOCAL_ROOT}")
+	endif()
+endif()
 if (DEFINED CVMMAP_STREAMER_USE_SYSTEM_CNATS)
 	message(FATAL_ERROR
 		"CVMMAP_STREAMER_USE_SYSTEM_CNATS was removed; use CVMMAP_CNATS_PROVIDER=system")
@@ -161,8 +169,10 @@ protobuf_generate(
 	TARGET cvmmap_streamer_depth_proto
 	LANGUAGE cpp
 	PROTOC_OUT_DIR "${CMAKE_CURRENT_BINARY_DIR}"
-	PROTOS "${CMAKE_CURRENT_LIST_DIR}/proto/cvmmap_streamer/DepthMap.proto"
-	IMPORT_DIRS "${CMAKE_CURRENT_LIST_DIR}")
+	PROTOS
+		"${CMAKE_CURRENT_LIST_DIR}/proto/cvmmap_streamer/DepthMap.proto"
+		"${CMAKE_CURRENT_LIST_DIR}/proto/cvmmap_streamer/BundleManifest.proto"
+	IMPORT_DIRS "${CMAKE_CURRENT_LIST_DIR}/proto")
 add_library(cvmmap_streamer_protobuf INTERFACE)
 target_include_directories(cvmmap_streamer_foxglove_proto
 	PUBLIC