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.

include/cvmmap_streamer/record/mcap_record_sink.hpp

@@ -8,6 +8,7 @@
 #include <cstddef>
 #include <cstdint>
 #include <expected>
+#include <optional>
 #include <span>
 #include <string>
 #include <string_view>
@@ -19,6 +20,16 @@ enum class DepthEncoding {
 	RvlF32,
 };
 
+enum class BundlePolicy {
+	Nearest,
+	Strict,
+};
+
+enum class BundleMemberStatus {
+	Present,
+	CorruptedGap,
+};
+
 struct RawDepthMapView {
 	std::uint64_t timestamp_ns{0};
 	std::uint32_t width{0};
@@ -57,6 +68,21 @@ struct RawBodyTrackingMessageView {
 	std::span<const std::uint8_t> bytes{};
 };
 
+struct RawBundleMemberView {
+	std::string_view camera_label{};
+	BundleMemberStatus status{BundleMemberStatus::Present};
+	std::optional<std::uint64_t> timestamp_ns{};
+	std::int64_t delta_ns{0};
+	std::uint32_t corrupted_frames_skipped{0};
+};
+
+struct RawBundleManifestView {
+	std::uint64_t timestamp_ns{0};
+	std::uint64_t bundle_index{0};
+	BundlePolicy policy{BundlePolicy::Nearest};
+	std::span<const RawBundleMemberView> members{};
+};
+
 struct McapRecordStreamConfig {
 	std::string topic{"/camera/video"};
 	std::string depth_topic{"/camera/depth"};
@@ -137,7 +163,8 @@ public:
 	[[nodiscard]]
 	static std::expected<MultiMcapRecordSink, std::string> create(
 		std::string path,
-		McapCompression compression);
+		McapCompression compression,
+		std::string bundle_topic = "/bundle");
 
 	[[nodiscard]]
 	std::expected<StreamId, std::string> add_stream(
@@ -179,6 +206,10 @@ public:
 		StreamId stream_id,
 		const RawPoseView &pose);
 
+	[[nodiscard]]
+	std::expected<void, std::string> write_bundle_manifest(
+		const RawBundleManifestView &bundle);
+
 	[[nodiscard]]
 	std::expected<void, std::string> write_body_tracking_message(
 		StreamId stream_id,