docs: correct the output summaries and drop a duplicated paragraph

The README and AGENTS intros still described the v0.1.0 output set. Also
removes a copy of the point-cloud rationale that ended up orphaned after the
recovery section landed above it, and narrows the timestamp section to the
frame outputs, since camera_state carries only the host clock.

Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01Y7g2cBJ5e3r15ZbJ9WZn8c

README.md

@@ -1,6 +1,6 @@
 # dora-zed
 
-Dora node for ZED stereo cameras. Publishes BGR images, point clouds and camera intrinsics.
+Dora node for ZED stereo cameras. Publishes a BGR image and a depth map on every frame, plus camera intrinsics, a camera state, and an optional point cloud.
 
 ## Usage
 
@@ -196,13 +196,11 @@ it. That call reaches the ZED 2 and newer only; on the first-generation ZED and
 Mini the node closes the handle and lets the backoff give the endpoint time to clear.
 Every attempt and every escalation is logged.
 
-
-Consumers that need 3D back-project `depth` with the published intrinsics rather than
-consuming `point_cloud`; the point cloud is not a prerequisite for 3D.
-
 ### Timestamps
 
-Every output carries both clocks, as dora `timestamp` metadata parameters:
+Every frame output — `image_bgr`, `depth`, `point_cloud` and `camera_info` — carries both
+clocks, as dora `timestamp` metadata parameters. `camera_state` carries
+`host_timestamp_ns` only, since it is not tied to a frame.
 
 | Key | Epoch | Unit | Source |
 |---|---|---|---|