fix the camera blocking the dora event loop by moving it to its own thread

Hardware testing showed the tick-driven recovery state machine did not work.
async_grab_camera_recovery does not make grab() prompt on a disconnected ZED-M
under SDK 5.3: grabs took ~3 s each while the link was down and then blocked
indefinitely. The event loop stopped turning, so Stop went unanswered, the
30 s patience timer and the backoff were never reached, and replugging the
camera did nothing. Measured: 122 s frozen, then dora stop needed 10 s and a
forced kill.

Move everything that can block onto a capture thread. zed::Capture owns the
camera and runs open, warmup, grab, blank and stall detection, backoff and
escalation; it packs each frame into owned buffers and hands the newest one to
the reader by swapping under a mutex. The dora event loop now only drains that
buffer and publishes, so it never calls into the SDK and stays responsive
however long the SDK blocks.

The newest frame wins and uncollected frames are dropped, which is what a
consumer wants from a camera source. Swapping rather than assigning returns the
previous frame's buffers to the capture thread, so steady state does not
reallocate. The point cloud is now copied out of the SDK buffer rather than
published in place, since the reader is another thread.

On exit the loop waits 2 s for the thread and then _Exit()s if it is still
inside the SDK, so Stop is always answered promptly.

This also removes the blocking warmup from the event loop: it stays a blocking
burst, which is harmless on the capture thread.

Verified on a ZED-M: unplug leaves the node responsive and logs the backoff
1, 2, 5 then 10 s; replug gives "camera recovered after 13 attempt(s)" and
publishing resumes without restarting the dataflow; dora stop with the camera
unplugged returns in 0.70 s with the thread joining gracefully.

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

src/zed/camera.cc

@@ -96,6 +96,7 @@ Config Config::from_env() {
     c.depth_max_mm = util::get_env_int("ZED_DEPTH_MAX_MM", c.depth_max_mm);
     c.depth_fill = util::get_env_bool("ZED_DEPTH_FILL", c.depth_fill);
     c.point_cloud = util::get_env_bool("ZED_POINT_CLOUD", c.point_cloud);
+    c.pc_mode = util::get_env_str("ZED_PC_MODE", "FULL") == "HALF" ? PcMode::HALF : PcMode::FULL;
     c.confidence_threshold = util::get_env_int("ZED_CONFIDENCE_THRESHOLD", c.confidence_threshold);
     c.texture_confidence_threshold =
         util::get_env_int("ZED_TEXTURE_CONFIDENCE_THRESHOLD", c.texture_confidence_threshold);