Add pose_test tool and harden solvePose; expose camera controls

- pose_test: verify the geometry chain (4 corners -> distance/yaw/pitch)
  before any detector exists; modes: camera + mouse clicks, --image,
  --corners (headless), --selftest (synthetic round-trip, no camera needed)
- solvePose: undistort corners first, then solvePnPGeneric(IPPE) and pick
  the best candidate; reject solutions behind the camera (z<=0) or with
  reprojection error > 8px
  - fixes IPPE + distortion + in-plane rotation returning garbage
  - 4 coplanar points: cyclic/mirrored orderings give the same quad and
    the same pose (harmless); crossing orderings blow up reprojection
    and are rejected
- camera_set: implement setAeState/setExposureTime/setAnalogGain(+-Times)/
  setWbMode/setFrameSpeed; configs/camera_runtime.yaml drives them
- selftest passes all 6 synthetic cases; verified on 6 real photos
  (chessboard outer rect 180x120mm): distance 0.44-0.69m, reproj <2.5px

configs/camera_runtime.yaml

@@ -0,0 +1,19 @@
+%YAML:1.0
+---
+# ============================================================
+# 相机运行时参数（27RM）
+# 与 configs/camera.yaml（标定）分开存放：
+#   camera.yaml        由 ./calibrate 生成，会被整体重写
+#   camera_runtime.yaml 手工维护，calibrate 不会碰它
+#
+# ⚠️ 比赛/联调必须【手动曝光】：
+#   自动曝光/自动白平衡会让画面亮度随环境漂移，
+#   传统 CV 检测的 HSV 阈值会直接失效。
+# ============================================================
+ae_state: 0            # 曝光模式：0=手动（推荐） 1=自动
+exposure_time_us: 3000.0   # 曝光时间（微秒）。MV-SUA131GC 常用 1000~15000，
+                           # 数值越大画面越亮但运动拖影越重
+analog_gain: 2.0       # 模拟增益（倍率）。1.0 = 不放大；SDK 内部按
+                       # fAnalogGainStep 换算（例：0.125 步进 → 2.0x = 原始值16）
+auto_wb: 0             # 白平衡：0=手动（推荐，颜色阈值才稳定） 1=自动
+frame_speed: 2         # 帧率档位：0=低速 1=正常 2=高速