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

inc/camera_calib.hpp

@@ -72,10 +72,12 @@ public:
 
     /**
      * 四个角点 → 装甲板位姿
-     * @param corners 图像坐标，顺序必须是：左下、左上、右上、右下
-     *                （与 jlu_vision 的 ArmorPoints.hpp 3D 点顺序一致）
+     * 内部流程：solvePnPGeneric(IPPE) 取回全部候选解 →
+     * 依次筛掉「z<=0（相机后方）」「重投影超差」→ 取重投影最小者。
+     * 注：角点在解算前先做去畸变（IPPE+畸变+板内旋转组合有数值坑）。
+     * @param corners 图像坐标（原图，含畸变），顺序：左下、左上、右上、右下
      * @param size    装甲板物理尺寸
-     * @return 成功返回位姿；无解或重投影误差过大返回 std::nullopt
+     * @return 成功返回位姿；全部候选被筛掉时返回 std::nullopt
      */
     std::optional<ArmorPose> solvePose(const std::array<cv::Point2f, 4> &corners,
                                        const ArmorSize &size) const;