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_set.hpp

@@ -14,12 +14,14 @@ public:
     bool initializeCamera();                                        // 初始化相机
     bool startCamera();                                             // 启动相机
     bool stopCamera();                                              // 停止相机
-    // bool setExposureTime(double exposureTime);                      // 设置曝光时间
-    // bool setGain(double gain);                                      // 设置增益
-    // bool setWhiteBalance(double redGain, double blueGain);          // 设置白平衡
-    // bool setResolution(int width, int height);                      // 设置分辨率
-    // bool setFrameRate(double frameRate);                            // 设置帧率
-    bool getFrame(cv::Mat &frame);                                  // 获取一帧图像
+    // ---- 参数设置：在 initializeCamera 之后、startCamera 之前调用 ----
+    bool setAeState(bool aeOn);                                    // 曝光模式：true=自动, false=手动（比赛必须手动）
+    bool setExposureTime(double exposureUs);                       // 曝光时间（微秒 us）
+    bool setAnalogGainRaw(int gainRaw);                            // 模拟增益（SDK 原始整数，范围见 capability.sExposeDesc）
+    bool setAnalogGainTimes(double gainTimes);                     // 模拟增益（倍率，内部按 fAnalogGainStep 换算成原始值）
+    bool setWbMode(bool autoWb);                                   // 白平衡：true=自动, false=手动
+    bool setFrameSpeed(int speed);                                 // 帧率档位：0=低速 1=正常 2=高速
+    bool getFrame(cv::Mat &frame);                                 // 获取一帧图像
 
 private:
     CameraHandle            hCamera = -1;                           // 相机句柄