Add camera calibration toolchain and armor pose solver

- capture_calib: capture calibration images (MindVision / USB) with a live
  quality gate (Laplacian sharpness, 3x3 coverage, board auto-detect)
- calibrate: batch intrinsics from calib_images/, writes configs/camera.yaml
- camera_calib: CameraCalib loader (intrinsics + distortion, cached
  undistort remap) and solvePose() via IPPE with a reprojection gate
- configs/camera.yaml: MV-SUA131GC intrinsics, RMS 0.483 px over 31 images,
  ruler-verified distance error < 2%
- xmake: three targets sharing an rm_deps rule, C++17
- gitignore: keep calibration photos/videos and generated
  compile_commands.json out of the repo

.gitignore

@@ -1,13 +1,44 @@
-# Xmake cache
+# ============================================================
+# 27RM 提交规则
+#   入库：源码 / 构建脚本 / 配置文件 / 文档
+#   不入库：图片视频等大数据、编译产物、本机专属生成物
+# ============================================================
+
+# ---------- 构建产物与缓存 ----------
 .xmake/
 build/
-
-# MacOS Cache
-.DS_Store
-
-
 .vscode/.cache/
 
-# wget 下载日志
-wget.log
+# ---------- 标定照片与视频：一律不入库 ----------
+# 单个标定集 20MB 起，且随时重拍，没有任何入库价值
+calib_images/
+calib_all/
+*.jpg
+*.jpeg
+*.png
+*.bmp
+*.tif
+*.tiff
+*.webp
+*.avi
+*.mp4
+*.mkv
+*.mov
+*.pcd
+*.bag
+# 若确有少量配图需要提交（例如 README 插图），用强制添加：
+#   git add -f docs/xxx.png
+
+# ---------- 标定结果必须入库 ----------
+# configs/camera.yaml 是相机内参，全队共用，务必提交（它不在上面的规则里）
+
+# ---------- 日志（wget 下载日志 / 相机 SDK 运行时日志） ----------
 *.log
+wget.log
+wget-log*
+Camera/
+
+# ---------- 编辑器 / 系统 ----------
+.DS_Store
+# xmake 生成，内容是本机绝对路径，换台电脑即失效
+.vscode/compile_commands.json