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

xmake.lua

@@ -2,94 +2,44 @@ add_rules("mode.debug", "mode.release")
 
 set_policy("generator.compile_commands", true)
 
-set_languages("c++11")
+set_languages("c++17")
 
+-- 公共依赖：OpenCV + MindVision 相机 SDK
+local ROOT = os.scriptdir()
+
+rule("rm_deps")
+    on_load(function (target)
+        target:add("includedirs", ROOT .. "/inc")
+        target:add("includedirs", "/usr/local/include/opencv4")
+        target:add("includedirs", "/home/mzxiang/MindVisionSDK/include")
+        target:add("linkdirs", "/usr/local/lib")
+        target:add("linkdirs", "/home/mzxiang/MindVisionSDK/lib/x64")
+        target:add("rpathdirs", "/home/mzxiang/MindVisionSDK/lib/x64")
+        target:add("links", "opencv_core", "opencv_imgproc", "opencv_highgui",
+                   "opencv_imgcodecs", "opencv_videoio", "opencv_calib3d",
+                   "MVSDK")
+    end)
+rule_end()
+
+-- 主程序（自瞄本体）
 target("27RM")
+    add_rules("rm_deps")
     set_kind("binary")
-    add_files("$(scriptdir)/src/*.cpp")
-    add_includedirs("$(scriptdir)/inc/")
+    -- 各工具有自己的 main 函数，从主程序中排除
+    add_files("src/*.cpp")
+    remove_files("src/capture_calib.cpp")
+    remove_files("src/calibrate.cpp")
 
-    -- openCV配置
-    add_includedirs("/usr/local/include/opencv4")
-    add_linkdirs("/usr/local/lib")
-    add_links(
-        "opencv_core", 
-        "opencv_imgproc", 
-        "opencv_highgui", 
-        "opencv_imgcodecs", 
-        "opencv_videoio")
-
-    -- MindVision 相机 SDK
-    add_includedirs("/home/mzxiang/MindVisionSDK/include")
-    add_linkdirs("/home/mzxiang/MindVisionSDK/lib/x64")
-    add_rpathdirs("/home/mzxiang/MindVisionSDK/lib/x64")
-    add_links("MVSDK")
---
--- If you want to known more usage about xmake, please see https://xmake.io
---
--- ## FAQ
---
--- You can enter the project directory firstly before building project.
---
---   $ cd projectdir
---
--- 1. How to build project?
---
---   $ xmake
---
--- 2. How to configure project?
---
---   $ xmake f -p [macosx|linux|iphoneos ..] -a [x86_64|i386|arm64 ..] -m [debug|release]
---
--- 3. Where is the build output directory?
---
---   The default output directory is `./build` and you can configure the output directory.
---
---   $ xmake f -o outputdir
---   $ xmake
---
--- 4. How to run and debug target after building project?
---
---   $ xmake run [targetname]
---   $ xmake run -d [targetname]
---
--- 5. How to install target to the system directory or other output directory?
---
---   $ xmake install
---   $ xmake install -o installdir
---
--- 6. Add some frequently-used compilation flags in xmake.lua
---
--- @code
---    -- add debug and release modes
---    add_rules("mode.debug", "mode.release")
---
---    -- add macro definition
---    add_defines("NDEBUG", "_GNU_SOURCE=1")
---
---    -- set warning all as error
---    set_warnings("all", "error")
---
---    -- set language: c99, c++11
---    set_languages("c99", "c++11")
---
---    -- set optimization: none, faster, fastest, smallest
---    set_optimize("fastest")
---
---    -- add include search directories
---    add_includedirs("/usr/include", "/usr/local/include")
---
---    -- add link libraries and search directories
---    add_links("tbox")
---    add_linkdirs("/usr/local/lib", "/usr/lib")
---
---    -- add system link libraries
---    add_syslinks("z", "pthread")
---
---    -- add compilation and link flags
---    add_cxflags("-stdnolib", "-fno-strict-aliasing")
---    add_ldflags("-L/usr/local/lib", "-lpthread", {force = true})
---
--- @endcode
---
+-- 标定图采集工具
+--   ./build/linux/x86_64/debug/capture_calib              （MindVision 相机）
+--   ./build/linux/x86_64/debug/capture_calib --usb 0      （USB 摄像头）
+target("capture_calib")
+    add_rules("rm_deps")
+    set_kind("binary")
+    add_files("src/capture_calib.cpp", "src/camera_set.cpp")
 
+-- 标定计算工具（读 calib_images/ 算出内参，存 camera_calib.yml）
+target("calibrate")
+    add_rules("rm_deps")
+    set_kind("binary")
+    add_files("src/calibrate.cpp")