Add light bar detector and detect_test

- traditional CV pipeline referencing jlu_vision_26:
  HSV mask -> contour LightBar -> PCA corner refine -> pairing gates
- big/small armor classification (bar distance / bar length ratio)
- detect_test with synthetic selftest, 6/6 passed
- measured armor size 131.56x55mm, solver NaN guard + ITERATIVE fallback

configs/camera.yaml

@@ -6,15 +6,15 @@
 # ⚠️ M12 镜头的【对焦环位置】会改变有效焦距：
 #    一旦调焦，必须重新标定并重新做卷尺距离验证！
 # ============================================================
-camera_name: "MV-SUA131GC"
-lens: "MV-LD-M12-2.8MM-C"
-sensor: "1/3\" CMOS, 3.75um pixel"
-resolution: "1280x1024"
-calib_date: "2026-09-15"
-board_spec: "10x7 inner corners, square=20.0mm"
-calib_images: "31 (old_run 12 + new 19)"
-distance_verify: "ruler 700mm -> computed 687~697mm, error <2%"
-notes: "refocus invalidates this calibration; must re-verify with ruler"
+camera_name: "MV-SUA131GC"                                                              # 相机型号
+lens: "MV-LD-M12-2.8MM-C"                                                               # 镜头型号，焦距 2.8mm
+sensor: "1/3\" CMOS, 3.75um pixel"                                                      # 传感器类型                                                    
+resolution: "1280x1024"                                                                 # 分辨率    
+calib_date: "2026-09-15"                                                                # 标定日期
+board_spec: "10x7 inner corners, square=20.0mm"                                         # 标定板规格
+calib_images: "31 (old_run 12 + new 19)"                                                # 标定图像数量
+distance_verify: "ruler 700mm -> computed 687~697mm, error <2%"                         # 用卷尺验证 PnP 测距的精度
+notes: "refocus invalidates this calibration; must re-verify with ruler"                # 备注
 
 camera_matrix: !!opencv-matrix
    rows: 3