- 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
