mzxwww 19ac43da6f 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

2026-09-16 21:08:03 +08:00

..

camera_runtime.yaml

Add pose_test tool and harden solvePose; expose camera controls

2026-09-16 21:08:03 +08:00

camera.yaml

Add camera calibration toolchain and armor pose solver

2026-09-15 23:33:01 +08:00