- Replace hardcoded arrays with JSON string format for calibration and laser
parameters, matching scripts/calibrate/laser_pnp.py
- Apply IMAGE_SCALE to resize factor instead of hardcoded 0.5
- Add rectangle corner ordering (TL/BL/BR/TR) and PnP solving with SOLVEPNP_IPPE
- Compute laser world coordinates on Z=0 plane, normalize by RECT_L/RECT_W
as measurement values; reference values set to rectangle center (0.5, 0.5)
- Publish Float32MultiArray [measure_x, ref_x, measure_y, ref_y] on /vision/target
- Remove /vision/binary_image publisher
- Add ENABLE_CUDA toggle and CUDA detection log with pipeline breakdown
dev01
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