Generalizes camera modeling from a single pixel-scale/viewing-angle pair
to a full pinhole camera (3D orientation + position + intrinsics),
projected via true perspective (not just uniform cosine compression),
plus 2D beam pointing and per-plane z uncertainty. Every nominal
geometry value is now paired with an explicit tolerance that determines
whether it's held fixed or refined jointly with the mode fit.
Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
Martino Ferrari