feat: Add beartype for runtime type checking and update dependencies

- Add beartype dependency to pyproject.toml and uv.lock
- Replace typeguard with beartype in type checking
- Create camera module with type-safe camera parameter definitions
- Migrate utility function to use beartype and JAX numpy

pyproject.toml

@@ -7,6 +7,7 @@ requires-python = ">=3.10"
 dependencies = [
     "anyio>=4.8.0",
     "awkward>=2.7.4",
+    "beartype>=0.20.0",
     "cvxopt>=1.3.2",
     "jax[cuda12]>=0.5.1",
     "jaxtyping>=0.2.38",