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

uv.lock

@@ -1,4 +1,5 @@
 version = 1
+revision = 1
 requires-python = ">=3.10"
 resolution-markers = [
     "python_full_version >= '3.13' and sys_platform == 'darwin'",
@@ -187,6 +188,15 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/b7/b8/3fe70c75fe32afc4bb507f75563d39bc5642255d1d94f1f23604725780bf/babel-2.17.0-py3-none-any.whl", hash = "sha256:4d0b53093fdfb4b21c92b5213dba5a1b23885afa8383709427046b21c366e5f2", size = 10182537 },
 ]
 
+[[package]]
+name = "beartype"
+version = "0.20.0"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/7d/48/fe1177f4272a1bc344f3371414aa5b76e19c30d7280d711ce90c5335a6f5/beartype-0.20.0.tar.gz", hash = "sha256:599ecc86b88549bcb6d1af626f44d85ffbb9151ace5d7f9f3b493dce2ffee529", size = 1390635 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/61/ce/9cf60b72e3fbd36a6dd16e31ecbe9ae137a8ead77cb24a5f75302adfc9a9/beartype-0.20.0-py3-none-any.whl", hash = "sha256:090d10e3540b3fca209a0ab5f1c15f9652a075da0a7249c2e6713011e9e5f6ef", size = 1139097 },
+]
+
 [[package]]
 name = "beautifulsoup4"
 version = "4.13.3"
@@ -372,6 +382,7 @@ source = { virtual = "." }
 dependencies = [
     { name = "anyio" },
     { name = "awkward" },
+    { name = "beartype" },
     { name = "cvxopt" },
     { name = "jax", extra = ["cuda12"] },
     { name = "jaxtyping" },
@@ -391,6 +402,7 @@ dev = [
 requires-dist = [
     { name = "anyio", specifier = ">=4.8.0" },
     { name = "awkward", specifier = ">=2.7.4" },
+    { name = "beartype", specifier = ">=0.20.0" },
     { name = "cvxopt", specifier = ">=1.3.2" },
     { name = "jax", extras = ["cuda12"], specifier = ">=0.5.1" },
     { name = "jaxtyping", specifier = ">=0.2.38" },