Validate camera projection matrix shapes

[FlorianPfaff]

Summary

• validate camera_projection_measurement(..., rotation=...) as a 3x3 matrix before applying it
• validate camera_projection_measurement(..., camera_matrix=...) as a 3x3 projective camera matrix before homogeneous projection
• add regression coverage for malformed camera geometry shapes while preserving a valid projection case

Bug fixed

Malformed camera geometry inputs were not validated deterministically. A length-3 rotation vector could be treated as a vector dot product and then broadcast with translation, producing silently wrong camera coordinates. Malformed camera matrices could also surface as low-level matmul or index errors. The helper now rejects these cases with explicit ValueErrors naming rotation or camera_matrix.

Testing

• GitHub compare verified only src/pyrecest/models/sensor_models.py and tests/test_camera_projection_validation.py changed.
• Full local pytest was not run because the execution sandbox cannot resolve github.com to clone/install the repository.

[github-actions]

✅MegaLinter analysis: Success

Descriptor	Linter	Files	Fixed	Errors	Warnings	Elapsed time
✅ COPYPASTE	jscpd	yes		no	no	74.58s
✅ JSON	prettier	7	0	0	0	1.28s
✅ JSON	v8r	7		0	0	4.99s
✅ MARKDOWN	markdownlint	68	0	0	0	1.83s
✅ MARKDOWN	markdown-table-formatter	68	0	0	0	0.84s
✅ PYTHON	black	1047	49	0	0	69.76s
✅ PYTHON	isort	1047	70	0	0	4.38s
✅ REPOSITORY	checkov	yes		no	no	52.44s
✅ REPOSITORY	gitleaks	yes		no	no	7.49s
✅ REPOSITORY	git_diff	yes		no	no	0.13s
✅ REPOSITORY	secretlint	yes		no	no	33.04s
✅ REPOSITORY	syft	yes		no	no	4.04s
✅ REPOSITORY	trivy-sbom	yes		no	no	11.97s
✅ REPOSITORY	trufflehog	yes		no	no	22.8s
✅ YAML	prettier	11	0	0	0	0.85s
✅ YAML	v8r	11		0	0	12.66s
✅ YAML	yamllint	11		0	0	0.58s

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