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Conflict in crates/track/src/camtrack/bundle.rs: kept both the branch's PtSys/preconditioner/iterative_schur block and upstream's new add_focal_prior helper. Adapted to upstream's explicit linalg imports (conjugate_gradient, and I3/log_rot/mt/norm in the tests) and moved the explicit point elimination into reduce_points so adjust_impl stays under the cognitive-complexity lint. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>