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Merge commit '6de7eefff588ae5dcb0e6340da5a5c7badc6dbc2' into krichard…

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Rework the lighthouse geometry estimator #747

Merge commit '6de7eefff588ae5dcb0e6340da5a5c7badc6dbc2' into krichard…
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succeeded Feb 9, 2026 in 2m 42s