cargo fmt and clippy across the panorama work, and one lint master carried

The dr-face comparison is master's: a negated partial-order test on the
eye box's width, rewritten as the two conditions it meant.

core/dr-pano/src/bundle.rs

@@ -325,7 +325,10 @@ mod tests {
                 * Mat3::rotation(Vec3::new(0.0, 0.0, 1.0), roll);
             rotations.push(r);
         }
-        let truth = Cameras { rotations, focal: f };
+        let truth = Cameras {
+            rotations,
+            focal: f,
+        };
 
         // World directions: a fan across the whole sweep.
         let mut obs = Vec::new();
@@ -340,8 +343,12 @@ mod tests {
         for _ in 0..400 * n {
             let yaw = rnd() * (total + 0.8) + total / 2.0;
             let pitch = rnd() * 0.5;
-            let d = Vec3::new(yaw.sin() * pitch.cos(), pitch.sin(), yaw.cos() * pitch.cos())
-                .normalised();
+            let d = Vec3::new(
+                yaw.sin() * pitch.cos(),
+                pitch.sin(),
+                yaw.cos() * pitch.cos(),
+            )
+            .normalised();
             // Visible in which frames? Within ±0.35 f of centre.
             let mut seen: Vec<(usize, Point)> = Vec::new();
             for k in 0..n {
@@ -383,7 +390,11 @@ mod tests {
         let before = rms(&start, &obs);
         let out = adjust(start, &obs, &AdjustOptions::default()).expect("solvable");
         assert!(out.rms_px < 1e-3, "rms {} (was {before})", out.rms_px);
-        assert!((out.cameras.focal - 1400.0).abs() < 0.5, "focal {}", out.cameras.focal);
+        assert!(
+            (out.cameras.focal - 1400.0).abs() < 0.5,
+            "focal {}",
+            out.cameras.focal
+        );
         for k in 0..6 {
             let err = angle_between(out.cameras.rotations[k], truth.rotations[k]);
             assert!(err < 1e-5, "frame {k} off by {err} rad");
@@ -395,7 +406,8 @@ mod tests {
         let (truth, obs) = sweep(8, 0.25, 1400.0, 1.0);
         let mut start = truth.clone();
         for k in 1..8 {
-            start.rotations[k] = Mat3::exp(Vec3::new(0.0, 0.004 * k as f64, 0.0)) * start.rotations[k];
+            start.rotations[k] =
+                Mat3::exp(Vec3::new(0.0, 0.004 * k as f64, 0.0)) * start.rotations[k];
         }
         let out = adjust(start, &obs, &AdjustOptions::default()).expect("solvable");
         // ±0.5 px of uniform noise on every coordinate has an RMS of 0.41 px