Field of View Penalty

We'd really like to assign an infinite penalty to any camera in which the surface point is not visible, but that is not consistent with the goal of continuity.
Instead, assign a penalty of 0 at the center of the image sensor, infinity outside the area of the sensor, and vary smoothly in between.

We'd really like to assign an infinite penalty to any camera in which the surface point is not visible, but that is not consistent with the goal of continuity.