Document Jigsaw's relation to CSM camera models

**Description**
It would be great to document or provide a small example for how Jigsaw can refine CSM camera parameters, with specific syntax, and an explanation for which params can and cannot be optimized.

No file or test is named in the issue. Start by locating the existing Jigsaw and CSM camera-model documentation or examples, then document the specific syntax and identify which camera parameters can and cannot be optimized; the task is done when a user can follow the example and understand those limits.

Written by the indexing model from the issue text.