This work is concerned with cone-beam computed tomography with circular source trajectory, where the reconstruction inverse problem requires an accurate knowledge of source, detector and rotational axis relative positions and orientations. We address this problem as a preceding step of the reconstruction process directly from the acquired projections. The method estimates both the detector shift (orthogonal to focal and rotational axes) and the in-plane detector rotation, relative to source and rotational axis. The obtained algorithm is based on a fan-beam symmetry condition and the variable projection optimization approach with a low computational cost. Therefore, the alignment problem for fan-beam tomography is addressed as well. The methods are validated with simulated and real industrial tomographic data with code examples available for both fan- and cone-beam geometries.

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