docs: add docstrings #80
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…e clarity and maintainability
…ency in camera transformation utilities
…s into multiple lines for better clarity
…ncy in camera frustum creation utilities
…nd imread_depth functions with detailed descriptions, examples, and usage notes
…to_pixels and im_depth_to_point_cloud with detailed explanations, mathematical formulas, and example usage
…ons, mathematical formulations, and example usage
…tions, examples, and matrix formats for camera parameters
…or clarity and maintainability
…s into multiple lines for better clarity
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