- Enhanced docstrings for `distortion` and `project` functions to clarify input expectations and output formats, emphasizing pixel coordinates.
- Improved variable naming for distortion calculations to enhance readability.
- Added checks for valid points in the `project` function, ensuring proper handling of distortion parameters.
- Introduced a new method `project_ideal` in the `Camera` class for projecting 3D points without distortion, improving usability.
crosstyan
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